阅读说明：本技术 充电桩及其自动充电装置和方法 (Charging pile and automatic charging device and method thereof ) 是由 黄一凡 杨晓旦 孙昌顺 许波 郑隽一 张育铭 李德胜 于 2019-08-23 设计创作，主要内容包括：本发明提供一种充电桩及其自动充电装置和方法,所述装置包括：图像采集模块,用于从多个不同角度分别采集车辆充电接口的图像,其中,车辆充电接口上设置有两个间隔固定距离的第一定位点和第二定位点；目标识别模块,用于识别出每个图像中的第一定位点和第二定位点；交会定位模块,用于将多个图像两两组合,以分别进行双目定位,得到第一定位点对应的多组坐标和第二定位点对应的多组坐标；计算模块,用于根据第一定位点对应的设定坐标、第一定位点对应的多组坐标、第二定位点对应的设定坐标和第二定位点对应的多组坐标计算位移矩阵,并将位移矩阵发送至上位机,以便上位机根据位移矩阵控制充电桩充电接口与车辆充电接口接合以进行充电。(The invention provides a charging pile and an automatic charging device and method thereof, wherein the device comprises: the image acquisition module is used for respectively acquiring images of the vehicle charging interface from a plurality of different angles, wherein the vehicle charging interface is provided with a first positioning point and a second positioning point which are spaced at a fixed distance; the target identification module is used for identifying a first positioning point and a second positioning point in each image; the intersection positioning module is used for combining the plurality of images pairwise so as to respectively perform binocular positioning to obtain a plurality of groups of coordinates corresponding to the first positioning points and a plurality of groups of coordinates corresponding to the second positioning points; and the calculation module is used for calculating a displacement matrix according to the set coordinates corresponding to the first positioning point, the sets of coordinates corresponding to the first positioning point, the set coordinates corresponding to the second positioning point and the sets of coordinates corresponding to the second positioning point, and sending the displacement matrix to the upper computer, so that the upper computer controls the charging pile charging interface to be connected with the vehicle charging interface for charging according to the displacement matrix.)

1. The utility model provides a fill electric pile automatic charging device which characterized in that includes:

the vehicle charging system comprises an image acquisition module, a data processing module and a data processing module, wherein the image acquisition module is used for respectively acquiring images of a vehicle charging interface from a plurality of different angles, and the vehicle charging interface is provided with a first positioning point and a second positioning point which are spaced at a fixed distance;

a target identification module for identifying the first and second anchor points in each of the images;

the intersection positioning module is used for combining the images in pairs so as to respectively perform binocular positioning to obtain a plurality of sets of coordinates corresponding to the first positioning points and a plurality of sets of coordinates corresponding to the second positioning points;

and the calculation module is used for calculating a displacement matrix according to the set coordinates corresponding to the first positioning points, the sets of coordinates corresponding to the first positioning points, the set coordinates corresponding to the second positioning points and the sets of coordinates corresponding to the second positioning points, and sending the displacement matrix to an upper computer, so that the upper computer can control the charging pile charging interface to be jointed with the vehicle charging interface for charging according to the displacement matrix.

2. The automatic charging device of charging pile according to claim 1, characterized in that the image acquisition module comprises a rotatable camera which rotates around an optical center to take images from a plurality of different angles.

3. The automatic charging device for charging pile according to claim 1, wherein the first locating point and the second locating point are different in color, and the target recognition module recognizes the first locating point and the second locating point in each image through a color-based recognition algorithm.

4. The device of claim 1, wherein the computing module is specifically configured to compute a mean value of multiple sets of coordinates corresponding to the first location point and a mean value of multiple sets of coordinates corresponding to the second location point, obtain a displacement matrix corresponding to the first location point by subtracting the mean value of the multiple sets of coordinates corresponding to the first location point from the set coordinates corresponding to the first location point, obtain a displacement matrix corresponding to the second location point by subtracting the mean value of the multiple sets of coordinates corresponding to the second location point from the set coordinates corresponding to the second location point, and determine an effective displacement matrix when the displacement matrix corresponding to the first location point is equal to the displacement matrix corresponding to the second location point or the difference is not greater than a preset error.

5. A charging pile characterized by comprising the automatic charging device for a charging pile according to any one of claims 1 to 4.

