Mobile charging system

Abstract

The present application provides a mobile charging system, which belongs to the field of new energy vehicle charging technology. The mobile charging system includes: a mobile charging pile, which is provided with a first pair of interfaces and a second pair of interfaces; an aerial track, which includes a plurality of main roads and a plurality of branch roads, and the branch roads lead to each parking space; a charging position docking part, which is arranged at the end of the branch road, and is provided with a first interface for connecting a charging gun, a second interface for connecting a power source, and a support component for placing the mobile charging pile; a mobile charging robot, which walks on the aerial track, is used to carry the mobile charging pile to the support component, and completes the docking of the first pair of interfaces with the first interface and the docking of the second pair of interfaces with the second interface. The present application can improve the utilization rate and turnover rate of charging piles.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle charging technology, and in particular to a mobile charging system. Background Art

[0002] With the popularity of new energy vehicles, the demand for public charging facilities is increasing. Existing public charging facilities are generally set up in parking lots, commercial areas, highway service areas and other places, providing charging services for electric vehicles through fixed charging piles.

[0003] However, since current charging technology still cannot achieve a charging speed comparable to traditional refueling, a single charging process usually takes a long time, so many car owners choose to leave their vehicles after starting charging. This behavior leads to a common phenomenon: after charging is completed, some car owners do not drive their vehicles away from the charging pile in time, resulting in the vehicle occupying the charging pile position for a long time after charging is completed, making it impossible for other new energy vehicles that need to be charged to use the charging pile in time, which not only affects the efficiency of the use of charging facilities, but also reduces the user's charging experience.

[0004] Therefore, improving the turnover rate and utilization rate of charging piles has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of this application is to provide a mobile charging system to solve the above problems.

[0006] To achieve the above objectives, the present application proposes a mobile charging system, which includes:

[0007] A mobile charging pile, wherein the mobile charging pile is provided with a first pair of interfaces and a second pair of interfaces;

[0008] An aerial track, the aerial track comprising a plurality of main roads and a plurality of branch roads, the branch roads leading to each parking space;

[0009] A charging docking portion, the charging docking portion is arranged at the end position of the branch road, and the charging docking portion is provided with a first interface for connecting a charging gun, a second interface for connecting a power source, and a supporting component for placing the mobile charging pile;

[0010] A mobile charging robot walks on the aerial track, and is used to carry the mobile charging pile to the supporting component, and complete the docking of the first pair of interfaces with the first interface and the docking of the second pair of interfaces with the second interface.

[0011] In some embodiments, the mobile charging robot is also provided with a docking track, which is perpendicular to the branch road, and the docking track is used to guide the mobile charging robot to push the mobile charging pile onto the supporting component. The main road is provided with an energy station, and the energy station is used to charge the mobile charging robot.

[0012] In some embodiments, the support component is further provided with a conical position calibrator, and a docking element is provided at a corresponding position of the mobile charging pile on the side facing the support component, and the docking element is adapted to the conical position calibrator to ensure that the mobile charging pile is accurately docked and stably connected to the support component.

[0013] In some embodiments, the first interface is an aviation plug, and the aviation plug is used to control the connection or interruption between the mobile charging pile and the charging gun, and the charging power output by the mobile charging pile when the first interface is docked with the first pair of interfaces.

[0014] In some embodiments, the mobile charging robot includes a docking mechanism, and the docking mechanism includes:

[0015] A stepper motor, wherein the stepper motor is used to provide power;

[0016] A screw transmission device is used to push the mobile charging pile onto the supporting component under the drive of the stepper motor.

[0017] In some embodiments, the mobile charging robot includes a walking mechanism, and the walking mechanism includes:

[0018] A wheeled walking device, the wheeled walking device comprising at least two sets of driving wheels adapted to the aerial track, each set of driving wheels being independently controllable;

[0019] A guiding device, wherein the guiding device comprises at least one set of guiding wheels or guiding clamping devices, and is used to guide the moving direction of the mobile charging robot.

[0020] In some embodiments, the mobile charging robot carries the mobile charging pile to the charging position corresponding to the charging position docking portion, and the charging position is provided with a docking mark, and the docking mark is used to assist the mobile charging robot to dock at the charging position, and the mobile charging robot pushes the mobile charging pile from the charging position to the supporting component.

[0021] In some embodiments, position calibration devices are provided at intervals on the aerial track, and the position calibration devices are used to eliminate the accumulated error in distance calculation of the mobile charging robot during movement.

[0022] In some embodiments, the mobile charging pile includes a DC mobile charging pile and / or an AC mobile charging pile, and the first interface includes a first AC interface and / or a first DC interface;

[0023] When the charging position docking portion is adapted to the DC mobile charging pile, the mobile charging robot controls the first pair of interfaces of the DC mobile charging pile to dock with the first DC interface;

[0024] When the charging position docking portion is adapted to the AC mobile charging pile, the mobile charging robot controls the first pair of interfaces of the AC mobile charging pile to dock with the first AC interface.

