A mobile charging robot based on a simple pile and a mobile charging method

Abstract

The present application relates to the technical field of mobile charging robot, and particularly relates to a mobile charging robot based on a simple pile and a mobile charging method. The mobile charging robot comprises a simple pile and a mobile charging robot for providing electric energy for the simple pile. The simple pile comprises a stand, a power receiving socket arranged on the stand, and a charging gun for charging an electric vehicle and connected to the power receiving socket through a cable. The mobile charging robot comprises a mobile chassis, a battery pack arranged on the mobile chassis, a power supply plug for interfacing with the power receiving socket and connected to the battery pack through a cable, and a plug and socket automatic interfacing machine arranged on the mobile chassis for realizing automatic interfacing of the power supply plug and the power receiving socket. The present application enhances the adaptability of the mobile charging device and improves the reliability of the mobile charging device and the charging interface.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile charging robots, in particular to a mobile charging robot based on a simple pile and a mobile charging method. BACKGROUND

[0002] With the development and large-scale use of new energy vehicles, mobile charging equipment is increasingly favored by users because it has flexible charging resources and is not restricted by the environment and parking conditions. The mobile charging equipment is in the form of a mobile charging pile or a mobile chassis carrying a battery pack. For example, when the mobile charging equipment is a mobile charging vehicle, multiple battery packs can be carried on the chassis of the mobile charging vehicle. After receiving a request from a user, the mobile charging vehicle drives to the user's location and provides charging services for the user's vehicle to complete the charging task.

[0003] However, the existing mobile charging equipment still has the following shortcomings:

[0004] First, because the charging interface specifications on different vehicles are different, the charging gun on the mobile charging equipment cannot meet the requirements of different charging interface specifications, resulting in poor adaptability of the mobile charging equipment.

[0005] Second, the mobile charging equipment needs to realize automatic and accurate docking of the charging gun and the vehicle charging interface. The existing mobile charging equipment has the disadvantages of poor docking accuracy of the charging gun and the charging interface, and the docking parts are easily damaged when the charging gun is plugged in and out due to excessive plugging force, and the reliability is poor. SUMMARY

[0006] To solve the above problems, the present application provides a mobile charging robot based on a simple pile and a mobile charging method, which aims to enhance the adaptability of the mobile charging equipment and improve the reliability of the mobile charging equipment and the charging interface. The specific technical solutions are as follows:

[0007] A mobile charging robot based on a simple pile, comprising a simple pile and a mobile charging robot for providing electric energy to the simple pile, the simple pile comprising a stand, a power receptacle provided on the stand, a charging gun for charging an electric vehicle connected to the power receptacle through a cable, the mobile charging robot comprising a mobile chassis and a battery pack provided on the mobile chassis, a power supply plug for interfacing with the power receptacle connected to the battery pack through a cable, and a plug and socket automatic docking machine provided on the mobile chassis for realizing automatic docking of the power supply plug and the power receptacle.

[0008] Preferably, the number of simple piles is several and distributed beside each parking space, and the number of mobile charging robots is at least one.

[0009] In the application, the charging gun is a manual plug-in charging gun mounted on the column of the simple pile; the mobile chassis is provided with a navigation system, and the mobile chassis realizes autonomous positioning and navigation to the simple pile beside the designated parking space through the navigation system; the mobile chassis and the power supply socket of the column are respectively provided with a wireless communication module.

[0010] Preferably, a plurality of different specifications of manual plug-in charging guns can be configured on each simple pile to meet the requirements of different charging interfaces of various vehicles.

[0011] In the application, the plug and socket automatic docking machine comprises a multi-axis joint manipulator arranged on the mobile chassis, and the power supply plug is fixed to the front end of the multi-axis joint manipulator.

[0012] In the application, a 3D structured light vision camera for identifying the position of the power supply socket on the simple pile is further arranged on the frontmost section of the multi-axis joint manipulator.

