Charging control method and charging control device of automobile charging equipment

Abstract

The invention provides a charging control method of automobile charging equipment and a charging control device thereof. The automobile charging equipment is hung on a walking guide rail which is hung on the top of a parking lot, a plurality of charging base stations are arranged on the line of the walking guide rail and correspond to parking space positions of the parking lot, and the automobile charging equipment comprises a mechanical arm hanging platform and a charging host hanging platform which can be hung on the walking guide rail. The charging control method comprises the following steps: a pile taking step: a charging host mounting platform on which a charging host is mounted runs to a target charging base station, and the charging host is electrically connected with the target charging base station; a mechanical arm conveying step: the mechanical arm mounting platform assembled with the mechanical arm runs to a target charging base station and is electrically connected with the target charging base station; and a mechanical arm action step: releasing the mechanical arm from the mechanical arm mounting platform, and operating the charging gun by the mechanical arm to perform an action of inserting the charging gun into the to-be-charged vehicle.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle charging, and in particular to a charging control method and a charging control device of a rail-mounted vehicle charging device. Background Art

[0002] By the end of 2023, China's new energy vehicle ownership has reached the first place in the world, but due to the current situation of domestic parking spaces, new energy vehicles will still rely on shared charging piles for energy replenishment in the future. With the country's vigorous promotion of public charging pile energy replenishment, the ratio of charging piles to parking spaces in public parking spaces will become higher and higher. Due to the structure and distribution of existing charging piles, the cost of a single parking space is getting higher and higher. For example, the area occupied by the charging pile, the number of charging pile equipment, and the standby power consumption, etc., make the cost of a single parking space high and consume a lot of energy. Therefore, there is an urgent need for low-cost, low resource occupancy, and high-efficiency charging piles.

[0003] The structural characteristics and site characteristics of existing public charging piles determine that various problems will arise when car owners charge, such as too few dedicated charging spaces, gasoline vehicles occupying spaces, charging overtime, queuing for charging, jumping guns, etc., making the charging operation cumbersome, error-prone, poor experience and a waste of public resources.

[0004] Although new energy replenishment solutions such as battery swap stations and wheeled charging robots have appeared on the market to try to solve the above problems, they cannot be widely popularized due to their characteristics. Specifically: battery swap stations occupy a large area, have few battery backups per station, support few car models, and underground parking lots cannot be built. Wheeled charging robots are all pile-type charging unmanned vehicles with built-in energy storage. The cost of a single pile is too high. At the same time, they need to avoid a large number of obstacles when driving in large venues, which poses safety and legal risks.

[0005] Currently, there are also rail-mounted charging robots that attempt to solve the problems of existing pile-type charging devices, such as the rail-mounted charging device and its charging method described in the Chinese patent application with publication number CN114954079A, which requires the user to manually operate to plug in the vehicle body charging interface, resulting in cumbersome user operations. In addition, for the case of gun jumping, this technology has the following problems: if the human does not continue to pay attention, it is easy to ignore the gun jumping and cause the charging to be delayed, which not only increases the parking space occupation time but also increases the user's time load. Even if the user continues to pay attention to whether the gun jumps, the user still needs to manually operate to recharge after discovering the gun jumping, which not only increases the user's burden but also increases the cumbersomeness of the operation. In the case of insufficient charging pile ratio, the gun jumping cannot be solved in time, which will cause the owner to wait in the parking space for too long or fail to charge. Summary of the invention

[0006] In order to overcome the above-mentioned problems of existing charging robots, the present invention aims to provide a full control method and control device for a rail-mounted automobile charging device that can automatically plug and unplug charging guns through a robotic arm to automatically charge and can automatically start recharging when a charging interruption failure such as gun jumping occurs.

[0007] A first aspect of the present invention provides a charging control method for an automobile charging device, wherein the automobile charging device is mounted on a walking rail hoisted on the top of a parking lot, and a plurality of charging base stations are arranged along the walking rail corresponding to the parking spaces in the parking lot. The automobile charging device comprises: a robotic arm mounting platform and a charging host mounting platform that can be mounted on the walking rail, and the charging control method comprises the following steps: a pile taking step, which enables the charging host mounting platform mounted with the charging host to run to a target charging base station, and electrically connects the charging host to the target charging base station; a robotic arm transporting step, which enables the robotic arm mounting platform equipped with the robotic arm to run to a target charging base station, and electrically connects to the target charging base station; a robotic arm action step, which enables the robotic arm mounting platform to release the robotic arm, and enables the robotic arm to operate the charging gun to insert the charging gun into the vehicle to be charged.

[0008] When it is necessary to provide charging service to the vehicle to be charged (vehicle to be charged) at the target parking space, the charging control method according to the present invention can transport the idle charging host to the charging base station (target charging base station) corresponding to the target parking space through the charging host mounting platform mounted on the running rail, and make the robotic arm mounting platform mounted on the running rail and equipped with a robotic arm run above the target parking space, and the robotic arm takes out and operates the charging gun installed in the charging host to insert the charging gun into the vehicle to be charged, thereby enabling automatic charging service without manual operation.

[0009] Moreover, since the charging host mounting platform and the mechanical arm mounting platform that can mount the charging host can walk along the walking rails above each parking space in the parking lot and between the charging base stations, the charging host can not only move between the charging base stations as a mobile charging pile and charge itself when idle, but also respond to the vehicle charging request at each parking space and supply power to the vehicle at different charging base stations corresponding to different targets, and the mechanical arm mounting platform can also flexibly and efficiently move between different charging base stations to grab, plug and unplug, and take and deliver the charging gun. Therefore, the charging control method of the present invention has high mobility, can effectively reduce the charging host parking space ratio, while improving the efficiency and convenience of new energy vehicles in finding piles, and improve the utilization rate of the charging host.

[0010] Preferably, the charging control method according to the present invention further includes: a charging pile finding step, which enables the charging host mounting platform to find an idle charging host and mount the charging host.

[0011] Preferably, in the charging control method according to the present invention, the robot arm action step further includes the following steps: the robot arm mounting platform releases the robot arm, and guides the charging gun grasping module to dock and lock the charging gun; the robot arm mounting platform releases the charging cable, and ends the locking of the charging gun to the charging host when the charging cable is completely released; the robot arm removes the charging gun from the charging host, and adjusts the posture of the charging gun relative to the charging interface to insert the charging gun into the charging interface.

[0012] Preferably, in the charging control method according to the present invention, the charging pile picking step further includes the following steps: the charging host mounting platform mounted with the charging host runs to the target charging base station; the charging host is pushed to the target charging base station to form an electrical connection therewith; the charging host mounting platform unloads the charging host and runs to a nearby idle base station.

[0013] Preferably, in the charging control method according to the present invention, the robot arm transporting step further includes the following steps: the robot arm mounting platform receives a notification from the target charging base station that a charging task is to be performed; the robot arm mounting platform releases the locking state with the charging base station that is currently electrically connected; the robot arm mounting platform moves to the target charging base station via a walking rail; the robot arm mounting platform senses the position of the charging base station through a sensing device, and adjusts the position to align with the charging base station; the robot arm mounting platform forms a locking state with the target charging base station and forms an electrical connection with it.

[0014] Preferably, the charging control method according to the present invention also includes a gun jumping solution step, wherein the gun jumping solution step further includes: notifying the robotic arm mounting platform to run to the target charging base station to handle the gun jumping problem; after receiving the notification, the robotic arm mounting platform moves to the target charging base station and forms a locked state with it; extending the robotic arm and adjusting the posture of the robotic arm to dock with and lock the charging gun; releasing the locking state of the charging gun and the vehicle charging interface, so that the robotic arm operates the charging gun to perform gun pulling and gun insertion actions to recharge the vehicle.