[0025] In some embodiments, the mobile charging system further comprises:

[0026] A robot scheduling management platform, the robot scheduling management platform is used to receive a charging request from a user, and based on the charging request, schedule the mobile charging robot to carry the mobile charging pile to a corresponding charging docking station.

[0027] Compared with the prior art, the beneficial effects of this application include:

[0028] On the one hand, the mobile charging system of the present application can carry the mobile charging pile to the charging position docking part corresponding to the position of the vehicle to be charged by a mobile charging robot, which effectively solves the problem that the traditional charging pile is easily occupied and improves the turnover rate and utilization rate of the charging pile. On the second hand, the aerial rail system of the present application includes a main road and a branch road, which can flexibly transport the mobile charging pile to each parking space to meet the charging needs of vehicles in different locations. This flexible scheduling method can allocate charging resources more efficiently, reduce waiting time, and improve user experience. On the third hand, the hardware facilities of the mobile charging system of the present application are all set above the parking space, which reduces the floor space of the hardware facilities. It is particularly suitable for places with limited space such as parking lots, and can also avoid interference from ground equipment and improve space utilization. On the fourth hand, compared with the integrated design of the charging pile and the charging gun, after charging is completed, the charging gun is still locked in the charging interface of the vehicle, which affects the movement and reuse of the charging pile. The charging gun and the mobile charging pile in this application are detachable. When charging is completed, although the charging gun is still locked in the charging port of the vehicle, it does not affect the mobile charging pile being carried by the mobile charging robot to perform the next charging task. The charging gun only needs to wait for the owner to use the car and then pull it out. That is, the split design of the mobile charging pile and the charging gun in this application can greatly improve the turnover rate and utilization rate of the mobile charging pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope of the present application.

[0030] Figure 1 is a schematic diagram of the overall structure of a mobile charging system according to an embodiment of the present application;

[0031] Figure 2 is a schematic diagram of the back structure of a mobile charging pile in a mobile charging system according to an embodiment of the present application;

[0032] Figure 3 is a structural schematic diagram of a charging docking portion in a mobile charging system according to an embodiment of the present application;

[0033] Figure 4 It is a structural schematic diagram of a mobile charging automatic retractable gun in a mobile charging system according to an embodiment of the present application;

[0034] Figure 5 is a schematic diagram of the connection between a mobile charging pile and a charging position docking portion in a mobile charging system according to an embodiment of the present application;

[0035] Figure 6 is a schematic diagram of the connection structure between a mobile charging pile and a charging position docking portion in a mobile charging system according to an embodiment of the present application;

[0036] Figure 7 It is a structural schematic diagram of a mobile charging robot in a mobile charging system according to an embodiment of the present application.

[0037] Explanation of the accompanying figures: 100-mobile charging system; 10-mobile charging pile; 11-first pair of interfaces; 12-second pair of interfaces; 13-docking element; 20-aerial track; 30-charging position docking part; 31-first interface; 32-second interface; 33-support component; 34-conical position calibrator; 35-charging gun fixing track; 40-mobile charging robot; 41-docking track; 42-docking mechanism; 421-stepping motor; 422-screw transmission device; 43-traveling mechanism; 431-guide device; 432-wheeled walking device; 50-mobile automatic retractable gun; 51-charging docking interface; 52-retractable assembly; 521-retractable motor; 522-reel; 53-charging gun head; 54-fixed frame. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] All terms (including technical and scientific terms) used in this application have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used here should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0040] For example, the terms "first", "second", etc. used in this application may be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first interface may be referred to as a second interface, and similarly, a second interface may be referred to as a first interface. Both the first interface and the second interface are interfaces, but they are not the same interface.

[0041] For another example, the terms “include”, “comprising”, etc. used in this application indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0042] As mentioned above, since the current charging technology still cannot achieve a charging speed comparable to traditional refueling, a single charging process usually takes a long time, so many car owners will choose to leave the vehicle after starting charging. This behavior leads to a common phenomenon: after charging is completed, some car owners do not drive the vehicle away from the charging pile in time, resulting in the vehicle occupying the charging pile position for a long time after charging is completed, so that other new energy vehicles that need to be charged cannot use the charging pile in time, which not only affects the efficiency of the use of charging facilities, but also reduces the user's charging experience. Therefore, improving the turnover rate and utilization rate of charging piles has become a technical problem that needs to be solved urgently. To this end, the present application proposes a mobile charging system, which effectively solves the problem that traditional charging piles are easily occupied and improves the turnover rate and utilization rate of charging piles.