[0013] As a further improvement of the application, a plug docking error automatic compensation adjuster is further arranged between the front end of the multi-axis joint manipulator and the power supply plug, the plug docking error automatic compensation adjuster comprises a positioning seat fixed to the front end of the frontmost section of the mechanical arm, a tapered hole with a small front aperture and a large rear aperture arranged on the positioning seat, a tapered body adapted to the tapered hole, a top spring arranged between the rear end face of the tapered body and the front end face of the frontmost section of the mechanical arm, a ball head top column arranged at the center of the front end face of the frontmost section of the mechanical arm, and a gap arranged between the front end of the ball head top column and the rear end face of the tapered body; the rear end of the power supply plug is fixedly connected with the front end of the tapered body.

[0014] Preferably, the tapered body is a regular polygonal pyramid, and the tapered hole is a regular polygonal pyramid hole adapted to the regular polygonal pyramid.

[0015] More preferably, the tapered body is a regular quadrangular pyramid, and the tapered hole is a regular quadrangular pyramid hole adapted to the regular quadrangular pyramid; the plug docking error automatic compensation adjuster further comprises 3-4 first distance measuring sensors arranged on the front end face of the frontmost section of the mechanical arm in a circumferential direction, and the distance measuring direction of the first distance measuring sensors points to the rear end face of the regular quadrangular pyramid.

[0016] As a further improvement of the application, the plug docking error automatic compensation adjuster further comprises four pairs of distance measuring holes arranged on the positioning seat in a circumferential direction, and four pairs of second distance measuring sensors correspondingly arranged on the four pairs of distance measuring holes, and the distance measuring direction of the four pairs of second distance measuring sensors correspondingly points to the four side faces of the regular quadrangular pyramid.

[0017] Preferably, the first distance sensor and the second distance sensor can be a non-contact distance sensor such as a laser distance sensor, an ultrasonic distance sensor, a magnetic induction distance sensor, or a mechanical contact displacement sensor.

[0018] Preferably, a tension and pressure sensor can be arranged between the front end of the first section of the multi-axis joint robot and the positioning seat. The mobile charging robot can detect the plugging force between the power supply plug and the power receiving socket in real time through the tension and pressure sensor to determine whether there is a plugging failure and issue an alarm if necessary.

[0019] In the present application, a telescopic dustproof bellows is arranged between the front end face of the positioning seat and the rear end of the power supply plug to prevent external dust from entering the conical hole.

[0020] The working principle of the plug docking error automatic compensation adjuster in the present application is described as follows:

[0021] (1) The mobile charging robot identifies the position of the power receiving socket on the column of the simple pile through a 3D structured light vision camera, then adjusts the posture of the multi-axis joint robot so that the power supply plug at the front end of the multi-axis joint robot is aligned with the power receiving socket and gradually inserted into the socket of the power receiving socket; in the case that the insertion direction of the power supply plug is consistent with the axis of the socket of the power receiving socket, the top pressure spring on the rear end of the power supply plug is sufficient to overcome the resistance of the insertion, so that the power supply plug can be smoothly inserted into the socket of the power receiving socket; in the case that the insertion direction of the power supply plug is inconsistent with the axis of the socket of the power receiving socket, i.e. the insertion direction of the power supply plug has a certain angular deviation, the resistance of the insertion will gradually increase during the insertion of the power supply plug, and the top pressure spring on the rear end of the power supply plug is insufficient to overcome the resistance of the insertion, resulting in a backward movement of the conical body at the rear end of the power supply plug until the rear end face of the conical body is pressed against the ball head top column of the first section of the multi-axis joint robot; during the backward movement of the conical body, the side surface of the conical body will be out of contact with the conical hole on the positioning seat (i.e. a certain gap space will be formed between the side surface of the conical body and the conical hole on the positioning seat), and the angular position of the conical body will be adjusted in the gap space to make the insertion direction of the power supply plug at the front end of the conical body consistent with the axis direction of the socket of the power receiving socket, and then the power supply plug can be smoothly inserted into the power receiving socket under the pressure of the ball head top column.