[0015] In addition, when charging is finished or an interruption fault such as a jump gun occurs, the charging control method according to the present invention can automatically transport the robot arm mounting platform equipped with the robot arm to the target parking space where charging is finished or a charging interruption such as a jump gun occurs, and enable the robot arm to perform actions such as pulling out the charging gun and recycling the charging gun to the storage mechanism of the charging host, or enable the robot arm to perform actions such as reinserting the charging gun to restart charging, thereby realizing automatic energy replenishment services without the need for manual continuous attention to the charging situation and manual participation in operations such as plugging and unplugging the charging gun. Therefore, not only the convenience of the user's charging operation is improved, but also the user's attention time and parking space occupation time are saved, thereby improving the utilization efficiency of the parking space and the user's charging efficiency and charging experience.

[0016] Preferably, in the charging control method according to the present invention, it also includes a charging termination step, wherein the charging termination step further includes: when it is detected that the vehicle is fully charged, the charging host is powered off; the robotic arm mounting platform is notified to execute the charging service termination operation; the robotic arm mounting platform moves to the target charging base station and forms a lock with the target charging base station; the robotic arm is extended and the posture of the robotic arm is adjusted to dock with and lock the charging gun; the locking state of the charging gun and the vehicle charging interface is released, and the robotic arm operates the charging gun to perform the gun pulling operation on the vehicle.

[0017] According to a second aspect of the present invention, a charging control device for a car charging device is provided, wherein the car charging device is mounted on a walking rail hoisted on the top of a parking lot, and a plurality of charging base stations are arranged along the walking rail corresponding to the parking spaces in the parking lot, the car charging device comprises a robot arm mounting platform and a charging host mounting platform which can be mounted on the walking rail, and the charging control device comprises: a pile taking part, which enables the charging host mounting platform mounted with the charging host to run to a target charging base station, and electrically connects the charging host to the target charging base station; a robot arm transporting part, which enables the robot arm mounting platform equipped with the robot arm to run to a target charging base station, and electrically connects the target charging base station; and a robot arm operating part, which controls the robot arm mounting platform to release the robot arm, and enables the robot arm to operate the charging gun to insert the charging gun into the vehicle to be charged.

[0018] Since the charging host mounting platform can move along the walking rail above each parking space in the parking lot and between the charging base stations by mounting the charging host, the charging host can be used as a mobile charging pile, thereby improving the utilization rate of the parking lot. The traditional charging facilities have low utilization rates and a large workload for ground modification of parking spaces. The charging host mounting platform of the present invention can be moved between each parking space or each charging base station in a portable manner, which can effectively reduce the charging host parking space ratio while improving the efficiency and convenience of new energy vehicles in finding piles, and improve the utilization rate of the charging host.

[0019] In addition, the robot arm mounting platform of the present invention can walk along the walking rails above the parking spaces in the parking lot and between the charging base stations, and the robot arm carried by it can also move flexibly and efficiently between different charging base stations to grab, plug and unplug, and take and deliver charging guns. It not only effectively solves the problem of gun jumping during charging and improves the charging experience, but also effectively solves the problem of timeout after the new energy vehicle is charged through the automatic gun removal design of the robot arm, improves the charging experience of the car owner, and improves the utilization rate of parking lot resources.

[0020] Preferably, the charging control device according to the present invention further comprises a charging pile-finding unit, which enables the charging host mounting platform to find an idle charging host and mount the charging host.

[0021] Preferably, the charging control device according to the present invention also includes a gun jumping solution unit, which further includes: a notification unit, which notifies the robot arm mounting platform to run to the target charging base station to handle the gun jumping problem; a moving unit, which enables the robot arm mounting platform to move to the target charging base station after receiving the notification and form a locked state with it; a robot arm posture adjustment unit, which extends the robot arm and adjusts the posture of the robot arm to dock with and lock the charging gun; a charging gun releasing unit, which releases the locking state of the charging gun and the vehicle charging interface, and a charging gun action unit, which enables the robot arm to operate the charging gun to perform gun pulling and gun insertion actions to recharge the vehicle.

[0022] In summary, the beneficial effects of the present invention are at least in the following aspects:

[0023] 1. The present invention uses the high mobility of the rail-mounted charging equipment to solve the problems of low utilization of traditional charging facilities and large workload of parking space ground transformation. It can effectively reduce the parking space ratio of the charging host and improve the efficiency and convenience of new energy vehicles in finding charging piles, thereby improving the utilization rate of the charging host.

[0024] 3. Through the setting of the robotic arm, the problem of gun jumping during charging is effectively solved, improving the charging experience.

[0025] 4. The automatic gun-pulling design of the robotic arm can effectively solve the problem of timeout after new energy vehicles are charged, thus improving the charging experience of car owners.

[0026] 5. The present invention can cover all parking spaces in a large area of ​​the parking lot. There is no need to set up parking spaces exclusively for new energy vehicles. Oil vehicles and electric vehicles can be parked together, which improves resource utilization. It solves the problem of limited parking spaces in the parking lot, resulting in oil vehicles occupying spaces, insufficient exclusive new energy parking spaces, or low utilization of exclusive new energy parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1A is a block diagram illustrating the structure of the automobile charging system of the present invention;

[0028] Figure 1B is a schematic structural diagram illustrating a vehicle charging device of the present invention;

[0029] Figure 2 is a schematic structural diagram illustrating a frame rail of a vehicle charging system of the present invention;

[0030] Figure 3 is a schematic diagram illustrating the structure of the robot arm mounting platform of the present invention;

[0031] Figure 4 is a schematic diagram illustrating the structure of the charging host mounting platform of the present invention;

[0032] FIG. 5A to FIG. 5Dis a schematic structural diagram illustrating a sensing device of a vehicle charging device of the present invention;

[0033] Figure 6 is a schematic diagram illustrating the structure of a charging host of a car charging device of the present invention;

[0034] Figure 7 is a schematic structural diagram of a charging base station of an automobile charging system of the present invention;

[0035] Figure 8 is a schematic diagram illustrating a locked state of a charging host mounting platform and a charging base station according to the present invention;

[0036] 9A to 9C is a flow chart illustrating a charging operation of a charging control method of the present invention;

[0037] Fig.10 is a flow chart illustrating the operation of solving the gun jumping problem of the charging control method of the present invention;

[0038] Fig.11 This is a flowchart illustrating the end of the charging operation of the charging control method of the present invention.

[0039] Description of Reference Numerals

[0040] 1000-car charging system; 1-frame rail structure; 101-travel rail; 102-cable trough; 103 hoisting frame; 2-car charging equipment; 20-mechanical arm mounting platform; 200-platform body; 200A, 200B main body protrusions; 201-travel module; 201A, 201B-roller group; 201C-travel motor; 202-communication and power supply module; 203-positioning module; 204-lifting module; 205 mechanical arm module; 206-charging gun grabbing module; 210-mechanical arm; 30-charging host mounting platform; 300-platform body; 300A, 300B main body protrusions; 301-travel module; 301A, 301B-roller group; 30 1C-travel motor; 302-communication and power supply module; 303-positioning module; 304-limiting assembly; 305-push and retract module; 306 travel track; 40-sensing device; 401-base station position identifier; 402-obstacle avoidance device; 403-visual positioning device at the end of the robotic arm; 50-charging host; 501-retracting and releasing line module; 502-charging gun; 503-charging gun storage mechanism; 504-dynamic plug-in; 505-travel module; 506-positioning module; 6-charging base station; 600-support frame; 600W-side frame; 601-locking track; 601H-locking hole; 602-parking fixed beam; 603-communication and power supply module; 604-static plug-in; 7-server. DETAILED DESCRIPTION

[0041] The exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative configuration of the components, digital representations and numerical values ​​described in these embodiments does not limit the scope of the present invention. For simplicity, the same structural parts or steps are used with the same marks or numbers, and their description is omitted.

