A mobile charging pile system and control method for plug-in combined hydrogen energy warehouse

Abstract

The present invention discloses a mobile charging pile system and control method for a plug-in combined hydrogen energy warehouse, comprising a quick connector assembly, a mobile charging pile control system, a carrying mobile platform, and a box body. A hydrogen fuel power generation device, an energy tank plug-in box, and a battery are installed inside the box body, and the battery is electrically connected to the hydrogen fuel power generation device; the energy tank plug-in box has a plug-in accommodating cavity for accommodating a hydrogen energy tank, and the bottom of the hydrogen energy tank is connected to the bottom of the hydrogen fuel power generation device via a quick connector assembly; a charging gun is suspended in the box body; the mobile charging pile control system comprises a walking control module and a charging control module, the walking control module comprises a walking route planning module and a walking execution control module, and the charging control module comprises a hydrogen fuel power generation execution module and a battery power monitoring module. The present invention realizes mobile charging operations in industrial parks and large parking lots by moving the carrying mobile platform to a predetermined location, and has the characteristics of rapid rescue response.

Description

Technical Field

[0001] The present invention relates to the field of charging piles, and in particular to a mobile charging pile system and a control method for a plug-in combined hydrogen energy warehouse. Background Art

[0002] With technological advancements, electric vehicles, known for their energy-saving and environmentally friendly features, are becoming increasingly popular. Consumers' biggest concern regarding electric vehicles is their insufficient range. The best way to address this issue is to increase the number of charging stations, thereby alleviating consumers' charging concerns. Existing charging stations are mostly fixed in a specific location, also known as fixed charging stations. These stations have a charging station interface that electrically couples the station to the electric vehicle's electric vehicle interface. They primarily draw power directly from the grid, limiting their use cases. Many parking lots in China now have charging stations, but the limited number of stations is not fully utilized. The main problem is that many electric vehicles remain in the parking lot after charging because their owners do not leave in time, occupying the charging space. This prevents other vehicles from using the charging stations and leads to a shortage of charging stations.

[0003] Currently, most parking lots have relatively few charging stations, and these stations are often occupied by vehicles parked, making it difficult to find them. Hydrogen energy can also generate electricity, which can be achieved through hydrogen power generation equipment. With the rise of the sharing economy, designing mobile charging stations that are not limited to fixed locations and can enable mobile charging operations is a solution to the current charging difficulties of charging stations. Due to traffic restrictions, road congestion, and the lack of convenience in public transportation (such as subways and rapid transit), people often park their vehicles for long periods of time, which can lead to battery loss. This is especially true for electric vehicles parked in spaces without charging stations. After a long period of non-use, when they need to use the vehicle, they may find that the vehicle cannot be started. This can also occur in parking areas for electric vehicles without charging facilities. In some industrial parks, in addition to electric vehicles and electric vehicles, other electrical equipment also needs to be charged. With the development of electric vehicles, industrial parks are more receptive to mobile charging stations in the sharing economy. Therefore, changing the traditional fixed charging pile model and adopting mobile charging piles has greater convenience and flexibility. It can not only solve the charging needs of electric vehicles and other electrical equipment, but also provide emergency rescue and other purposes. It is also a new direction and important breakthrough in the current maintenance of electric vehicles. Summary of the Invention

[0004] The purpose of the present invention is to solve the technical problems pointed out by the background technology, and to provide a mobile charging pile system and control method for a plug-in combined hydrogen energy warehouse, which can be plugged in and combined with a hydrogen energy tank. The hydrogen energy tank provides hydrogen energy for a hydrogen fuel power generation device, and the hydrogen fuel power generation device generates electricity and transmits it to a charging gun, so that it is possible to charge external equipment to be charged through the charging gun; the mobile charging pile control system of the present invention can control the movement of the carrying mobile platform to a predetermined position, thereby realizing the purpose of using the mobile charging pile, and can realize mobile charging operations in industrial parks and large parking lots. It has the characteristics of rapid rescue response and can also be promoted to the field of Internet sharing economy, and has significant results in solving the urgency of charging equipment to be charged (especially electric vehicles).