[0022] (2) The front end face of the first section of the multi-axis articulated mechanical arm at the front of the mobile charging robot is provided with 3-4 first distance measuring sensors distributed thereon, and the mobile charging robot can calculate the relative inclination angle of the rear end face of the cone according to the data measured by the first distance measuring sensors; four pairs of second distance measuring sensors are arranged on the positioning seat, and the mobile charging robot can obtain the interval distance between each side face of the cone and each side face of the conical hole on the positioning seat according to the data measured by the second distance measuring sensors; so that the control system of the mobile charging robot can dynamically adjust the posture of the multi-axis articulated mechanical arm in real time according to the relative inclination angle of the rear end face of the cone and the interval distance between each side face of the cone and each side face of the conical hole on the positioning seat, so that the conical hole on the positioning seat is coaxial with the cone.

[0023] The above-mentioned adaptive adjustment of the position of the cone and the dynamic adjustment of the posture of the multi-axis articulated mechanical arm according to the distance measuring sensor can realize the minimum plugging force in the docking and separation process of the power supply plug and the power receptacle, and can further avoid the disadvantage of excessive plugging force caused by insertion position error between the power supply plug and the power receptacle, thereby effectively preventing damage to the power supply plug and the power receptacle.

[0024] A mobile charging method of a mobile charging robot based on a simple pile, comprising the following steps:

[0025] (1) Order information receiving: the mobile charging robot receives the vehicle parking space information needing to be charged from the parking lot charging management system through the wireless communication module;

[0026] (2) Mobile positioning: the mobile charging robot autonomously positions and navigates through the navigation system, and moves to the side of the simple pile corresponding to the order parking space needing to be charged;

[0027] (3) Plug and socket docking: the mobile charging robot identifies the position of the power receptacle on the stand of the simple pile through the 3D structured light vision camera, then adjusts the posture of the multi-axis articulated mechanical arm, so that the power supply plug at the front end of the multi-axis articulated mechanical arm is aligned with the power receptacle and then inserted into the power receptacle, and the battery pack supplies power to the simple pile;

[0028] (4) Vehicle charging: the charging gun is connected to the charging interface of the vehicle to be charged in an artificial manner, the vehicle to be charged is charged, and the charging gun is hung in place after charging is completed;

[0029] (5) Fee settlement: after charging is completed, the mobile charging robot pulls out the power supply plug from the power receptacle, and sends the information of the end of charging to the parking lot charging management system through the wireless communication module, the parking lot charging management system automatically deducts the payment account of the charging vehicle, and completes the non-inductive payment;

[0030] In the process of the plug and socket docking of the step (4), the mobile charging robot automatically compensates and adjusts the docking error of the plug, dynamically adjusts the position of the power supply plug in the process of being inserted into the power receiving socket, realizes the adaptive insertion of the position of the power supply plug, and prevents damage caused by forcibly inserting the power supply plug into the power receiving socket.

[0031] In the process of the plug and socket docking of the step (4), the mobile charging robot also dynamically adjusts the posture of the multi-axis joint manipulator in real time according to the ranging data obtained by the first ranging sensor and the second ranging sensor, so that the minimum plug-in force is obtained.

[0032] The beneficial effects of the present application are:

[0033] Firstly, the mobile charging robot and the mobile charging method based on the simple pile only include a power receiving socket, a charging gun and a cable connected between the power receiving socket and the charging gun, and the simple pile is not connected to the power supply, so that the construction is simple and the simple pile can be easily deployed in the parking space.

[0034] Secondly, the mobile charging robot and the mobile charging method based on the simple pile, the multi-axis joint manipulator of the mobile charging robot is provided with a plug docking error automatic compensation adjuster, which can adaptively realize the insertion of the power supply plug into the power receiving socket with accurate position, thereby reducing the insertion resistance and avoiding the damage of the plug and socket.