[0042] [Structure of the automobile charging system of the present invention]

[0043] The following reference Figure 1A As shown, the structure of the automobile charging system of the present invention is described. The automobile charging system 1000 includes: a guide rail structure 1 arranged in a parking lot, a hanging rail automobile charging device 2, a plurality of charging base stations 6 suspended above the parking spaces in the parking lot by the guide rail structure 1 in a manner corresponding to the parking space positions in the parking lot, and a server 7 capable of communicating with the user terminal, the automobile charging device 2 and the charging base station 6 respectively. The user sends a charging request to the server 2 of the automobile charging system 1000 by operating the user terminal (a vehicle-mounted terminal or a portable user terminal (such as a mobile phone), etc.). The charging request includes at least the vehicle model information of the vehicle to be charged, the location information of the parking space to be charged, and the parking direction of the vehicle. After receiving the charging request, the server 2 locates the charging parking space (target parking space) of the vehicle to be charged and the charging base station 6 (target charging base station) corresponding to the target parking space, dispatches the automobile charging device 2 in an idle state to run to the target parking space, and the automobile charging device 2 automatically charges the vehicle to be charged, and the user does not need to perform further manual operations.

[0044] The following reference Figure 2 The specific structure of the guide rail structure 1 is described. Figure 2 As shown, the guide rail structure 1 includes: a running guide rail 101 arranged above the parking space of the parking lot in a through-type hoisting manner; a wire trough 102 connected to the charging base station 6 arranged along the running guide rail; and a hoisting frame 103 that fixes the running guide rail 101 to the top of the parking lot. All the wires that supply power to the car charging system are routed through the wire trough 102 to cover all the charging base stations. As an example, the cross-section of the running guide rail 101 shown in the present invention is an I-shaped, and other shapes can obviously be used.

[0045] The charging base stations 6 can be arranged in a one-to-one correspondence with the parking spaces, and arranged above each parking space along the line of the running rail. Of course, other arrangements can also be used, for example, a two-to-one arrangement between two parking spaces with the rear of the vehicle parked next to each other, or a three-to-one, four-to-one, etc. arrangement according to the specific arrangement of the parking spaces, or a combination of the above two or more arrangements to arrange the charging base stations 6.

[0046] The vehicle charging device 2 can be mounted on the running rail of the rail structure 1 , and can communicate with the server 7 and the charging base station 6 , so as to travel between the charging base stations along the running rail 101 according to the instruction of the server 7 .

[0047] The specific structures of the charging base station and the vehicle charging device included in the vehicle charging system of the present invention are described in detail below.

[0048] [Structure of the charging base station of the present invention]

[0049] The following reference Figure 7 , the structure of the charging base station according to the present invention is described. The charging base station 6 includes: a support frame 600, a locking track 601, a parking fixed beam 602, a communication and power supply module 603 and a static plug-in 604. Among them, the support frame 600 adopts a frame structure, and the side frame 600W of the support frame 600 away from the walking track 101 extends downward, and a static plug-in 604 is installed on the extended part of the side frame 600W. As a preferred example, Figure 7 The static plug-in 604 is located in the center of the side frame 600W, and can obviously be located on one side of the side frame 600W, as long as it can correspond to the position of the matching dynamic plug-in.

[0050] The locking track 601 includes two U-shaped tracks arranged in parallel with their openings facing each other, and are arranged at both side ends of the bottom of the support frame 600 in a manner perpendicular to the travel track 101 in the installed state to carry the charging host. The locking track 601 has a locking hole 601H opened in the middle of the axial direction, which can be docked with the positioning module of the charging host (which will be described later) to form a locked state. The parking fixed beam 602 can adopt a straight beam column structure, and is arranged in the middle and upper part of the support frame 600 in a manner parallel to the locking track 601, and in the installed state, the parking fixed beam 602 protrudes toward the travel guide rail 101 side along the length direction.

[0051] And as an example, in the horizontal direction, the parking fixed beam 602 is arranged at the center between the two U-shaped tracks of the locking track 601. Obviously, it can also be arranged close to the locking track 601 on one side. The communication and power supply module 603 is fixed to the bottom of the protruding end of the parking fixed beam 602, and can be connected to the positioning module 203 (see Figure 3 ) or the positioning module 303 of the charging host mounting platform 30 to form a tightly locked state (see Figure 8 ), and in this state, the communication and power supply module 603 of the charging base station 6 is docked with the communication and power supply modules of the two mounting platforms to form an electrical connection. In addition, the static plug-in 604 can be docked with the dynamic plug-in of the charging host to form an electrical connection.

[0052] [Structure of the vehicle charging device of the present invention]

[0053] The following reference Figure 1B , the structure of the automobile charging device of the present invention is described. The automobile charging device 2 according to the present invention includes: a mechanical arm mounting platform 20, a charging host mounting platform 30, a sensing device 40, and a charging host 50 mounted on the lower part of the charging host mounting platform 30 in a detachable manner. Among them, in the working state, the mechanical arm mounting platform 20 and the charging host mounting platform 30 are suspended below the frame walking rail 101. The charging host mounting platform 30 can move between each charging base station 6 along the walking rail 101 of the frame rail structure 1 in a manner that the charging host 50 can be mounted, and the charging host 50 can be pushed to the side of the charging base station 6.

[0054] The robotic arm mounting platform 20 can move between the charging base stations 6 and adjust the posture of the robotic arm to operate the charging gun, and perform actions such as plugging and unplugging the charging gun on the vehicle, for example, taking out the charging gun and inserting the charging gun into the vehicle for charging operations, unplugging and inserting the charging gun to restart charging operations for gun jumping problems, and unplugging the charging gun and returning the charging gun to end charging operations, etc.

[0055] The sensing device 40 can communicate with the robot mounting platform 20 and the charging host mounting platform 30, and provide environmental perception, positioning, obstacle avoidance control, etc. The specific structure of the sensing device 40 will be described later.

[0056] The specific structures of the various parts of the vehicle charging device of the present invention are described in detail below.

[0057] [Structure of the robot arm mounting platform of the present invention]

[0058] The following reference Figure 3 , describing the structure of the robot arm mounting platform. The robot arm mounting platform 20 includes: a platform body 200 and an extendable robot arm 210 fixed to the bottom of the platform body. Among them, two walking modules 201 are arranged on the top surface of the platform body 200. As a preferred example, two walking modules 201 are arranged on the top surface of the platform body 200 in a symmetrical manner along the longitudinal direction of the platform body 200 (the direction parallel to the walking guide rail 101 in the mounting state). Obviously, the number and arrangement of the walking modules 201 are not limited to this, and other numbers and arrangements may also be used.

[0059] As a preferred example, in this embodiment, each walking module 201 uses roller groups symmetrically arranged on both sides of the platform body 200 (a direction perpendicular to the walking rail 101 in the mounted state). In the mounted state, the walking rail 101 is tightly held in the middle position of each wheel group. Obviously, the number of roller groups is not limited to 2 groups, for example, it can be 1 group or more than 2 groups. The arrangement of the roller groups is also not limited to the above arrangement.

[0060] The walking module 201 also includes a walking motor 201C, and the wheel set connected to the walking motor 201C is the driving wheel set 201B, and the wheel set not connected to the walking motor is the driven wheel set 201A. As a preferred example, in this embodiment, the two wheel sets 201A are respectively configured with a set of driving wheels and a set of driven wheels. In the working state, the driving wheel set and the driven wheel set of the walking module respectively clamp the walking guide rail in the middle, and the driving wheel set drives the robot arm mounting platform 20 to move forward and backward along the walking guide rail 101 through the driving of the walking motor.