6. An automatic charging method of a charging pile is characterized by comprising the following steps:

the method comprises the steps that images of a vehicle charging interface are respectively collected from a plurality of different angles, wherein a first positioning point and a second positioning point which are spaced at a fixed distance are arranged on the vehicle charging interface;

identifying the first and second anchor points in each of the images;

combining the images in pairs to respectively perform binocular positioning to obtain a plurality of sets of coordinates corresponding to the first positioning points and a plurality of sets of coordinates corresponding to the second positioning points;

and calculating a displacement matrix according to the set coordinates corresponding to the first positioning point, the multiple groups of coordinates corresponding to the first positioning point, the set coordinates corresponding to the second positioning point and the multiple groups of coordinates corresponding to the second positioning point, and sending the displacement matrix to an upper computer, so that the upper computer controls the charging pile charging interface to be jointed with the vehicle charging interface according to the displacement matrix for charging.

7. The automatic charging method for a charging pile according to claim 6, wherein the rotatable camera is rotated around the optical center to take images from a plurality of different angles.

8. The automatic charging method for a charging pile according to claim 6, wherein the first locating point and the second locating point are different in color, and the first locating point and the second locating point in each image are identified through a color-based identification algorithm.

9. The automatic charging method for the charging pile according to claim 6, wherein the calculating of the displacement matrix specifically comprises: calculating the mean value of a plurality of groups of coordinates corresponding to the first positioning point and the mean value of a plurality of groups of coordinates corresponding to the second positioning point, subtracting the mean value of the plurality of groups of coordinates corresponding to the first positioning point from the set coordinates corresponding to the first positioning point to obtain a displacement matrix corresponding to the first positioning point, subtracting the mean value of the plurality of groups of coordinates corresponding to the second positioning point from the set coordinates corresponding to the second positioning point to obtain a displacement matrix corresponding to the second positioning point, and determining an effective displacement matrix when the displacement matrix corresponding to the first positioning point is equal to the displacement matrix corresponding to the second positioning point or the difference is not more than a preset error.

Technical Field

The invention relates to the technical field of charging piles, in particular to an automatic charging device of a charging pile, a charging pile and an automatic charging method of the charging pile.

Background

Automobile charging is a hot spot of research on the new energy automobile industry at present, and unmanned charging is a future development direction. At present, most of charging piles adopt an artificial charging mode, the charging efficiency is lower, and the manpower is wasted. The part fills electric pile and adopts unmanned charging mode, but present unmanned charging realizes that the structure of the interface discernment location that charges is comparatively complicated, for example need set up two cameras, and the cost is higher, and the location can produce certain error moreover, and positioning accuracy is not high, can't guarantee that every discernment can both obtain the accurate position of target.

Disclosure of Invention

The invention provides a charging pile and an automatic charging device and method thereof for solving the technical problems, which can accurately position a vehicle charging interface and realize automatic charging, thereby saving human resources and ensuring charging efficiency; the positioning precision is high, and the reliability and the stability of automatic charging can be improved; the structure is relatively simple, and the cost is lower.

The technical scheme adopted by the invention is as follows:

an automatic charging device for a charging pile, comprising: the vehicle charging system comprises an image acquisition module, a data processing module and a data processing module, wherein the image acquisition module is used for respectively acquiring images of a vehicle charging interface from a plurality of different angles, and the vehicle charging interface is provided with a first positioning point and a second positioning point which are spaced at a fixed distance; a target identification module for identifying the first and second anchor points in each of the images; the intersection positioning module is used for combining the images in pairs so as to respectively perform binocular positioning to obtain a plurality of sets of coordinates corresponding to the first positioning points and a plurality of sets of coordinates corresponding to the second positioning points; and the calculation module is used for calculating a displacement matrix according to the set coordinates corresponding to the first positioning points, the sets of coordinates corresponding to the first positioning points, the set coordinates corresponding to the second positioning points and the sets of coordinates corresponding to the second positioning points, and sending the displacement matrix to an upper computer, so that the upper computer can control the charging pile charging interface to be jointed with the vehicle charging interface for charging according to the displacement matrix.

The image acquisition module comprises a rotatable camera which takes an optical center as a center to rotate so as to shoot images from a plurality of different angles.