[0035] Thirdly, the mobile charging robot and the mobile charging method based on the simple pile, the first ranging sensor and the second ranging sensor are further arranged on the plug docking error automatic compensation adjuster, and the mobile charging robot can dynamically adjust the posture of the multi-axis joint manipulator according to the data measured by the ranging sensor, so that the multi-axis joint manipulator can control and adjust the plug-in direction of the power supply plug and the direction of the socket axis of the power receiving socket to be consistent, thereby further reducing the plug-in force of the power supply plug and improving the reliability of the plug-in of the power supply plug. BRIEF DESCRIPTION OF DRAWINGS

[0036] Fig. 1 It is a structure schematic view of the mobile charging robot based on the simple pile of the present application.

[0037] Fig. 2 It is the plug docking error automatic compensation adjuster arranged on the multi-axis joint manipulator.

[0038] Fig. 3 It is Fig. 2 The normal section view of the positioning seat and the conical body part.

[0039] In the figure: 1, simple pile, 2, mobile charging robot, 3, stand, 4, power receptacle, 5, cable, 6, charging gun, 7, mobile chassis, 8, battery pack, 9, power supply plug, 10, parking space, 11, multi-axis joint manipulator, 12, 3D structured light vision camera, 13, plug docking error automatic compensation regulator, 14, positioning seat, 15, conical hole, 16, conical body, 17, top pressure spring, 18, ball head top column, 19, first distance sensor, 20, second distance sensor, 21, tension and pressure sensor, 22, telescopic dustproof corrugated cover. DETAILED DESCRIPTION

[0040] The specific embodiments of the present application are further described below in conjunction with the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present application, and cannot be used to limit the protection scope of the present application.

[0041] Example 1:

[0042] As Figs. 1 to 3 shown is an embodiment of a mobile charging robot based on a simple pile of the present application, comprising a simple pile 1 and a mobile charging robot 2 for providing electric energy for the simple pile 1, the simple pile 1 comprising a stand 3, a power receptacle 4 arranged on the stand 3, a charging gun 6 for charging an electric vehicle connected to the power receptacle 4 through a cable 5, the mobile charging robot 2 comprising a mobile chassis 7 and a battery pack 8 arranged on the mobile chassis 7, a power supply plug 9 for interfacing with the power receptacle 4 connected to the battery pack 8 through the cable 5, and a plug and socket automatic docking machine arranged on the mobile chassis 7 for realizing automatic docking of the power supply plug 9 and the power receptacle 4.

[0043] Preferably, the number of simple piles 1 is several and distributed beside each parking space 10, and the number of mobile charging robots 2 is at least one.

[0044] In this embodiment, the charging gun 6 is a manual plug-in charging gun, which is mounted on the stand 3 of the simple pile 1; the mobile chassis 7 is provided with a navigation system, and the mobile chassis 7 realizes autonomous positioning and navigation to the simple pile 1 beside the designated parking space 10 through the navigation system; the mobile chassis 7 and the power receptacle 4 of the stand 3 are also respectively provided with a wireless communication module.

[0045] Preferably, a plurality of manual plug-in charging guns 6 of different specifications can be configured on each simple pile 1 to meet the requirements of different charging interfaces of various vehicles.

[0046] In the embodiment, the plug and socket automatic docking machine comprises a multi-joint robot 11 (only the frontmost arm of the multi-joint robot is shown in the figure) arranged on the moving chassis 7, and the power supply plug 9 is fixed to the front end of the multi-joint robot 11.

[0047] In the embodiment, the frontmost arm of the multi-joint robot 11 is further provided with a 3D structured light vision camera 12 for identifying the position of the power receiving socket 4 on the simple pile 1.