[0061] The robot arm mounting platform 20 also includes: a positioning module 203 arranged on the top surface of the platform body 200 and a communication and power supply module 202 arranged on the top of the positioning module 203. Preferably, the positioning module 203 is arranged on the side of the platform body 200 close to the base station 6. Obviously, it can also be arranged on the side of the platform body 200 away from the base station 6, as long as it can be locked with the parking fixed beam 602 of the charging base station 6.

[0062] Preferably, the positioning module 203 is a clamping mechanism, which is driven by a screw rod to perform a locking action (holding action) upward, so that the mechanism located at the center of the clamping mechanism of the positioning module 203 can be held. As a preferred example, when the robot arm mounting platform 20 runs to an appropriate position, the parking fixed beam 602 of the charging base station 6 can overlap with the position of the positioning module 203, and the positioning module 203 performs a holding action, which can lock and fix the communication and power supply module 603 fixed at the bottom of the protruding end of the parking fixed beam 602, so that the robot arm mounting platform 20 and the parking fixed beam 602 (and the charging base station 6) form a locked state. When the positioning module 203 forms a locked state with the parking fixed beam 602 of the charging base station 6, the communication and power supply module 202 of the robot arm mounting platform 20 forms an electrical connection with the communication and power supply module 603 of the charging base station 6 and communicates. In addition, the communication and power supply module 202 can not only communicate with the charging base station, but also perform signal communication with the server 7.

[0063] In addition, as an example, the platform body 200 of the manipulator mounting platform 20 has two protrusions 200A (which is located on the side away from the charging base station 6) and 200B (which is located on the side close to the charging base station 6) extending upward on the top surface. Obviously, the shape of the platform body 200 is not limited to this, and other shapes can be adopted, such as a shape that does not include a protrusion. In addition, rechargeable batteries, processors, memories (not shown) and other devices can be installed in the protrusions 200A and 200B. When the manipulator mounting platform 20 and the charging base station are not powered on, the rechargeable battery can provide power for operations such as walking on the walking track, sending and receiving instructions and information. Computer programs for controlling various operations or processing of the manipulator mounting platform 20, such as hanging rail walking, powering on, communicating, locking the charging base station, adjusting the posture of the manipulator, plugging and unplugging the charging gun, etc. can be stored in the memory.

[0064] The mechanical arm 210 includes: a charging gun grabbing module 206 mounted at its end, and a mechanical arm module 205 located at the upper part of the charging gun grabbing module and connected to the charging gun grabbing module 206. Preferably, the charging gun grabbing module 206 adopts an electromagnetic mechanism that is energized and magnetized, and accordingly, the end of the charging gun includes an iron structure with a guide. When the charging gun grabbing module 206 is energized, it can form a stable connection relationship with the charging gun in the correct direction, thereby enabling the charging gun to perform grabbing actions and operate the charging gun to perform actions such as plugging and unplugging. Therefore, the mechanical arm 210 can achieve operations such as docking and fixing the mechanical arm and the charging gun through the charging gun grabbing module 206.

[0065] In addition, as a preferred method, in order to cope with the situation of insufficient arm span, the robot arm 210 can also include a lifting module 204, which can be arranged on the upper part of the robot arm module 205 to adjust the height of the robot arm module so that the robot arm 210 can have sufficient arm span to cope with various parking space arrangements, vehicle parking directions and vehicle models (the location of the vehicle charging interface), so that operations such as plugging and unplugging the charging gun can be performed on the vehicle to be charged in different situations.

[0066] To sum up, when it is necessary to provide charging services to the vehicle to be charged (vehicle to be charged) at the target parking space, the automobile charging equipment according to the present invention can be mounted on a walking rail and equipped with a robotic arm. The robotic arm can run to the top of the target parking space, and the robotic arm can take out and operate the charging gun to insert the charging gun into the vehicle to be charged, thereby enabling automatic charging services without manual operation.

[0067] In addition, when charging is completed or an interruption fault such as a gun jumping occurs, the automobile charging equipment according to the present invention can automatically transport the robotic arm mounting platform equipped with a robotic arm to the target parking space where charging is completed or a charging interruption such as a gun jumping occurs, and enable the robotic arm to perform actions such as unplugging the charging gun and recovering the charging gun to the storage mechanism of the charging host, or enable the robotic arm to perform actions such as reinserting the charging gun to restart charging, thereby realizing automatic energy replenishment service without the need for manual continuous attention to the charging status and manual participation in operations such as plugging and unplugging the charging gun.

[0068] Therefore, it not only improves the convenience of the user's charging operation, but also saves the user's attention time and parking space occupation time, thereby improving the utilization efficiency of the parking space and the user's charging efficiency and charging experience.

[0069] [Structure of the charging host mounting platform of the present invention]

[0070] The following reference Figure 4 , describing the structure of the charging host mounting platform. The upper part of the charging host mounting platform 30 can adopt the same structure as the mechanical arm mounting platform 20, which will not be described in detail. Specifically, the charging host mounting platform 30 includes: a platform body 300, two groups of walking modules 301 (301A and 301B) symmetrically arranged on both sides along the longitudinal direction of the walking rail, which hold the walking rail in the middle position by being arranged on the left and right. The walking module 301 includes a walking motor 301C, which is driven by the walking motor to move the charging host mounting platform forward and backward along the walking rail. The charging host mounting platform 30 also includes a positioning module 303 located on the top surface of the platform body 300 and a communication and power supply module 302 arranged on the top of the positioning module 303. When the positioning module 303 is locked with the parking fixed beam 602 of the charging base station 6, the communication and power supply module 302 is docked with the communication and power supply module on the parking fixed beam to obtain power and communicate. The positioning module 303 is a clamping mechanism, which drives the screw rod to extend and retract to clamp the parking fixed beam 602 so that the charging host mounting platform 30 and the charging base station 6 form a locked state.

[0071] As an example, the platform body 300 of the charging host mounting platform 30 has two protrusions 300A (located on the side away from the charging base station 6) and 300B (located on the side close to the charging base station 6) extending upward on the top surface. The protrusions 300A and 300B are equipped with rechargeable batteries, processors, memories (not shown) and other devices. When the rechargeable battery charging host mounting platform 30 and the charging base station are not powered on, it can provide power for operations such as walking on the walking track, sending and receiving instructions and information. Computer programs for various operations or processing of the charging host mounting platform 30, such as walking on the track, powering on, communicating, mounting the charging host, unloading the charging host, locking the charging base station, etc., can be stored in the memory.

[0072] In addition, the charging host mounting platform 30 also includes: a push-receive module 305 and a walking track 306 arranged at the bottom of the platform body 300. In addition, a limit assembly 304 is arranged at the end of the push-receive module 305 close to the charging base station, which is a movable mechanism. As a preferred example, the limit assembly 304 of the present invention is a spring pin structure, but obviously, limit mechanisms of other structures can also be used.

[0073] In addition, the limit assembly 304 matches the positioning module 506 of the charging host 50. When the limit assembly 304 is opened (the latch pops out in a protruding manner on both sides), the positioning module 506 of the charging host 50 is pushed outward and locked, so that the push-receive module 305 and the charging host 50 form a locked state. As the push-receive module 305 continues to push out from the charging host mounting platform 30 to the charging base station 6 side (or retracts from the charging base station 6 to the charging host mounting platform 30 side) in a manner of locking the charging host 50, the charging host 50 and the charging host mounting platform 30 (or the charging base station 6) can be released from the locked state. In addition, when the charging host mounting platform 30 is locked with the charging base station 6, the walking track 306 is docked with the locking track 601 of the charging base station 6 to form a horizontal track, so that the pushing and receiving module 305 can carry the charging host 50 to move between the charging host mounting platform 30 and the charging base station 6, and bear the weight of the charging host through the walking track 306 when the charging host is mounted.