[0043] Figure 1 is a schematic diagram of the overall structure of a mobile charging system 100 according to an embodiment of the present application. Figure 2 is a schematic diagram of the back structure of a mobile charging pile 10 in a mobile charging system 100 according to an embodiment of the present application, Figure 3 FIG. 1 is a schematic diagram of the structure of the charging docking unit 30 in the mobile charging system 100 according to an embodiment of the present application. Figures 1 to 3 As shown, the mobile charging system 100 of this embodiment includes: a mobile charging pile 10 , an aerial track 20 , a charging docking portion 30 and a mobile charging robot 40 .

[0044] The mobile charging pile 10 is provided with a first pair of interfaces 11 and a second pair of interfaces 12. The mobile charging pile can be moved by the mobile charging robot 40 to the location of the vehicle that needs to be charged, and by connecting with the adapted charging gun and the mains, the vehicle that needs to be charged can be charged. When the charging of the vehicle is completed or the charging is stopped, the mobile charging pile can be moved by the mobile charging robot 40 and transported to a charging pile concentration station or other suitable places. One or more of the first pair of interfaces and the second pair of interfaces can be plugs or jacks, both of which are arranged on both sides of the back of the mobile charging pile, one of which can be connected to the interface of the charging gun, and the other can be connected to the interface of the mains, so as to realize the delivery of the mains to the vehicle that needs to be charged through the charging pile and the charging gun.

[0045] The charging gun can be fixed in a parking space, or it can be moved by a mobile charging robot similar to a mobile charging pile.

[0046] The aerial track 20 includes several main roads and several branch roads, and the branch roads lead to various parking spaces. Taking an indoor parking lot as an example, the aerial track can be suspended from the ceiling of the parking lot. The main road is the main transportation channel of the aerial track and the backbone of the aerial track system. It connects various branch roads to form the main framework of the charging network; the branch road is a branch track connecting the main road and each preset charging position / parking position. The mobile charging robot 40 can reach each parking space / charging position through several main roads and / or branch roads according to the set driving path.

[0047] The charging docking part 30 is arranged at the end of the branch road and is used to dock with the mobile charging pile. The charging docking part 30 is provided with a first interface 31 for connecting the charging gun, a second interface 32 for connecting the power supply, and a support component 33 for placing the mobile charging pile 10. The charging docking part can be arranged near the parking space in the parking lot, and a corresponding charging docking part can be arranged at a suitable position of each parking space (or two adjacent parking spaces) as required.

[0048] The mobile charging robot 40 walks on the aerial track, and is used to carry the mobile charging pile 10 to the supporting component 33, and complete the docking of the first pair of interfaces 11 with the first interface 31 and the docking of the second pair of interfaces 12 with the second interface 32. Specifically, the first pair of interfaces and the second pair of interfaces can be plugs / sockets, the first interface can be a socket / plug that matches the first pair of interfaces, and the second interface can be a socket / plug that matches the second pair of interfaces. The first pair of interfaces 11 can be directly docked with the first interface, and can also be docked with the first interface through a matching intermediate medium.

[0049] In this embodiment, the mobile charging pile 10 is a movable charging device, and is provided with a first pair of interfaces 11 and a second pair of interfaces 12. The first pair of interfaces 11 and the second pair of interfaces 12 are used to dock with the charging docking portion 30 to achieve the transmission of electric energy.

[0050] In some embodiments, the mobile charging pile 10 may include an AC mobile charging pile and / or a DC mobile charging pile. Among them, the power of the AC mobile charging pile can be selected as 21kw (380v, 32A), 11KW (380v, 16A) and 7KW (220V, 32A), etc. It should be noted that different types of charging piles cannot be mixed, and DC mobile charging piles and AC mobile charging piles need to have different docking interfaces and cables to ensure safety and compatibility. Therefore, depending on the type of mobile charging pile 10 supported in the mobile charging system 100, the first interface 31 of the charging position docking unit 30 includes a first DC interface and / or a first AC interface.

[0051] In addition, in this embodiment, since the mobile charging pile 10 can be flexibly moved and docked, it is not necessary to equip each parking space with a charging pile, and the number of mobile charging piles 10 can be configured according to any suitable ratio between the number of parking spaces and the number of mobile charging piles 10, such as 1:2, 1:3, 1:4 or 1:5. For example, a ratio of 3:10 means that 3 mobile charging piles 10 are equipped for 10 parking spaces.