[0048] As a further improvement of the embodiment, a plug docking error automatic compensation adjuster 13 is further arranged between the front end of the multi-joint robot 11 and the power supply plug 9. The plug docking error automatic compensation adjuster 13 comprises a positioning seat 14 fixed to the front end of the frontmost arm, a tapered hole 15 arranged on the positioning seat 14 and having a small front aperture and a large rear aperture, a tapered body 16 fitted in the tapered hole 5, a top pressing spring 17 arranged between the rear end face of the tapered body 16 and the front end face of the frontmost arm, a ball head top column 18 arranged at the center of the front end face of the frontmost arm, and a gap arranged between the front end of the ball head top column 18 and the rear end face of the tapered body 16. The rear end of the power supply plug 9 is fixedly connected to the front end of the tapered body 16.

[0049] Preferably, the tapered body 16 is a regular polygonal pyramid, and the tapered hole 15 is a regular polygonal pyramid hole matched with the regular polygonal pyramid.

[0050] More preferably, the tapered body is a regular quadrangular pyramid, and the tapered hole is a regular quadrangular pyramid hole matched with the regular quadrangular pyramid. The plug docking error automatic compensation adjuster 13 further comprises 3-4 first distance measuring sensors 19 arranged on the front end face of the frontmost arm in a circumferential direction, and the distance measuring direction of the first distance measuring sensors 19 points to the rear end face of the regular quadrangular pyramid.

[0051] As a further improvement of the embodiment, the plug docking error automatic compensation adjuster 13 further comprises four pairs of distance measuring holes arranged on the positioning seat 14 in a circumferential direction, and four pairs of second distance measuring sensors 20 are correspondingly arranged on the four pairs of distance measuring holes. The distance measuring direction of the four pairs of second distance measuring sensors 20 correspondingly points to the four side faces of the regular quadrangular pyramid.

[0052] Preferably, the first distance measuring sensors 19 and the second distance measuring sensors 20 can be non-contact distance measuring sensors such as laser distance measuring sensors, ultrasonic distance measuring sensors, and magnetic induction distance measuring sensors, or can be mechanical contact displacement sensors.

[0053] Preferably, a tension and compression force sensor 21 can also be arranged between the front end of the first section of the mechanical arm and the positioning seat 14. The mobile charging robot 2 detects the plugging force between the power supply plug 9 and the power receiving socket 4 in real time through the tension and compression force sensor 21 to determine whether there is a plugging failure and issue an alarm if necessary.

[0054] In this embodiment, a telescopic dustproof bellows 22 is arranged between the front end face of the positioning seat 14 and the rear end of the power supply plug 9 to prevent external dust from entering the conical hole 15.

[0055] The working principle of the plug docking error automatic compensation adjuster 13 in this embodiment is described as follows:

[0056] (1) The mobile charging robot 2 identifies the position of the power receiving socket 4 on the column 3 of the simple pile 1 through the 3D structured light vision camera 12, then adjusts the posture of the multi-axis articulated robot hand 11 so that the power supply plug 9 at the front end of the multi-axis articulated robot hand 11 is aligned with the power receiving socket 4 and gradually inserted into the socket of the power receiving socket 4; in the case where the insertion direction of the power supply plug 9 is consistent with the axis of the socket of the power receiving socket 4, the top pressure spring 17 pressing on the rear conical body 16 of the power supply plug 9 is sufficient to overcome the resistance of insertion, so that the power supply plug 9 can be smoothly inserted into the socket of the power receiving socket 4; in the case where the insertion direction of the power supply plug 9 is inconsistent with the axis of the socket of the power receiving socket 4, i.e., there is a certain angular deviation in the insertion direction of the power supply plug 9, the resistance of the power supply plug 9 during insertion will gradually increase, and the top pressure spring 17 pressing on the rear conical body 16 of the power supply plug 9 is not sufficient to overcome the resistance of insertion, resulting in a backward movement of the conical body 16 at the rear end of the power supply plug 9 until the rear end face of the conical body 16 presses on the ball head top column 18 of the first section of the mechanical arm at the front end of the multi-axis articulated robot hand 11; during the backward movement of the conical body 16, the side surface of the conical body 16 will be out of contact with the conical hole on the positioning seat 14 (i.e., a certain gap will be formed between the side surface of the conical body 16 and the conical hole 15 on the positioning seat 14), and the angle position of the conical body 16 will be adaptively adjusted in the gap space so that the insertion direction of the power supply plug 9 at the front end of the conical body 16 tends to be consistent with the axis direction of the socket of the power receiving socket 4, and then the power supply plug 9 can be smoothly inserted into the power receiving socket 4 under the pressure of the ball head top column 18.