[0074] When the locking state between the push-and-retract module 305 and the charging host 50 is to be released, the limiting component 304 is released and the positioning module 506 of the charging host is retracted inwardly along the longitudinal direction, so that the limiting component 304 is released from the locking state with the positioning component 506 of the charging host 50 .

[0075] In addition, the charging host also has functional modules such as AC / DC conversion, billing, and safety switch.

[0076] Moreover, since the charging host mounting platform and the mechanical arm mounting platform that can mount the charging host can both walk along the walking rails above each parking space in the parking lot and between the charging base stations, the charging host can not only move between the charging base stations as a mobile charging pile and charge itself when idle, but also respond to the vehicle charging request at each parking space and supply power to the vehicle at different charging base stations corresponding to different targets, and the mechanical arm mounting platform can also flexibly and efficiently move between different charging base stations to grab, plug and unplug, and take and deliver the charging gun. Therefore, the automobile charging equipment of the present invention has high mobility, can effectively reduce the charging host parking space ratio, while improving the efficiency and convenience of new energy vehicles in finding piles, and improve the utilization rate of the charging host.

[0077] [Structure of the sensing device of the present invention]

[0078] The following reference Figures 5A to 5D , describing the structure of the sensing device. The sensing device 40 includes a base station position identifier 401, which is respectively arranged on the platform body 200 of the manipulator mounting platform 20 and the platform body 300 of the charging host mounting platform 30 facing the charging base station. The identifier 401 identifies the QR code on the charging base station side to determine the location of the charging base station, thereby performing a positioning operation of the relative position of the platform (manipulator mounting platform 20 or charging host mounting platform 30) and the base station.

[0079] In addition, the sensing device 40 also includes an obstacle avoidance device 402, which includes a sensing component installed on the outer surface of the platform body of each platform (the robot mounting platform 20 and the charging host mounting platform 30). The sensing component can be a camera, a distance sensor, etc. As a preferred method, for example, the sensing component can be arranged on the two side end surfaces of the longitudinal direction of the platform body (the direction parallel to the walking track 101 in the mounted state) and the bottom surface of the platform body near the outer edge (for example Figure 5B and 5D The center of the bottom surface of the middle platform along the longitudinal direction and the end edge of the side away from the charging base station along the lateral direction) can sense the environment and avoid obstacles when the platform moves in orbit through the perception results of the environment by the sensing components.

[0080] In addition, the sensing device 40 may also include a mechanical arm end visual positioning device 403, which is installed at the end of the mechanical arm and can sense the environment and avoid obstacles when the mechanical arm moves, as well as identify the position of the charging gun, the vehicle body charging cover and the charging head, so as to provide positioning control when the charging gun gripping module is docked with the charging gun, so that the mechanical arm can hold the charging gun at the correct angle and plug and unplug the charging gun. As an example, the mechanical arm end visual positioning device 403 can be a visual sensing device such as a camera.

[0081] [Structure of the charging host of the present invention]

[0082] The following reference Figure 6, describing the structure of the charging host. The charging host 50 includes a positioning module 506, which is located at the top of the charging host and close to the side end of the charging base station in the lateral direction (the direction perpendicular to the walking guide rail in the mounted state). As a preferred example, it adopts a bayonet structure that matches the limit component 304, which is obviously not limited to this, and other interlocking structures that match the limit component 304 can also be adopted. The positioning module 506 can be operated to cooperate with the limit component 304 of the charging host mounting platform 30. When the limit component 304 is opened (extended outward), the positioning module 506 is pushed outward, so that the positioning module 506 is locked with the limit component 304 to achieve the locking of the push-receive module 305 and the charging host 50. When the limit component 304 is released and retracted, it is unlocked from the positioning module 506, so that the charging host and the locking track on the charging host mounting platform 30 or the charging base station form a locked state. The positioning module of the charging host cooperates with the limiting component of the charging host mounting platform to form a locking fixation between the charging host and the pushing and receiving module, the locking track on the charging base station, and the charging host mounting platform.

[0083] The charging host 50 also includes: two sets of running wheels 505 installed on its left and right sides, which can tighten the locking track of the charging base station or the running track 306 of the charging host mounting platform to allow the charging host to move on the running track; a dynamic plug-in 504, which docks with the static plug-in 604 of the charging base station 6 to form an electrical connection to supply power to the charging host; a charging gun storage mechanism 503, which cooperates with the charging gun 502 through the left and right guide rails to achieve auxiliary return to the correct position when the charging gun is inserted (it includes a guide rail, which cooperates with the charging gun to assist in returning to the correct position for inserting the charging gun); a wire retracting and releasing module 501, which stores the charging wire in the charging host through a turntable structure, and can perform wire retracting and releasing actions according to signal instructions. As an example, the wire retracting and releasing module 501 can be driven by a motor to retract and release the charging wire.

[0084] Reference Figure 8 The positioning module 303 of the charging host mounting platform 30 holds the communication and power supply module 603 on the parking fixed beam 602 in the center to form a locked state, and the communication and power supply module 302 on the charging host mounting platform 30 is electrically connected to the communication and power supply module 603 on the parking fixed beam 602 to power the charging host mounting platform 30 and communicate with it.

[0085] In order to better understand the charging control method and control device of the automobile charging device of the present invention, the control process thereof is described in detail below. The control method can be implemented by the processors of the server, the robot mounting platform and the charging host mounting platform executing the control programs stored in their respective memories.

[0086] [Charging control method of automobile charging system / automobile charging device of the present invention]

[0087] First, refer to 9A to 9C and Figures 1B to 8 A charging control method of the automobile charging system according to the present invention will be described.

[0088] When the robot arm mounting platform and the charging host mounting platform are mounted on the walking rail, after receiving the charging instruction from the car owner, an idle charging host is identified and locked, and the charging host mounting platform runs to its charging base station to take out the charging host and transport it to the target charging base station, and pushes it to the charging base station to complete the transportation of the charging host. After that, the charging host mounting platform leaves the target charging base station and docks and recharges at the nearest base station. The robot arm mounting platform moves to the target charging base station, and the robot arm holds the charging gun on the charging host to automatically charge the car. The robot arm mounting platform completes this round of instructions and starts processing the next round of charging instructions. Specifically, the charging control method of the present invention includes the following processing steps.

[0089] like Fig. 9A As shown, in step S10, the server receives a charging instruction for charging a vehicle parked in a parking space from a terminal used by a user to be charged, and then enters step S20.

[0090] In step S20, the server 7 notifies the charging host mounting platform 30 of the vehicle charging device to start the pile-taking operation. In the pile-taking operation, the charging host mounting platform 30 first moves to a nearby idle charging host 50 and mounts the charging host, and the charging host mounting platform 30 with the charging host 50 mounted runs to the target charging base station corresponding to the parking space to be charged, pushes the charging host to the target charging base station to form an electrical connection therewith, and the charging host mounting platform 30 with the charging host 50 unloaded runs to a nearby idle base station for charging, and the pile-taking operation is completed.

[0091] In step S30, the server 7 notifies the robot arm mounting platform 20 of the vehicle charging device to start the robot arm charging operation. In the robot arm charging operation, the robot arm mounting platform 20 runs to the target charging base station, releases the robot arm after forming an electrical connection with it, and the robot arm operates the charging gun to perform the gun insertion action for the charging interface of the vehicle to be charged. After the charging host starts charging the vehicle, the robot arm is retracted, and the charging operation is completed.

[0092] The following combination Fig. 9B The specific control process of the pile-removing operation and the mechanical arm charging operation of the automobile charging device of the present invention is described in detail.