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A mobile charging pile system for a plug-in combined hydrogen energy warehouse, comprising a quick connector assembly, a mobile charging pile control system, a load-bearing mobile platform and a box body installed on the top of the load-bearing mobile platform, the quick connector assembly is composed of a male connector and a female connector that are sealed and plugged in, a hydrogen fuel power generation device, an energy tank plug-in box and a battery are installed inside the box body, and the battery is electrically connected to the hydrogen fuel power generation device; the energy tank plug-in box has a plurality of plug-in accommodating cavities inside, a hydrogen energy tank is placed in each plug-in accommodating cavity, the bottom of the hydrogen energy tank is connected with a female connector, and the bottom of the hydrogen fuel power generation device is provided with a male connector that plugs into the corresponding female connector; a charging gun that is electrically connected to the battery and the hydrogen fuel power generation device is hung in the box body; the load-bearing mobile platform comprises a load-bearing frame, the front row of independent walking components are symmetrically installed on the front row of the bottom of the load-bearing frame, and the rear row of independent walking components are symmetrically installed on the rear row of the bottom of the load-bearing frame, and the four independent walking components jointly support the load-bearing frame; the independent walking component comprises a bearing seat, a drive gear, a rotating shaft, a walking tire and a motor, the bearing seat, the motor Fixed to the bottom of the load-bearing frame, the rotating shaft is rotatably installed on the bearing seat, the outer end of the rotating shaft is connected to the walking tire, the driving gear is fixedly sleeved on the rotating shaft, the motor has an output gear, and the output gear of the motor is connected to the driving gear through a rack belt power connection, and the motor of each independent walking component is electrically connected to the battery; the mobile charging pile control system includes a walking control module and a charging control module, the walking control module is connected to the motor of each independent walking component, the walking control module includes a walking route planning module and a walking execution control module, the walking route planning module is used to plan the walking route of the starting and ending points, and the walking execution control module is used to control the start and speed of the four motors respectively and realize the forward walking, backward walking, stopping, and differential steering movement of the carrying mobile platform; the charging control module includes a hydrogen fuel power generation execution module and a battery power monitoring module, the hydrogen fuel power generation execution module is connected to the hydrogen fuel power generation device, the battery power monitoring module is connected to the battery, and the battery power monitoring module is used to monitor the power inside the battery.

[0007] In order to better implement the present invention, the charging control module also includes a hydrogen energy tank monitoring module. A hydrogen energy detection sensor connected to the hydrogen energy tank monitoring module is provided inside the male connector of the hydrogen fuel power generation device. The hydrogen energy detection sensor is used to detect the hydraulic pressure of the hydrogen energy liquid flowing into the male connector and transmit it to the hydrogen energy tank monitoring module.

[0008] A further technical solution is: the mobile charging pile control system also includes a radar obstacle avoidance module, and an obstacle avoidance radar connected to the radar obstacle avoidance module is provided on the top of the box. The radar obstacle avoidance module detects obstacles in front through the obstacle avoidance radar and formulates obstacle avoidance walking control data to the walking execution control module. The walking execution control module controls the four motors to perform obstacle avoidance work.

[0009] A further technical solution is: the rear side of the box is the rear plate of the charging pile, the rear plate of the charging pile is provided with a double door, the double door is provided with an electromagnetic door lock, the mobile charging pile control system also includes a door lock control module electrically connected to the electromagnetic door lock, and the door lock control module is used to control the opening and closing of the electromagnetic door lock.

[0010] Preferably, a touch screen is provided on the top of the box, and the touch screen is electrically connected to the mobile charging pile control system.

[0011] Preferably, the charging pile box further comprises a charging pile front plate, a taking-out window is provided on the charging pile front plate, and a window door for closing the taking-out window is hingedly connected to the charging pile front plate.

[0012] Preferably, the rack belt has driving teeth evenly distributed along the length direction, and the driving teeth of the rack belt are respectively engaged with the corresponding gears of the driving gear and the output gear of the motor; a wheel hub is fixedly installed on the inner side of the traveling tire of the independent traveling component, and the wheel hub has a shaft sleeve, and the end of the rotating shaft close to one end of the traveling tire is the driving end, and the driving end is locked and fixed in the shaft sleeve.

[0013] Preferably, a handle is installed on the side of the hydrogen energy tank; and a door handle is provided on the double door of the rear panel of the charging pile.