The first positioning point and the second positioning point are different in color, and the target identification module identifies the first positioning point and the second positioning point in each image through a color-based identification algorithm.

The calculation module is specifically configured to calculate a mean value of multiple sets of coordinates corresponding to the first location point and a mean value of multiple sets of coordinates corresponding to the second location point, and make a difference between the mean value of the multiple sets of coordinates corresponding to the first location point and the set coordinates corresponding to the first location point to obtain a displacement matrix corresponding to the first location point, and make a difference between the mean value of the multiple sets of coordinates corresponding to the second location point and the set coordinates corresponding to the second location point to obtain a displacement matrix corresponding to the second location point, and determine an effective displacement matrix when the displacement matrix corresponding to the first location point is equal to the displacement matrix corresponding to the second location point or the difference is not greater than a preset error.

A fill electric pile, includes above-mentioned automatic charging device of electric pile that fills.

An automatic charging method for a charging pile comprises the following steps: the method comprises the steps that images of a vehicle charging interface are respectively collected from a plurality of different angles, wherein a first positioning point and a second positioning point which are spaced at a fixed distance are arranged on the vehicle charging interface; identifying the first and second anchor points in each of the images; combining the images in pairs to respectively perform binocular positioning to obtain a plurality of sets of coordinates corresponding to the first positioning points and a plurality of sets of coordinates corresponding to the second positioning points; and calculating a displacement matrix according to the set coordinates corresponding to the first positioning point, the multiple groups of coordinates corresponding to the first positioning point, the set coordinates corresponding to the second positioning point and the multiple groups of coordinates corresponding to the second positioning point, and sending the displacement matrix to an upper computer, so that the upper computer controls the charging pile charging interface to be jointed with the vehicle charging interface according to the displacement matrix for charging.

Images are taken from a plurality of different angles by rotating the rotatable camera about the optical center.

The first locating point and the second locating point are different in color, and the first locating point and the second locating point in each image are identified through a color-based identification algorithm.

The calculating of the displacement matrix specifically includes: calculating the mean value of a plurality of groups of coordinates corresponding to the first positioning point and the mean value of a plurality of groups of coordinates corresponding to the second positioning point, subtracting the mean value of the plurality of groups of coordinates corresponding to the first positioning point from the set coordinates corresponding to the first positioning point to obtain a displacement matrix corresponding to the first positioning point, subtracting the mean value of the plurality of groups of coordinates corresponding to the second positioning point from the set coordinates corresponding to the second positioning point to obtain a displacement matrix corresponding to the second positioning point, and determining an effective displacement matrix when the displacement matrix corresponding to the first positioning point is equal to the displacement matrix corresponding to the second positioning point or the difference is not more than a preset error.

The invention has the beneficial effects that:

according to the invention, the images of the vehicle charging interface are respectively acquired from a plurality of different angles, two positioning points arranged on the vehicle charging interface in each image are identified, then the plurality of images are combined pairwise to respectively perform binocular positioning, a plurality of groups of coordinates corresponding to the two positioning points are respectively obtained, and finally a displacement matrix is calculated, so that an upper computer controls the charging pile charging interface to be connected with the vehicle charging interface according to the displacement matrix for charging, therefore, the vehicle charging interface can be accurately positioned, automatic charging is realized, manpower resources can be saved, and charging efficiency is guaranteed; the positioning precision is high, and the reliability and the stability of automatic charging can be improved; the structure is relatively simple, and the cost is lower.

Drawings

Fig. 1 is a schematic block diagram of an automatic charging device for a charging pile according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of binocular vision;

FIG. 3 is a schematic diagram of rendezvous positioning;

fig. 4 is a flowchart of an automatic charging method for a charging pile according to an embodiment of the present invention.

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.