[0093] [Pile removal operation of the automobile charging system / equipment of the present invention]

[0094] First, refer to Fig. 9B The operation process of the charging host mounting platform 30 of the automobile charging device 2 of the present invention performing the pile removal operation (step S20) is described in detail.

[0095] Step 1, the positioning module 303 of the charging host mounting platform 30 that receives the notification retracts to release the parking fixed beam 602, ending the locking state with the charging base station 6 (step S902).

[0096] Step 2, the walking module 301 on the charging host mounting platform 30 drives the platform to move through the walking rail 101 to the charging base station 6 where the nearest idle charging host 50 is located, and locates the target charging base station 6 according to the base station position identifier 401 to reach the target charging base station side (step S903).

[0097] In the present invention, a charging host in an idle state refers to a charging host that is not charging a vehicle. It can be mounted on the charging host mounting platform 30 or separated from the charging host mounting platform 30. Except for walking on the walking track, it is usually in a state of being connected to the charging base station for charging.

[0098] Step 3, the charging host mounting platform 30 makes its positioning module 303 perform a clamping action to lock with the parking fixed beam 602 of the charging base station 6 to form a locked state (step S904). The communication and power supply module 302 of the charging host mounting platform 30 is docked with the communication and power supply module 603 of the charging base station 6 to provide power and communication for the charging host mounting platform 30.

[0099] In step 4, the limit assembly 304 of the charging host mounting platform 30 moves with the push-and-receive module 305 on the push-and-receive module 305. The push-and-receive module 305 is pushed toward the charging base station 6 (step S905), and the sensing device 40 senses the distance between the push-and-receive module 305 and the charging host 50 (step S906), and determines whether the predetermined position has been reached (step S907). When it is determined that the predetermined position has been reached, the limit assembly 304 opens to lock the charging host 50 and the push-and-receive module 305 (step S908), and the push-and-receive module 305 carries the charging host 50 through the walking module 505, passes through the locking track 601 and the walking track 306, and is recovered toward the charging host mounting platform 30 (step S909).

[0100] Step 5, when the sensing device 40 senses the position of the push-receive module 305 (step S910), it determines whether it has reached the predetermined position (step S911). After determining that the charging host 50 has reached the predetermined position, the limit assembly 304 is released (step S912), and the positioning module 506 of the charging host 50 is locked with the charging host mounting platform 30 (step S913), completing the pile search process.

[0101] The above describes the charging pile search process of the automobile charging device of the present invention, which includes steps 1-5 (S901-S913). In summary, the charging host mounting platform 30 finds an idle charging host and mounts the charging host 50.

[0102] Next, the process of removing the charging pile of the automobile charging device of the present invention is described, which includes the following steps 6-9 (S914-S931).

[0103] Step 6, the positioning module 303 of the charging host mounting platform 30 releases the parking fixed beam 602 and releases the locking state with the parking fixed beam 602 (step S914). The charging host mounting platform 30 carries the charging host 50 and runs on the walking guide rail 101 to the target charging base station 6 corresponding to the parking position of the target charging vehicle through the walking module 301 (step S915), and the relative position of the charging host mounting platform 30 and the charging base station 6 is accurately adjusted to the alignment state through the base station position identifier 401 of the sensing device 40. The positioning module 303 holds the parking fixed beam 602 tightly and forms a locking state with the parking fixed beam 602 of the target charging base station 6 (step S916).

[0104] Step 7, the limit assembly 304 on the push-and-receive module 305 is opened (step S917), so that the charging host 50 and the push-and-receive module 305 are locked (step S918). The push-and-receive module 305 pushes the charging host 50 to the target charging base station 6 side (step S919). The walking module 505 of the charging host 50 runs to the locking track 601 of the charging base station 6 through the walking track 306 of the charging host mounting platform 30. The position of the push-and-receive module 305 is sensed by the sensing device 40 (step S920), and it is determined whether the charging host 5 has reached the target position (step S921). After it is determined that the target position has been reached ("Yes" in step S921), the limit assembly 304 is released (step S922), the positioning module 506 of the charging host 50 and the locking track 601 of the charging base station 6 are locked, and the dynamic plug-in 504 and the static plug-in 604 are electrically connected, so that the charging host 50 and the target charging base station 6 are powered on (step S923).

[0105] In step 8, the push-and-receive module 305 is retracted toward the charging host mounting platform 30 (step S924), the sensing device 40 senses the position of the push-and-receive module 305 (step S925), and determines whether the sensing push-and-receive module 305 has reached the predetermined position (step S926). After determining that the push-and-receive module 305 has reached the predetermined position (step S926 is "yes"), the push-and-receive module 305 returns to the initial state (step S927).

[0106] Step 9, the positioning module 303 on the charging host mounting platform 30 retracts to release the parking fixed beam 602 and release the locking state with the parking fixed beam 602 (step S928). The walking module 301 on the charging host mounting platform 30 drives the platform to move to the nearest idle charging base station via the walking guide rail 101 (step S929). The base station position identifier 401 (on the charging host mounting platform 30) of the sensing device 40 accurately identifies the position of the charging base station 6. After reaching the target position (for example, a nearby idle charging base station), the positioning module 303 hugs the parking fixed beam 602 of the target charging base station to form a locking state with the target charging base station 6 (step S929), and the server 7 changes the state of the charging host mounting platform to idle (step S931), and the pile removal operation is completed.

[0107] In summary, the charging host mounting platform 30 transports the charging host to the target charging base station, and pushes the charging host to the target charging base station to form an electrical connection therewith, and the charging host mounting platform 30 runs to a nearby idle base station for charging.

[0108] [Charging operation of the automobile charging system / equipment of the present invention]

[0109] Next, refer to Fig. 9C The operation process of the charging operation in which the robot arm of the robot arm mounting platform 20 of the automobile charging system of the present invention operates the charging gun to charge (step S30, which includes steps 10-15 (S932-S953)) is described.

[0110] In step 10 (robot transport step), the robot mounting platform moves to the target charging base station and is electrically connected to the target charging base station. Specifically, the robot transport step includes the following steps: the server 7 notifies the robot mounting platform 20 to perform the charging task at the target charging base station 6 side (step S932); the positioning module 201 of the robot mounting platform 20 releases the currently locked parking fixed beam 602 to release the locking state of the charging base station currently being electrically connected (step S933); the walking module 201 on the robot mounting platform 20 drives the platform to move to the target charging base station 6 (the target charging base station 6 powered on by the charging host 50 in step S923) via the walking guide rail 101 (step S934); the relative position of the charging base station 6 is accurately identified by the base station position identifier 401 of the sensing device 40 (the base station position identifier 401 on the robot mounting platform 20), and the position of the robot mounting platform 20 is adjusted to align the robot mounting platform 20 with the charging base station 6. After reaching the target position (position alignment), the positioning module 203 locks the parking fixed beam 602 at the target position to form a locked state with the target charging base station 6, and the communication and power supply module 603 of the charging base station 6 forms an electrical connection with the communication and power supply module 202 on the side of the robotic arm mounting platform 20 (step S935).

[0111] Step 11, release the robot arm 210 (step S936), guide the charging gun grasping module 206 to dock with the charging gun 502 through the visual positioning device 403 at the end of the robot arm (step S937), and then determine whether it is docked (step S938). If it is docked (step S938 "yes"), lock the charging gun grasping module 206 and the charging gun 502 (step S938).

[0112] In step 12, the cable retracting module 501 of the charging host 50 releases the charging cable (step S940), and determines whether the release is complete (step S941). If the charging cable is completely released (step S942), the locking state of the charging gun on the charging host is terminated (step S943).