[0014] A method for controlling a mobile charging pile of a plug-in combined hydrogen energy warehouse includes a mobile charging pile system, and the method includes:

[0015] S1. The door lock control module of the mobile charging pile control system controls the electromagnetic door lock to open, assembles the hydrogen energy tank to be replaced into the plug-in accommodating cavity, and the female connector of the hydrogen energy tank is sealed and connected with the male connector of the hydrogen fuel power generation device; the door lock control module controls the electromagnetic door lock to close; the battery power monitoring module of the mobile charging pile control system monitors the power inside the battery. The battery power monitoring module is internally set with a power threshold. When the power monitored by the battery power monitoring module is lower than the power threshold, the hydrogen fuel power generation execution module controls the hydrogen fuel power generation device to generate power and replenish the battery;

[0016] S2. The mobile charging pile control system has an internal navigation map. The travel route planning module uses the positioning position of the mobile charging pile system as the starting point and the positioning position of the device to be charged as the end point to navigate and plan a travel route. The travel execution control module controls the start and speed of the four motors and realizes the forward movement, backward movement, stop, and differential steering movement of the carrying mobile platform. The travel execution control module controls the four motors to carry out travel operations according to the travel route plan to reach the predetermined position, which is the positioning position of the device to be charged;

[0017] S3. The charging gun is provided with a charging detection module connected to the mobile charging pile control system. The charging detection module is used to monitor whether the connection is intact and whether the charging instruction is received. The hydrogen fuel power generation execution module of the mobile charging pile control system controls the hydrogen fuel power generation device to generate electricity and supply power to the charging gun and the battery; the mobile charging pile control system sets the charging gun to charge with the electricity generated by the hydrogen fuel power generation device; each hydrogen energy detection sensor corresponds to detecting the hydraulic pressure of the hydrogen energy liquid flowing into the male connector, and the hydrogen energy tank monitoring module sets a hydraulic threshold inside. When the hydraulic pressure detected by the hydrogen energy detection sensor is less than the hydraulic threshold, the hydrogen energy tank monitoring module issues a replacement warning signal.

[0018] Preferably, the mobile charging pile control method of the present invention further includes the following method:

[0019] S4. The radar obstacle avoidance module controls the obstacle avoidance radar to detect obstacles ahead and formulates obstacle avoidance walking control data to the walking execution control module. The walking execution control module controls the four motors to perform obstacle avoidance.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] (1) The present invention can be plugged into a combined hydrogen energy tank, which provides hydrogen energy for a hydrogen fuel power generation device. The hydrogen fuel power generation device generates electricity and transmits it to a charging gun, so that it is possible to charge an external device to be charged through the charging gun; the mobile charging pile control system of the present invention can control the movement of the carrying mobile platform to a predetermined position, thereby realizing the purpose of using a mobile charging pile, and can realize mobile charging operations in industrial parks and large parking lots. It has the characteristics of rapid rescue response and can also be promoted to the field of Internet sharing economy, and has significant results in solving the urgency of charging devices to be charged (especially electric vehicles).

[0022] (2) The charging control module of the mobile charging pile control system of the present invention includes a hydrogen fuel power generation execution module and a battery power monitoring module. The hydrogen fuel power generation execution module is connected to the hydrogen fuel power generation device. The hydrogen fuel power generation execution module realizes the start-up control of the hydrogen fuel power generation device. When power is supplied, it can quickly control the hydrogen fuel power generation device to generate electricity and charge externally through the charging gun; the battery power monitoring module is connected to the battery. The battery power monitoring module monitors the power inside the battery. The battery provides power for the mobile charging pile system to travel and ancillary equipment. Monitoring the power can facilitate timely knowledge, alarm and timely replenishment.

[0023] (3) The walking execution control module of the present invention controls the start-up and speed of the four motors respectively and realizes the moving operations such as forward walking, backward walking, stopping, and differential steering movement of the carrying mobile platform. The walking execution control module can meet various movements and can complete the driving movement operations according to the walking route planning.