As shown in fig. 1, the charging pile automatic charging device according to the embodiment of the present invention includes an image acquisition module 10, an object recognition module 20, a meeting location module 30, and a calculation module 40. The image acquisition module 10 is used for respectively acquiring images of a vehicle charging interface from a plurality of different angles, wherein the vehicle charging interface is provided with a first positioning point and a second positioning point which are spaced at a fixed distance; the target identification module 20 is used for identifying a first positioning point and a second positioning point in each image; the intersection positioning module 30 is configured to combine the plurality of images two by two to perform binocular positioning respectively, so as to obtain a plurality of sets of coordinates corresponding to the first positioning points and a plurality of sets of coordinates corresponding to the second positioning points; the calculation module 40 is used for calculating a displacement matrix according to the set coordinates corresponding to the first positioning point, the sets of coordinates corresponding to the first positioning point, the set coordinates corresponding to the second positioning point and the sets of coordinates corresponding to the second positioning point, and sending the displacement matrix to the upper computer, so that the upper computer controls the charging pile charging interface to be connected with the vehicle charging interface for charging according to the displacement matrix.

In one embodiment of the invention, the first anchor point and the second anchor point on the vehicle charging interface are different in color, for example, the first anchor point a may be red and the second anchor point B may be blue.

In one embodiment of the present invention, the image capturing module 10 includes a rotatable camera that can be rotated about an optical center to capture images from a plurality of different angles after the vehicle to be charged is parked in front of the charging post. In an embodiment of the present invention, the rotatable camera can capture three images by rotating the object facing the vehicle charging interface, counterclockwise by 30 degrees around the optical center, and clockwise by 30 degrees around the optical center, respectively. The image acquisition module 10 may control the rotation angle of the rotatable camera by receiving a PWM (Pulse Width Modulation) wave sent by the single chip. The rotational angle and rotational direction of the rotatable camera are not exclusive and are not limited herein. The rotatable camera may operate in any rotational manner as long as multiple images of the same target are obtained. For example, the rotatable camera can be directly opposite to the target, rotate 15 degrees counterclockwise and continue to rotate 15 degrees counterclockwise, and three images are obtained by shooting at three angles.

Since the first location point a and the second location point B have corresponding colors and different colors, in one embodiment of the present invention, the object recognition module 20 may recognize the first location point a and the second location point B in each image through a color-based recognition algorithm. For example, the centroids of the first positioning point a and the second positioning point B may be extracted by a meanshift algorithm.

The rendezvous and positioning module 30 can combine the images in pairs to obtain a plurality of groups of binocular vision image sets, namely, each two images can be regarded as being shot by a binocular camera, because the postures of the camera before and after rotation are known, the coordinates of two positioning points in each group of binocular vision image sets can be obtained according to the binocular positioning principle,and the multiple groups of binocular positioning adopt a calibration method of a common coordinate system, and coordinate origin points are unified through coordinate conversion. The number of coordinates corresponding to each positioning point is equal to the number of binocular vision image groups. Taking the example of shooting three images by a rotatable camera, combining the three images two by two to obtain three groups of binocular vision image groups, and thus obtaining three groups of coordinates according to the binocular positioning principle: a1, A2, A3 and B1, B2, B3. The principle of binocular vision is shown in FIG. 2, C₁And C₂Respectively representing the phase planes of two cameras, point p representing the target object, point p₁And p₂Respectively, the projection of the p-point on the two phase planes. The principle of intersection location is shown in FIG. 3, where x is in FIG. 3_lAnd x_rRespectively showing the projection of a target object P on two phase planes, d showing the distance between the charging ports and the phase planes of images formed by the two cameras, f showing the focal length of the cameras, and T showing O_lAnd O_rThe distance between two cameras is determined by first finding d, i.e. d equals x_l-x_rThen according to the similar triangle principle, the Z is calculated,further, the coordinates of the target object P can be obtained by combining the coordinates of the camera at different angles. By using the binocular vision principle and the intersection positioning principle, the coordinates of two positioning points in each group of binocular vision image groups, namely A1, A2, A3, B1, B2 and B3, can be calculated.