[0113] Step 13, the robot arm module 205 removes the charging gun 502 from the charging host 50 (step S944), finds the charging port of the target vehicle through the robot arm end visual positioning device 403, and adjusts the posture of the charging gun 502 relative to the charging port according to the precise positioning information fed back by the robot arm end visual positioning device 403 to insert the charging gun into the charging port (step S945). Determine whether the docking is successful (step S946). If successful ("yes" in step S946), the charging gun and the vehicle charging port form a locked state (step S947), and the charging host and the vehicle complete the handshake of the charging protocol (step S948).

[0114] In step 14, the charging gun grasping module 206 releases the charging gun 502 (step S949), and retracts it to the side of the robot mounting platform 20 (step S950). After reaching the predetermined position, the robot module 205 returns to the initial state (step S951).

[0115] In step 15, the charging host 50 starts to supply power to the vehicle and charges the vehicle (step S952), and the server 7 changes the state of the robot mounting platform 20 to an idle state (step S953). At this point, the charging operation is completed.

[0116] Therefore, when it is necessary to provide charging service to the vehicle to be charged (vehicle to be charged) at the target parking space, the automobile charging equipment according to the present invention can transport the idle charging host to the charging base station (target charging base station) corresponding to the target parking space through the charging host mounting platform mounted on the running rail, and make the robotic arm mounting platform mounted on the running rail and equipped with a robotic arm run above the target parking space, and the robotic arm takes out and operates the charging gun installed in the charging host to insert the charging gun into the vehicle to be charged, thereby enabling automatic charging service without manual operation.

[0117] The following is a detailed description of the process by which the automobile charging device of the present invention solves the problem of gun jumping during charging.

[0118] [The present invention's automobile charging system / equipment solves the problem of gun jumping]

[0119] The following reference Fig.10 and Figures 1B to 8 , the operation flow of the automobile charging device of the present invention to solve the problem of gun jumping is described, specifically, it includes the following steps:

[0120] Step 1, when it is determined that a certain charging host 50 has a gun jumping problem (step S1001), detect whether the parking fixed beam (target parking fixed beam) 602 of the target charging base station corresponding to the charging parking space where the vehicle with the gun jumping problem is parked is occupied (step S1002). If it is not occupied, go to step 3 to notify the mechanical arm mounting platform to come and solve the gun jumping problem (step S1008). If it is occupied, determine whether the occupant is the mechanical arm mounting platform 20 or the charging host mounting platform 30 (step S1003). If the occupant is the mechanical arm mounting platform 20, go to step 4 (step S1011) to solve the gun jumping problem. If the charging host mounting platform 30 is occupied, go to step 2 (step S1004) and move the charging host mounting platform 30 to the parking fixed beam (idle parking fixed beam) 602 of the nearest idle charging base station.

[0121] Step 2, the positioning module 303 of the charging host mounting platform 30 is released, and the locking state with the parking fixed beam 602 is released (step S1004). The walking module 301 of the charging host mounting platform 30 drives the platform to move to the nearest idle parking fixed beam 602 through the walking guide rail 101 (step S1005). The position of the charging base station 6 is accurately identified and adjusted through the base station position identifier 401 of the sensing device 40 (the base station position identifier 401 of the charging host mounting platform 30). After reaching the target position, the positioning module 303 locks the parking fixed beam 602 at the target position to form a locking state with the idle charging base station (step S1006), and notifies the server to change the state of the charging host mounting platform to idle (step S1007).

[0122] Step 3, notify the robot mounting platform 20 to run to the target charging base station 6 to deal with the gun jumping problem (step S1008). After receiving the notification, the robot mounting platform moves to the target charging base station 6 (step S1009), and accurately identifies the position of the charging base station 6 through the base station position identifier 401 of the sensing device 40 (the base station position identifier 401 of the robot mounting platform 20), and adjusts the position. After reaching the target position, the positioning module 203 locks the parking fixed beam 602 at the target position, and forms a locked state with the corresponding target charging base station (step S1010).

[0123] Step 4, release the robot arm 210 and adjust the posture of the robot arm (step S1011), guide the charging gun gripping module 206 to dock with the charging gun 502 through the positioning of the visual positioning device 403 at the end of the robot arm (step S1012). Determine whether the docking is successful (step S1013). If it is determined that the docking with the charging gun 502 is successful, the charging gun gripping module 206 and the charging gun 502 are locked.

[0124] Step 5, releasing the locking state between the charging gun 502 and the vehicle charging interface (step S1014), the robotic arm module 205 drives the charging gun 502 to perform the gun pulling and gun insertion actions (step S1015), and the charging gun 502 re-locks the charging interface (step S1016).

[0125] Step 6, determine whether the charging host 50 and the vehicle have restored the charging handshake protocol (step S1017). If it is determined that it has not been restored, the server 7 is notified to mark the problem as unresolved (step S1020), the billing of this order is terminated (step S1021), and the error is sent to the owner, and the problem pile is listed as pending for repair (step S1022), and then enter step 7. If it is determined that the charging handshake protocol is restored, the charging host 50 recharges the vehicle (step S1018). Billing continues based on the billing amount of the previous order (step S1019).

[0126] In step 7, the charging gun grasping module 206 releases the charging gun 502 (step S1023), the robot arm 210 is recovered to the robot arm mounting platform 20 (step S1024), and restored to the initial state (step S1025).

[0127] In step 9, the server 7 changes the robot mounting platform 20 to an idle state (step S1026), and the operation of solving the gun jumping problem is completed.

[0128] To sum up, when the gun jumps, the rail-mounted robotic arm mounting platform 20 is dispatched to run to the charging base station corresponding to the parking space where the problem vehicle is parked, and the robotic arm is controlled to operate the charging gun to perform the gun pulling and inserting actions, so as to automatically recharge the vehicle without manual monitoring and manual operation, thereby effectively solving the gun jumping problem during the charging process and improving the user's charging experience.

[0129] [Charging completion operation of the automobile charging system / equipment of the present invention]

[0130] The following reference Fig.11 and Figures 1B to 8 , describing the control flow of the charging end operation of the vehicle charging system / vehicle charging device of the present invention. Specifically, it includes the following steps:

[0131] Step 1: When the vehicle is detected to be fully charged (e.g., charged to a predetermined value), the charging is terminated, i.e., the charging host 50 is notified to terminate the charging (step S1101). After receiving the information, the charging host 50 cuts off the power and terminates the charging of the vehicle (step S1102). The billing is terminated and an order is generated and sent to the vehicle owner (step S1103). Steps S1101 and S1103 can be performed simultaneously.

[0132] Step 2, detect whether the parking fixed beam (target parking fixed beam) of the target charging base station corresponding to the parking space where the fully charged vehicle is parked is occupied (step S1104). If not, proceed to step 4 to notify the mechanical arm mounting platform 20 to the target charging base station 6 to perform the end charging service operation (step S1110). If occupied, determine whether it is occupied by the charging host mounting platform 30 or the mechanical arm mounting platform 20 (step S1105). If the mechanical arm mounting platform 20 is occupied, proceed to step 5 to start the gun drawing operation (step S1117). If the charging host mounting platform 30 is occupied, proceed to step 3 and move the charging host mounting platform 30 to the parking fixed beam (idle parking fixed beam) 602 of the nearest idle charging base station (step S1107).

[0133] Step 3, the positioning module 303 on the charging host mounting platform 30 retracts to release the parking fixed beam 602 and release the locking state with the charging base station 6 (step S1106). The walking module 301 on the charging host mounting platform 30 drives the platform to move to the parking fixed beam (idle parking fixed beam) 602 of the nearest idle charging base station through the walking guide rail 101 (step S1107). The position of the charging base station 6 is accurately identified by the base station position identifier 401 of the sensing device 40 (the base station position identifier 401 of the charging host mounting platform 30), and after adjusting the relative position to reach the target position, the positioning module 303 locks the parking fixed beam 602 at the target position to form a locking state with the corresponding charging base station (step S1108), and the state of the charging host mounting platform is changed to idle (step S1109).