[0024] (4) The radar obstacle avoidance module of the mobile charging pile control system of the present invention can detect obstacles in front and formulate obstacle avoidance walking control data to the walking execution control module, which can realize the control of four motors to perform obstacle avoidance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of the present invention after assembly;

[0026] Figure 2 It is an exploded view of the structure of the present invention;

[0027] Figure 3 for Figure 1 Schematic diagram of the structure at the front plate of the charging pile;

[0028] Figure 4 This is a schematic diagram of the layout of the charging gun in the embodiment;

[0029] Figure 5 This is a schematic diagram of the structure of the assembled load-bearing mobile platform in the embodiment;

[0030] Figure 6 This is a schematic diagram of the structure of the carrying mobile platform in the embodiment when viewed from above;

[0031] Figure 7 This is a schematic structural diagram of a quick connector assembly used in the embodiment;

[0032] Figure 8 This is a schematic structural diagram of an independent walking component in the embodiment;

[0033] Figure 9 This is a principle block diagram of the mobile charging pile control system of the present invention.

[0034] The names corresponding to the reference numerals in the accompanying drawings are:

[0035] 1-Box, 11-Box base, 12-Top cover, 13-Charging pile front plate, 131-Access window, 132-Window door, 14-Charging pile rear plate, 141-Biparting door, 1411-Electromagnetic door lock, 1412-Door handle, 2-Hydrogen fuel power generation device, 3-Energy tank plug-in box, 31-Hydrogen energy tank, 311-Handle, 32-Plug-in accommodating cavity, 4-Battery, 5-Load-bearing frame, 51-Load-bearing base plate, 6-Quick connector assembly, 61-Male connector, 62-Female connector, 7-Motor, 8-Drive gear, 81-Shaft, 811-Bearing seat, 812-Drive end, 82-Wheel hub, 821-Axle sleeve, 9-Tire, 10-Touch screen, 15-Charging gun, 16-Load-bearing mobile platform, 17-Obstacle avoidance radar, 18-Rack belt. DETAILED DESCRIPTION

[0036] Below in conjunction with embodiment, the present invention is described in further detail:

[0037] Example

[0038] like Figures 1 to 9 As shown, a mobile charging pile system for plug-in combined hydrogen energy warehouse includes a quick connector assembly 6, a mobile charging pile control system, a carrying mobile platform 16 and a box 1 installed on the top of the carrying mobile platform 16. The carrying mobile platform 16 is used to support the carrying box 1 and hold the box 1 for overall movement, as shown in FIG. Figure 7 As shown, the quick connector assembly 6 consists of a male connector 61 and a female connector 62, which are tightly connected and can be quickly connected without leaking air or liquid. This embodiment can adopt the quick connector disclosed in Chinese Patent No. 202222869432.9. The housing 1 houses a hydrogen fuel cell generator 2, an energy tank connector box 3, and a battery 4. The battery 4 is electrically connected to the hydrogen fuel cell generator 2, which can supply the battery 4 with electrical energy. The energy tank plug-in box 3 has a plurality of plug-in accommodating cavities 32 inside (the number of plug-in accommodating cavities 32 is manufactured according to the specific situation and can be one or more. In this embodiment, two plug-in accommodating cavities 32 are used to assemble two hydrogen energy tanks 31 as an example). A hydrogen energy tank 31 is placed in each plug-in accommodating cavity 32. A female connector 62 is provided at the bottom of the hydrogen energy tank 31. A male connector 61 corresponding to the female connector 62 is provided at the bottom of the hydrogen fuel power generation device 2. The female connector 62 of the hydrogen energy tank 31 and the male connector 61 of the hydrogen fuel power generation device 2 are plugged together to form a set of quick connector components 6. A charging gun 15 electrically connected to the battery 4 and the hydrogen fuel power generation device 2 is suspended in the box body 1. The power of the charging gun 15 is mainly provided by the hydrogen fuel power generation device 2, and the battery 4 is provided as a special backup solution.