The calculating module 40 may specifically calculate a mean value a of a plurality of sets of coordinates corresponding to the first positioning point and a mean value B of a plurality of sets of coordinates corresponding to the second positioning point, and obtain a displacement matrix U corresponding to the first positioning point by subtracting the mean value a of the plurality of sets of coordinates corresponding to the first positioning point from a set coordinate a0 corresponding to the first positioning point, obtain a displacement matrix V corresponding to the second positioning point by subtracting the mean value B of the plurality of sets of coordinates corresponding to the second positioning point from a set coordinate B0 corresponding to the second positioning point, and determine an effective displacement matrix when the displacement matrix U corresponding to the first positioning point is equal to the displacement matrix V corresponding to the second positioning point or the difference is not greater than a preset error. The set coordinate corresponding to the positioning point is an initial coordinate set in the upper computer and is equivalent to the current coordinate of a point on the charging pile charging interface corresponding to the positioning point of the vehicle charging interface. By taking the average value of a plurality of groups, such as three groups of coordinates, the positioning error can be effectively reduced, and the positioning precision is improved. U and V should be equal in theory, but certain errors can be generated during actual positioning and calculation, so that U and V are close to each other but not completely equal, and the docking accuracy of the charging interface can be further improved by comparing U and V, for example, taking any one (such as U) or the average value of U and V as an effective displacement matrix when the difference between U and V is not more than 1%, and re-acquiring images, identifying positioning points, positioning point coordinates and calculating the displacement matrix when the difference between U and V is too large.

After the effective displacement matrix is determined, the calculation module 40 can send the determined displacement matrix to the upper computer, and the upper computer can control the mechanical arm to move to a corresponding position according to the displacement matrix, so that the charging pile charging interface is connected with the vehicle charging interface to charge the vehicle to be charged.

According to the automatic charging device for the charging pile, the images of the vehicle charging interface are respectively acquired from a plurality of different angles through the image acquisition module, two positioning points arranged on the vehicle charging interface in each image are identified through the target identification module, then the images are combined in pairs through the intersection positioning module to respectively perform binocular positioning, a plurality of groups of coordinates corresponding to the two positioning points are respectively obtained, and finally the displacement matrix is calculated through the calculation module, so that the upper computer controls the charging pile charging interface to be connected with the vehicle charging interface to perform charging according to the displacement matrix, therefore, the automatic charging device for the charging pile can accurately position the vehicle charging interface, realize automatic charging, save manpower resources, guarantee charging efficiency, has high positioning precision, and can improve the reliability and stability of automatic charging, and in addition, the device of the embodiment of the invention has a relatively simple structure, the cost is low.

Corresponding to the automatic charging device of the charging pile of the embodiment, the invention further provides the charging pile.

The charging pile provided by the embodiment of the invention comprises the automatic charging device for the charging pile provided by any one embodiment of the invention.

According to the charging pile disclosed by the embodiment of the invention, the vehicle charging interface can be accurately positioned, automatic charging is realized, so that the manpower resource can be saved, the charging efficiency is ensured, the positioning precision is higher, the reliability and the stability of automatic charging can be improved, in addition, the structure is relatively simple, and the cost is lower.

Corresponding to the automatic charging device of the charging pile in the embodiment, the invention further provides an automatic charging method of the charging pile.

As shown in fig. 4, the automatic charging method for the charging pile according to the embodiment of the present invention includes the following steps:

and S1, respectively acquiring images of the vehicle charging interface from a plurality of different angles, wherein the vehicle charging interface is provided with a first positioning point and a second positioning point which are spaced at a fixed distance.

In one embodiment of the invention, the first anchor point and the second anchor point on the vehicle charging interface are different in color, for example, the first anchor point a may be red and the second anchor point B may be blue.

In one embodiment of the invention, after the vehicle to be charged stops in front of the charging pile, the rotatable camera can rotate around the optical center to take images from a plurality of different angles. In an embodiment of the present invention, the rotatable camera can capture three images by rotating the object facing the vehicle charging interface, counterclockwise by 30 degrees around the optical center, and clockwise by 30 degrees around the optical center, respectively. Wherein, the rotation angle of rotatable camera is controlled to the PWM ripples that the accessible received the singlechip sent. The rotational angle and rotational direction of the rotatable camera are not exclusive and are not limited herein. The rotatable camera may operate in any rotational manner as long as multiple images of the same target are obtained.

S2, a first localization point and a second localization point in each image are identified.

Since the first positioning point a and the second positioning point B have corresponding colors and are different in color, in one embodiment of the present invention, the first positioning point a and the second positioning point B in each image may be recognized through a color-based recognition algorithm. For example, the centroids of the first positioning point a and the second positioning point B may be extracted by a meanshift algorithm.

And S3, combining the images pairwise to respectively perform binocular positioning to obtain a plurality of sets of coordinates corresponding to the first positioning points and a plurality of sets of coordinates corresponding to the second positioning points.