[0134] Step 4, the server 7 notifies the robot mounting platform 20 to go to the target charging base station 6 to perform the end charging service operation (step S1110). The robot mounting platform 20 moves to the target charging base station 6 (step S1111), and accurately identifies the position of the charging base station 6 through the base station position identifier 401 of the sensing device 40 (the base station position identifier 401 of the robot mounting platform 20), and adjusts the relative position to reach the target position (aligned with each other), and then the positioning module 203 locks the parking fixed beam 602 at the target position to form a locked state with the target charging base station 6 (step S1112).

[0135] Step 5, extend the robot arm 210 (step S1113), and use the positioning of the visual positioning device 403 at the end of the robot arm to dock the charging gun gripping module 206 with the charging gun 502 (step S1114). Determine whether the docking is successful (step S1115). If the docking is successful, lock it (step S1115 "yes"). If the determination is unsuccessful, return to step S1114 to re-dock.

[0136] Step 6, the charging gun 502 releases the locked state with the charging interface (step S1116), and the robot 210 operates the charging gun to perform the gun extraction operation, that is, unplug the charging gun 502 from the vehicle (step S1117). Through the positioning of the visual positioning device 403 at the end of the robot arm, the robot 210 inserts the charging gun 502 into the charging gun storage mechanism 503 (step S1118). The charging gun storage mechanism 503 cooperates with the charging gun 502 through the left and right side rails to achieve auxiliary return to the correct position when the charging gun is inserted. The auxiliary return mechanism can be a guide rail, which cooperates with the charging gun to assist in returning to the correct position of the inserted charging gun. The charging gun 502 and the charging gun storage mechanism 503 automatically form a locked state (step S1119), the charging gun grasping module 206 unlocks the charging gun 502 and releases the charging gun 502 (step S1120), the robot arm 210 is recovered to the side of the robot arm mounting platform 20 (step S1121) and the robot arm returns to its initial state (step S1122).

[0137] In step 7, the cable retracting module 501 retracts the charging cable (step S1123). When it is determined that all the cables are retracted ("yes" in step S1124), the robot mounting platform 20 is changed to an idle state (step S1125). The charging operation is now completed.

[0138] To sum up, by cutting off the power to the charging host when full charge is detected and having the robotic arm perform the gun-pulling action, the user experience is improved without manual operation. In addition, by sending billing notifications to users, users can be notified in time of the end of charging. The problem of parking space timeout after new energy vehicles are recharged can also be effectively solved, thereby improving parking space utilization and enhancing the charging experience of car owners.

[0139] Although the present invention has been described above with reference to exemplary embodiments, the above embodiments are only for illustrating the technical concept and features of the present invention and cannot be used to limit the protection scope of the present invention. Any equivalent variations or modifications made according to the spirit and essence of the present invention should be included in the protection scope of the present invention.

Claims

1. A charging control method for a vehicle charging device, wherein the vehicle charging device is mounted on a walking rail hoisted on the top of a parking lot, and a plurality of charging base stations are arranged along the walking rail in correspondence with the parking spaces in the parking lot. include: The robot arm mounting platform and the charging host mounting platform can be mounted on the walking rail, and the charging control method includes the following steps: A charging pile taking step, which causes the charging host mounting platform mounted with the charging host to run to the target charging base station, and electrically connects the charging host to the target charging base station; A robotic arm transporting step, which causes the robotic arm mounting platform equipped with the robotic arm to move to a target charging base station and electrically connect to the target charging base station; The robot arm action step causes the robot arm mounting platform to release the robot arm, and causes the robot arm to operate the charging gun to insert the charging gun into the vehicle to be charged.

2. The charging control method according to claim 1, further comprising: include: The charging pile search step enables the charging host mounting platform to find an idle charging host and mount the charging host.

3. The charging control method according to claim 1 or 2, in, The robot arm action step further includes the following steps: The robotic arm mounting platform releases the robotic arm and guides the charging gun grabbing module to dock with the charging gun and lock it; The robot arm mounting platform releases the charging cable and ends the locking of the charging gun on the charging host; The robotic arm removes the charging gun from the charging host and adjusts the posture of the charging gun relative to the charging port to insert the charging gun into the charging port.

4. The charging control method according to claim 1 or 2, in, The pile taking step further comprises the following steps: The charging host mounting platform with the charging host mounted thereon is moved to the target charging base station; Pushing the charging host to the target charging base station to form an electrical connection therewith; The charging host mounting platform unloads the charging host and runs to a nearby idle base station.

5. The charging control method according to claim 1 or 2, in, The robot arm transport step further comprises the following steps: The robot arm mounting platform receives the notification to execute the charging task at the target charging base station; The robot arm mounting platform releases the locking state with the charging base station that is currently electrically connected; The robotic arm mounting platform moves to the target charging base station via the walking rail; The robotic arm mounting platform senses the position of the charging base station through a sensing device and adjusts its position to align with the charging base station; The robotic arm mounting platform is locked with the target charging base station and electrically connected thereto.

6. The charging control method according to claim 1 or 2, further comprising a step of solving a gun jump problem. in, The jump gun solution step further includes: Notify the robotic arm mounting platform to run to the target charging base station to handle the gun jumping problem; After receiving the notification, the robot arm mounting platform moves to the target charging base station and forms a locked state with it; Extend the robotic arm and adjust its posture to dock with and lock the charging gun; Unlock the charging gun and the vehicle charging port. The robot arm operates the charging gun to perform gun extraction and gun insertion actions to recharge the vehicle.

7. The charging control method according to claim 1 or 2, further comprising a charging end step, in, The charging end step further includes: When the vehicle is fully charged, the charging host is powered off; Notify the robot arm mounting platform to execute the end charging service operation; The robotic arm mounting platform moves to the target charging base station and locks with the target charging base station; Extend the robotic arm and adjust its posture to dock with and lock the charging gun; Unlock the charging gun and the vehicle charging port. The robotic arm operates the charging gun to perform the gun extraction operation on the vehicle.

8. A charging control device for a car charging device, wherein the car charging device is mounted on a walking rail hoisted on the top of a parking lot, and a plurality of charging base stations are arranged along the walking rail in correspondence with the parking spaces in the parking lot. The car charging device comprises a mechanical arm mounting platform and a charging host mounting platform that can be mounted on the walking rail. The charging control device include: The pile part is used to move the charging host mounting platform with the charging host mounted thereon to the target charging base station, and electrically connect the charging host to the target charging base station; A robotic arm transport unit, which enables the robotic arm mounting platform equipped with the robotic arm to move to the target charging base station and electrically connect to the target charging base station; The robot arm action unit controls the robot arm mounting platform to release the robot arm, and enables the robot arm to operate the charging gun to insert the charging gun into the vehicle to be charged.

9. The charging control device according to claim 8, further comprising: include: The charging pile-finding unit enables the charging host mounting platform to find an idle charging host and mount the charging host.

10. The charging control device according to claim 8, further comprising a gun jump solution unit, in, The gun jump solution unit further includes: Notification department, which notifies the robot arm mounting platform to run to the target charging base station to handle the gun jumping problem; A moving part, which enables the robot arm mounting platform to move to the target charging base station after receiving the notification and form a locking state with it; A robot arm posture adjustment unit, which extends the robot arm and adjusts the posture of the robot arm to dock with and lock the charging gun; The charging gun release part releases the locking state between the charging gun and the vehicle charging interface. The charging gun action unit enables the robot arm to operate the charging gun to perform the actions of pulling out and inserting the gun to recharge the vehicle.

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