[0039] like Figure 5 、 Figure 6 As shown, the carrying mobile platform 16 includes a carrying frame 5, the front row of the bottom of the carrying frame 5 is symmetrically installed with the front row of independent walking components, and the rear row of the bottom of the carrying frame 5 is symmetrically installed with the rear row of independent walking components, see Figure 5 , an independent walking assembly is respectively provided on the left and right sides of the front row of the carrying frame 5, and an independent walking assembly is respectively provided on the left and right sides of the rear row of the carrying frame 5; the four independent walking assemblies jointly support the carrying frame 5, and each independent walking assembly has the same structure. Preferably, the carrying frame 5 is a combined component, and the part connecting the carrying frame 5 and the four independent walking assemblies is the bearing base plate 51. Independent walking assembly (such as Figure 8The vehicle body 5 is shown in FIG1 , which includes a bearing seat 811, a driving gear 8, a rotating shaft 81, a traveling tire 9 and a motor 7. The bearing seat 811 and the motor 7 are fixed to the bottom of the supporting frame 5 (i.e., the bottom of the supporting base plate 51). The rotating shaft 81 is rotatably mounted on the bearing seat 811. The outer end of the rotating shaft 81 is cooperatively connected with the traveling tire 9. The driving gear 8 is fixedly sleeved on the rotating shaft 81. The motor 7 has an output gear. The output gear of the motor 7 is connected to the driving gear 8 by a rack belt 18. The motor 7 of each independent traveling component is electrically connected to the battery 4. The battery 4 supplies electrical energy to the motor 7 of each independent traveling component.

[0040] like Figure 9 As shown, the mobile charging pile control system includes a walking control module and a charging control module. The walking control module is connected to the motor 7 of each independent walking component. The walking control module includes a walking route planning module and a walking execution control module. The walking route planning module is used to plan the walking route of the starting and ending points (when in use, the mobile charging pile control system has a navigation map inside. The walking route planning module uses the positioning position of the mobile charging pile system as the starting point and the positioning position of the device to be charged as the end point to navigate and plan the walking route. Of course, key positions can also be set for walking planning). The walking execution control module is used to control the start and speed of the four motors 7 respectively and realize the forward walking, backward walking, stopping, and differential steering movement of the carrying mobile platform 16; the walking execution control module controls the four motors 7 to perform walking operations according to the walking route plan to reach the predetermined position. The predetermined position is generally the positioning position of the device to be charged (such as an electric car). The charging control module includes a hydrogen fuel power generation execution module and a battery power monitoring module. The hydrogen fuel power generation execution module is connected to the hydrogen fuel power generation device 2. The hydrogen fuel power generation execution module controls the start or shut down of the hydrogen fuel power generation device 2. The battery power monitoring module is connected to the battery 4. The battery power monitoring module is used to monitor the power inside the battery 4 and can transmit the power to the touch display screen 10 for display.

[0041] In some embodiments, the charging control module also includes a hydrogen energy tank monitoring module, and a hydrogen energy detection sensor connected to the hydrogen energy tank monitoring module is provided inside the male connector 61 of the hydrogen fuel power generation device 2. The hydrogen energy detection sensor is used to detect the hydraulic pressure of the hydrogen energy liquid flowing into the male connector 61 and transmit it to the hydrogen energy tank monitoring module, and can display the hydraulic conditions detected by each hydrogen energy detection sensor on the touch screen 10 (the hydraulic conditions can represent the amount of hydrogen energy remaining in the hydrogen energy tank 31. If there is more hydrogen energy in the hydrogen energy tank 31, since the hydrogen energy tank 31 flows out from the bottom, the hydraulic pressure of the hydrogen energy liquid flowing into the male connector 61 must be higher. If the hydrogen energy reserve in the hydrogen energy tank 31 is less, the hydraulic pressure of the hydrogen energy liquid flowing into the male connector 61 will be lower).

[0042] In some embodiments, the mobile charging pile control system also includes a radar obstacle avoidance module. An obstacle avoidance radar 17 connected to the radar obstacle avoidance module is provided on the top of the box 1. The radar obstacle avoidance module detects obstacles in front through the obstacle avoidance radar 17 and formulates obstacle avoidance walking control data to the walking execution control module. The walking execution control module controls the four motors 7 to perform obstacle avoidance (the obstacle avoidance radar 17 can detect in real time. Once an obstacle is found, it will provide obstacle avoidance walking control data to the walking execution control module. The walking execution control module performs local obstacle avoidance adjustments under the premise of walking route planning).