Specifically, a plurality of groups of binocular vision image groups can be obtained by combining the plurality of images in pairs, namely, each two images can be taken by a binocular camera, the postures of the cameras before and after rotation are known, the coordinates of two positioning points in each group of binocular vision image groups can be obtained according to a binocular positioning principle, the multi-group binocular positioning adopts a calibration method of a common coordinate system, and the origin of coordinates is unified through coordinate conversion. The number of coordinates corresponding to each positioning point is equal to the number of binocular vision image groups. Taking the example of shooting three images by a rotatable camera, combining the three images two by two to obtain three groups of binocular vision image groups, and thus obtaining three groups of coordinates according to the binocular positioning principle: a1, A2, A3 and B1, B2, B3. The principle of binocular vision is shown in FIG. 2, C₁And C₂Respectively representing the phase planes of two cameras, point p representing the target object, point p₁And p₂Respectively, the projection of the p-point on the two phase planes. The principle of intersection location is shown in FIG. 3, where x is in FIG. 3_lAnd x_rRespectively showing the projection of a target object P on two phase planes, d showing the distance between the charging ports and the phase planes of images formed by the two cameras, f showing the focal length of the cameras, and T showing O_lAnd O_rThe distance between two cameras is determined by first finding d, i.e. d equals x_l-x_rThen according to the similar triangle principle, the Z is calculated,further, the coordinates of the target object P can be obtained by combining the coordinates of the camera at different angles. By utilizing the binocular vision principle and the rendezvous positioning principle, two positioning points in each group of binocular vision image groups can be calculatedI.e. a1, a2, A3 and B1, B2, B3.

And S4, calculating a displacement matrix according to the set coordinates corresponding to the first positioning point, the multiple sets of coordinates corresponding to the first positioning point, the set coordinates corresponding to the second positioning point and the multiple sets of coordinates corresponding to the second positioning point, and sending the displacement matrix to the upper computer, so that the upper computer controls the charging pile charging interface to be connected with the vehicle charging interface for charging according to the displacement matrix.

Specifically, the average value a of the multiple sets of coordinates corresponding to the first positioning point and the average value B of the multiple sets of coordinates corresponding to the second positioning point may be calculated, the difference between the average value a of the multiple sets of coordinates corresponding to the first positioning point and the set coordinate a0 corresponding to the first positioning point is made to obtain the displacement matrix U corresponding to the first positioning point, the difference between the average value B of the multiple sets of coordinates corresponding to the second positioning point and the set coordinate B0 corresponding to the second positioning point is made to obtain the displacement matrix V corresponding to the second positioning point, and an effective displacement matrix is determined when the difference between the displacement matrix U corresponding to the first positioning point and the displacement matrix V corresponding to the second positioning point is equal to or does not exceed a preset error. The set coordinate corresponding to the positioning point is an initial coordinate set in the upper computer and is equivalent to the current coordinate of a point on the charging pile charging interface corresponding to the positioning point of the vehicle charging interface. By taking the average value of a plurality of groups, such as three groups of coordinates, the positioning error can be effectively reduced, and the positioning precision is improved. U and V should be equal in theory, but certain errors can be generated during actual positioning and calculation, so that U and V are close to each other but not completely equal, and the docking accuracy of the charging interface can be further improved by comparing U and V, for example, taking any one (such as U) or the average value of U and V as an effective displacement matrix when the difference between U and V is not more than 1%, and re-acquiring images, identifying positioning points, positioning point coordinates and calculating the displacement matrix when the difference between U and V is too large.

After the effective displacement matrix is determined, the determined displacement matrix can be sent to an upper computer, and the upper computer can control the mechanical arm to move to a corresponding position according to the displacement matrix, so that the charging pile charging interface is connected with the vehicle charging interface to charge the vehicle to be charged.

According to the automatic charging method of the charging pile, the images of the vehicle charging interface are collected from different angles respectively, two positioning points arranged on the vehicle charging interface in each image are identified, the images are combined pairwise to perform binocular positioning respectively, multiple groups of coordinates corresponding to the two positioning points are obtained respectively, and finally a displacement matrix is calculated, so that an upper computer controls the charging pile charging interface to be connected with the vehicle charging interface according to the displacement matrix to perform charging.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "plurality" means three or more.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.