[0057] (2) The first distance measuring sensor 19 is arranged on the front end face of the first section of the multi-axis articulated mechanical arm 11, and the mobile charging robot 2 can calculate the relative inclination angle of the rear end face of the cone body 16 according to the data measured by the first distance measuring sensor 19. Four pairs of second distance measuring sensors 20 are arranged on the positioning seat 14, and the mobile charging robot can obtain the interval distance between each side face of the cone body 16 and each side face of the conical hole 15 on the positioning seat 14 according to the data measured by the second distance measuring sensor 20. Thus, the control system of the mobile charging robot 2 can dynamically adjust the posture of the multi-axis articulated mechanical arm 11 in real time according to the relative inclination angle of the rear end face of the cone body 16 and the interval distance between each side face of the cone body 16 and each side face of the conical hole 16 on the positioning seat 14, so that the conical hole 15 on the positioning seat 14 is coaxial with the cone body 16.

[0058] The above-mentioned self-adaptive adjustment of the position of the cone body 16 and the dynamic adjustment of the posture of the multi-axis articulated mechanical arm 11 according to the distance measuring sensors 20 and 21 can realize the minimum plugging force in the process of the docking and separation of the power supply plug 9 and the power receiving socket 4, and can further avoid the disadvantage of excessive plugging force caused by the insertion position error between the power supply plug 9 and the power receiving socket 4, thereby effectively preventing the damage of the power supply plug 9 and the power receiving socket 4.

[0059] Embodiment 2

[0060] A mobile charging method of a mobile charging robot based on a simple pile of embodiment 1, comprising the following steps:

[0061] (1) Order information receiving: the mobile charging robot 2 receives the vehicle parking space information needing to be charged from the parking lot charging management system through the wireless communication module;

[0062] (2) Mobile positioning: the mobile charging robot 2 autonomously positions and navigates through the navigation system, and moves to the side of the simple pile 1 corresponding to the order parking space needing to be charged;

[0063] (3) Plug and socket docking: the mobile charging robot 2 identifies the position of the power receiving socket 4 on the stand 3 of the simple pile 1 through the 3D structured light vision camera 12, then adjusts the posture of the multi-axis articulated mechanical arm 11, so that the power supply plug 9 at the front end of the multi-axis articulated mechanical arm 11 is aligned with the power receiving socket 4 and inserted into the power receiving socket 4, and the battery pack supplies power to the simple pile 1;

[0064] (4) Vehicle charging: the charging gun 6 is connected to the charging interface of the vehicle to be charged in an artificial manner, and the vehicle to be charged is charged. After the charging is completed, the charging gun 6 is hung to the original position;

[0065] (5) fee settlement: when the charging is completed, the mobile charging robot 2 pulls out the power supply plug 9 from the power receiving socket 4, and sends the information of the end of charging to the parking lot charging management system through the wireless communication module, the parking lot charging management system automatically deducts the payment account of the charging vehicle, and completes the non-inductive payment;

[0066] Wherein, in the process of plug and socket docking of step (4), the mobile charging robot 2 dynamically adjusts the position of the power supply plug 9 in the process of inserting into the power receiving socket 4 through the plug docking error automatic compensation adjuster 13, realizes the adaptive insertion of the position of the power supply plug 9, and prevents the damage caused by forcibly inserting the power supply plug 9 into the power receiving socket 4.