[0043] In some embodiments, the rear side of the box body 1 is the charging pile rear plate 14, and the front side of the box body 1 is the charging pile front plate 13. Figure 2 As shown, the top of the box body 1 is a top cover 12, and the bottom of the box body 1 is a box body base 11. In this way, the box body 1 is composed of a front plate 13 of the charging pile, a rear plate 14 of the charging pile, a top cover 12, a box body base 11 and some side plates. A double-door 141 is provided on the rear plate 14 of the charging pile, and an electromagnetic door lock 1411 is provided on the double-door 141. The mobile charging pile control system also includes a door lock control module electrically connected to the electromagnetic door lock 1411. The door lock control module is used to control the opening and closing of the electromagnetic door lock 1411. The mobile charging pile control system of the present invention can be built on the Internet. Users can download an app connected to the mobile charging pile control system on a smart terminal (such as a mobile phone), which is convenient for maintenance personnel to open the electromagnetic door lock 1411 to replace the hydrogen energy tank 31. It can also play a role in preventing it from being opened. The electromagnetic door lock 1411 is electrically connected to the battery 4.

[0044] In some embodiments, a touch screen display 10 is provided on the top of the box 1, and the touch screen display 10 is electrically connected to the mobile charging pile control system. The touch screen display 10 can display warning information, power, hydraulic pressure and other data on the mobile charging pile control system for timely query.

[0045] In some embodiments, as Figure 3 As shown, the charging pile box 1 also includes a charging pile front plate 13, which has a take-out window 131. A window door 132 is hinged on the charging pile front plate 13 for closing the take-out window 131. When in use, the window door 132 is opened to take out the charging gun 15 from the take-out window 131. Figure 4 A handle 311 is installed on the side of the hydrogen energy tank 31 to facilitate maintenance personnel to carry the hydrogen energy tank 31. A door handle 1412 is provided on the double-leaf door 141 of the rear panel 14 of the charging station to facilitate grasping and opening and closing the double-leaf door 141.

[0046] In some embodiments, the rack belt 18 of the present invention has drive teeth evenly distributed along its length, and the drive teeth of the rack belt 18 respectively mesh with corresponding gears of the drive gear 8 and the output gear of the motor 7. A preferred independent travel assembly of the present invention has a hub 82 fixedly mounted inside the travel tire 9. The hub 82 has a shaft sleeve 821. The end of the rotating shaft 81 near the travel tire 9 is a drive end 812, which is locked and fixedly mounted in the shaft sleeve 821.

[0047] A method for controlling a mobile charging pile connected to a hydrogen energy storage tank includes the mobile charging pile system of this embodiment, and the method includes:

[0048] S1. The door lock control module of the mobile charging pile control system controls the electromagnetic door lock 1411 to open, installs the hydrogen energy tank 31 to be replaced into the plug-in accommodating cavity 32, and seals and connects the female connector 62 of the hydrogen energy tank 31 to the male connector 61 of the hydrogen fuel power generation device 2. The door lock control module controls the electromagnetic door lock 1411 to close. The battery power monitoring module of the mobile charging pile control system monitors the power inside the battery 4. The battery power monitoring module is internally set with a power threshold. When the power detected by the battery power monitoring module is lower than the power threshold, the hydrogen fuel power generation execution module controls the hydrogen fuel power generation device 2 to generate power and replenish the power to the battery 4.

[0049] S2. The mobile charging pile control system has a navigation map inside. The walking route planning module uses the positioning position of the mobile charging pile system as the starting point and the positioning position of the device to be charged as the end point to navigate and plan the walking route. The walking execution control module controls the start and speed of the four motors 7 respectively and realizes the forward walking, backward walking, stopping, and differential steering movement of the carrying mobile platform 16. The walking execution control module controls the four motors 7 to perform walking operations according to the walking route plan to reach the predetermined position, which is the positioning position of the device to be charged.

[0050] S3. The charging gun 15 is equipped with a charging detection module connected to the mobile charging pile control system. The charging detection module is used to monitor whether the connection is intact and whether the charging command has been received. The hydrogen fuel power generation execution module of the mobile charging pile control system controls the hydrogen fuel power generation device 2 to generate electricity and supply power to the charging gun 15 and the battery 4. The mobile charging pile control system sets the charging gun 15 to charge with the electricity generated by the hydrogen fuel power generation device 2. The battery power monitoring module sets the charging threshold range. When the power monitored by the battery power monitoring module is within the charging threshold range, the charging gun 15 can use the battery 4 as a backup to supplement the input power when the hydrogen fuel power generation device 2 does not input power to the charging gun 15. Each hydrogen energy detection sensor corresponds to detecting the hydraulic pressure of the hydrogen energy liquid flowing into the male connector 61. The hydrogen energy tank monitoring module sets a hydraulic pressure threshold. When the hydraulic pressure detected by the hydrogen energy detection sensor is less than the hydraulic pressure threshold, the hydrogen energy tank monitoring module issues a replacement warning signal.