[0067] Wherein, in the process of plug and socket docking of step (4), the mobile charging robot 2 also dynamically adjusts the posture of the multi-axis joint manipulator 11 in real time according to the ranging data obtained by the first ranging sensor 19 and the second ranging sensor 20, so as to obtain the minimum plug-in and plug-out force.

[0068] The above is only the preferred embodiment of the present application, it should be pointed out that, for the ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and refinements can also be made, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A mobile charging robot based on a simple pile, characterized in that, The simple pile includes a column, a power receiving socket arranged on the column, and a charging gun for charging an electric vehicle connected to the power receiving socket through a cable, and the mobile charging robot includes a mobile chassis and a battery pack arranged on the mobile chassis, a power supply plug for interfacing with the power receiving socket connected to the battery pack through a cable, and a plug and socket automatic docking machine arranged on the mobile chassis for automatically docking the power supply plug with the power receiving socket. The plug and socket automatic docking machine includes a multi-axis joint robot arm arranged on the mobile chassis, and the power supply plug is fixed to the front end of the multi-axis joint robot arm. The number of the simple piles is several and is distributed beside each parking space, and the number of the mobile charging robots is at least one.

2. A mobile charging robot based on simple piles according to claim 1, characterized in that, The cone is a regular quadrangular pyramid, and the conical hole is a regular quadrangular pyramid hole matched with the regular quadrangular pyramid.

3. The mobile charging robot based on simple piles according to claim 1, characterized in that, The plug and socket automatic docking machine further includes three to four first distance measuring sensors arranged on the front end face of the frontmost mechanical arm in a circumferential direction, and the distance measuring direction of the first distance measuring sensors is directed to the rear end face of the regular quadrangular pyramid.

4. A mobile charging method using the simple-pile-based mobile charging robot according to any one of claims 1 to 3, characterized by, The charging gun is a manually pluggable charging gun, which is hung on the column of the simple pile. The mobile chassis is provided with a navigation system, and the mobile chassis realizes autonomous positioning and navigation to the simple pile beside the designated parking space through the navigation system. The mobile chassis and the power receiving socket of the column are respectively provided with a wireless communication module. The frontmost mechanical arm of the multi-axis joint robot arm is further provided with a 3D structured light vision camera for identifying the position of the power receiving socket on the simple pile. The method includes the following steps: (1) order information receiving: the mobile charging robot receives the vehicle parking space information requiring charging from the parking lot charging management system through the wireless communication module. (2) Mobile positioning: the mobile charging robot autonomously positions and navigates through a navigation system to the position of the simple pile corresponding to the order parking space that needs to be charged; (3) Plug and socket docking: the mobile charging robot identifies the power socket position on the stand of the simple pile through a 3D structured light vision camera, then adjusts the posture of the multi-axis joint manipulator, so that the power supply plug at the front end of the multi-axis joint manipulator is aligned with the power socket and inserted into the power socket, and the battery pack supplies power to the simple pile; (4) Vehicle charging: the charging gun is connected to the charging interface of the vehicle to be charged in an artificial manner, the vehicle to be charged is charged, and the charging gun is hung in place after charging is completed; (5) Fee settlement: after charging is completed, the mobile charging robot pulls out the power supply plug from the power socket, and sends information about the end of charging to the parking lot charging management system through a wireless communication module, the parking lot charging management system automatically deducts the payment account of the charging vehicle, and completes the non-inductive payment; In the plug and socket docking process of step (4), the mobile charging robot dynamically adjusts the position of the power supply plug during insertion into the power socket through a plug docking error automatic compensation adjuster, realizes adaptive insertion of the power supply plug, and prevents damage caused by forced insertion of the power supply plug into the power socket; In the plug and socket docking process of step (4), the mobile charging robot also dynamically adjusts the posture of the multi-axis joint manipulator in real time according to the ranging data obtained by the first and second ranging sensors to obtain the smallest plug-in force.

Images