[0051] S4. The radar obstacle avoidance module controls the obstacle avoidance radar 17 to detect obstacles ahead and formulates obstacle avoidance walking control data to the walking execution control module. The walking execution control module controls the four motors 7 to perform obstacle avoidance.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mobile charging pile system for a plug-in combined hydrogen energy warehouse, comprising a quick connector assembly (6), wherein the quick connector assembly (6) is composed of a male connector (61) and a female connector (62) that are sealed and plugged together, and is characterized in that: The invention also includes a mobile charging pile control system, a carrying mobile platform (16), and a box (1) installed on the top of the carrying mobile platform (16). A hydrogen fuel power generation device (2), an energy tank plug box (3), and a battery (4) are installed inside the box (1). The battery (4) is electrically connected to the hydrogen fuel power generation device (2). The energy tank plug box (3) has a plurality of plug-in accommodating cavities (32) inside. A hydrogen energy tank (31) is placed in each plug-in accommodating cavity (32). The bottom of the hydrogen energy tank (31) is connected to the female connector (62). The bottom of the hydrogen fuel power generation device (2) is provided with a male connector (61) corresponding to the female connector (62). A plug-in accommodating cavity (32) is provided in the box (1). ), a charging gun (15) electrically connected to the hydrogen fuel power generation device (2); the carrying mobile platform (16) includes a carrying frame (5), the front row of the bottom of the carrying frame (5) is symmetrically installed with a front row of independent walking components, and the rear row of the bottom of the carrying frame (5) is symmetrically installed with a rear row of independent walking components, and the four independent walking components jointly support the carrying frame (5); the independent walking components include a bearing seat (811), a driving gear (8), a rotating shaft (81), a walking tire (9) and a motor (7), the bearing seat (811) and the motor (7) are fixed to the bottom of the carrying frame (5), the rotating shaft (81) is rotatably installed on the bearing seat (811), and the outer end of the rotating shaft (81) is connected to the walking tire ( 9) is connected in a coordinated manner, the driving gear (8) is fixedly mounted on the rotating shaft (81), the motor (7) has an output gear, the output gear of the motor (7) is connected to the driving gear (8) by a rack belt (18), and the motor (7) of each independent walking component is electrically connected to the battery (4); the mobile charging pile control system includes a walking control module and a charging control module, the walking control module is connected to the motor (7) of each independent walking component, the walking control module includes a walking route planning module and a walking execution control module, the walking route planning module is used to plan the walking route of the starting and ending points, and the walking execution control module is used to control the starting and speed of the four motors (7) and realize the load movement The moving platform (16) can move forward, move backward, stop, and perform differential steering movements; the charging control module includes a hydrogen fuel power generation execution module and a battery power monitoring module, the hydrogen fuel power generation execution module is connected to the hydrogen fuel power generation device (2), the battery power monitoring module is connected to the battery (4), and the battery power monitoring module is used to monitor the power inside the battery (4); the charging control module also includes a hydrogen energy tank monitoring module, and a hydrogen energy detection sensor connected to the hydrogen energy tank monitoring module is provided inside the male connector (61) of the hydrogen fuel power generation device (2), and the hydrogen energy detection sensor is used to detect the hydraulic pressure of the hydrogen energy liquid flowing into the male connector (61) and transmit it to the hydrogen energy tank monitoring module;The mobile charging pile control system further comprises a radar obstacle avoidance module. The top of the box (1) is provided with an obstacle avoidance radar (17) connected to the radar obstacle avoidance module. The radar obstacle avoidance module detects obstacles ahead through the obstacle avoidance radar (17) and formulates obstacle avoidance walking control data to the walking execution control module. The walking execution control module controls the four motors (7) to perform obstacle avoidance work. The rack belt (18) is evenly distributed with driving teeth along the length direction. The driving teeth of the rack belt (18) are respectively engaged with the driving gear (8) and the output gear of the motor (7). A wheel hub (82) is fixedly installed on the inner side of the walking tire (9) of the independent walking component. The wheel hub (82) has a shaft sleeve (821). The end of the rotating shaft (81) close to one end of the walking tire (9) is a driving end (812). The driving end (812) is locked and fixedly installed in the shaft sleeve (821).

2. A mobile charging pile system for plug-in combination hydrogen energy warehouse according to claim 1, characterized in that: The rear side of the box (1) is a charging pile rear plate (14), and the charging pile rear plate (14) is provided with a double-leaf door (141), and the double-leaf door (141) is provided with an electromagnetic door lock (1411). The mobile charging pile control system further comprises a door lock control module electrically connected to the electromagnetic door lock (1411), and the door lock control module is used to control the opening and closing of the electromagnetic door lock (1411).

3. A mobile charging pile system for plug-in combination hydrogen energy warehouse according to claim 1, characterized in that: A touch screen display (10) is provided on the top of the box (1), and the touch screen display (10) is electrically connected to the mobile charging pile control system.

4. A mobile charging pile system for plug-in combination hydrogen energy warehouse according to claim 1, characterized in that: The charging pile box (1) further comprises a charging pile front plate (13), a taking window (131) is provided on the charging pile front plate (13), and a window door (132) is hingedly connected to the charging pile front plate (13) for closing the taking window (131).

5. A mobile charging pile system for plug-in combination hydrogen energy warehouse according to claim 2, characterized in that: A handle (311) is installed on the side of the hydrogen energy tank (31); and a door handle (1412) is provided on the double-leaf door (141) of the rear plate (14) of the charging pile.

6. A mobile charging pile control method using the plug-in combined hydrogen energy warehouse of the mobile charging pile system according to claim 5, characterized in that: The methods include: S1. The door lock control module of the mobile charging pile control system controls the electromagnetic door lock (1411) to open, assembles the hydrogen energy tank (31) to be replaced into the plug-in accommodating cavity (32), and the female connector (62) of the hydrogen energy tank (31) and the male connector (61) of the hydrogen fuel power generation device (2) are correspondingly connected in a sealed manner; the door lock control module controls the electromagnetic door lock (1411) to close; the battery power monitoring module of the mobile charging pile control system monitors the power inside the battery (4), and a power threshold is set inside the battery power monitoring module. When the power monitored by the battery power monitoring module is lower than the power threshold, the hydrogen fuel power generation execution module controls the hydrogen fuel power generation device (2) to generate power and replenish power to the battery (4); S2. The mobile charging pile control system has a navigation map inside. The walking route planning module uses the positioning position of the mobile charging pile system as the starting point and the positioning position of the device to be charged as the end point to navigate and plan the walking route. The walking execution control module controls the start and speed of the four motors (7) and realizes the forward walking, backward walking, stopping, and differential steering movement of the carrying mobile platform (16). The walking execution control module controls the four motors (7) to perform walking operations according to the walking route plan to reach a predetermined position. The predetermined position is the positioning position of the device to be charged. S3. A charging detection module connected to the mobile charging pile control system is provided on the charging gun (15). The charging detection module is used to monitor whether the connection is intact and whether a charging instruction is received. The hydrogen fuel power generation execution module of the mobile charging pile control system controls the hydrogen fuel power generation device (2) to generate power and supply power to the charging gun (15) and the battery (4). The mobile charging pile control system sets the charging gun (15) to perform a charging operation with the electric energy generated by the hydrogen fuel power generation device (2). Each hydrogen energy detection sensor respectively detects the hydraulic pressure of the hydrogen energy liquid flowing into the male connector (61). A hydraulic pressure threshold is set inside the hydrogen energy tank monitoring module. When the hydraulic pressure detected by the hydrogen energy detection sensor is less than the hydraulic pressure threshold, the hydrogen energy tank monitoring module issues a replacement warning signal.

7. A method for controlling a mobile charging pile of a plug-in combined hydrogen energy warehouse according to claim 6, characterized in that: Also includes the following methods: S4, the radar obstacle avoidance module controls the obstacle avoidance radar (17) to detect obstacles ahead and formulates obstacle avoidance walking control data to the walking execution control module, and the walking execution control module controls the four motors (7) to perform obstacle avoidance work.

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