[0052] Furthermore, in terms of the number of mobile charging piles 10, the number of charging guns and mobile charging robots 40 can also be proportioned according to the number of parking spaces. For example, the charging guns can be configured at a ratio of 1:2, and the mobile charging piles 10 can be configured at a ratio of 1:5. That is, when there are 50 parking spaces, 2 mobile charging robots 40, 10 mobile charging guns and 25 charging guns (which can be fixed charging guns or mobile automatic retractable guns) can be configured. When 10 vehicles are charged at the same time, 10 mobile charging piles 10 can meet the requirements. When the 11th vehicle applies for charging, the mobile automatic retractable gun can be first moved to the parking space where the 11th vehicle is located. After the user inserts the charging gun into the vehicle, the charging time is scheduled through the corresponding application. After the first vehicle to finish charging is completed, the mobile charging robot 40 will move the mobile charging pile 10 to the parking space where the 11th vehicle is located, and the mobile charging pile 10 and the mobile charging gun will be docked to realize the charging of the 11th vehicle. This not only meets the demand for charging efficiency and improves resource utilization, but also satisfies the user experience of charging whenever and wherever they want.

[0053] In this embodiment, the aerial track 20 is a track system suspended in the air, and its surface is professionally anodized to prevent oxidation and corrosion, thereby ensuring the service life of the track. The aerial track 20 includes a main road and a branch road, and the branch road extends from the main road to each parking space. These tracks provide the mobile charging robot 40 with a driving path and positioning information. In actual applications, it can be expanded in the horizontal, longitudinal and vertical directions as needed to meet the needs of different scenarios.

[0054] As a feasible implementation of a fixed track, a space frame structure (such as a truss structure) can be used to support the track. This structure can disperse the load through distributed support points and improve stability.

[0055] In addition, in some embodiments, energy stations are provided on the main roads, and these energy stations are used to charge the mobile charging robot 40. When the mobile charging robot 40 is low on power or idle, it can walk to the corresponding energy station for charging. The location and number of energy stations can be adjusted according to actual needs to ensure that the mobile charging robot 40 can obtain sufficient power at any time to maintain the efficient operation of the system. Specifically, the energy station can wirelessly charge the mobile charging robot. A non-contact wireless charging plate can be used to charge the mobile charging robot, and the energy station further integrates ultrasonic positioning detection to ensure that the mobile charging robot is accurately positioned for wireless charging at the energy station.

[0056] In some embodiments, the aerial track 20 adopts a third rail positioning method and exchanges data with the mobile charging robot through communication.

[0057] In some embodiments, position calibration devices are provided at intervals on the aerial track 20, and the position calibration devices are used to eliminate the cumulative error of the distance calculation of the mobile charging robot 40 during movement, so as to ensure that the mobile charging robot can still maintain high-precision positioning and operation after a long period of operation. The position calibration device can be set on the third rail, and according to the specific network structure of the aerial track, a suitable number of layout points are selected on the track to arrange the position calibration device. When it is detected that the mobile charging robot 40 passes through a certain position calibration device, the position calibration device will generate a signal of the mobile charging robot 40 passing through. According to the position of the position calibration device and the passing signal, the position of the mobile charging robot 40 can be known, or the position of the mobile charging robot 40 can be corrected, thereby improving the positioning accuracy of the mobile charging robot 40.

[0058] The pass signal may include a rising edge signal of 0-1 and a falling edge signal of 1-0. The rising edge signal of 0-1 is used for the mobile charging robot 40 to arrive at the calibration, and the falling edge signal of 1-0 is used for the mobile charging robot 40 to leave the calibration. In order to achieve accurate real-time tracking, the length, width and height of the mobile charging robot 40 itself need to be used as fixed parameters. When the mobile charging robot 40 first arrives at the position calibration device, the position calibration device generates a rising edge signal of 0-1; when the mobile charging robot 40 leaves the position calibration device, the position calibration device generates a falling edge signal of 1-0. Through the rising edge signal of 0-1 and the falling edge signal of 1-0, it can ensure that the mobile charging robot 40 maintains accurate position control during the entire movement process.

[0059] As an optional embodiment of position calibration, the position calibration device can be an optical encoder, which detects the position change of the mobile charging robot by using a grating disk and a photoelectric sensor. By counting the number of lines on the grating disk, the displacement of the mobile charging robot can be accurately measured.

[0060] As another optional implementation of position calibration, the position calibration device may be a laser rangefinder, which uses a laser beam to measure distance and measures the time from the emission to the reflection of the laser beam, so as to accurately calculate the position of the mobile charging robot.

[0061] As another optional implementation of position calibration, the position calibration device may be an ultrasonic sensor, which uses ultrasonic waves to measure distance and measures the time from the emission to the reflection of the ultrasonic waves to calculate the position of the mobile charging robot.

[0062] As another optional implementation of position calibration, the position calibration device may be an RFID (Radio Frequency Identification) tag. By arranging RFID tags at intervals on the track, the mobile charging robot calibrates its own position by reading information from these tags.

[0063] In this embodiment, a charging docking unit 30 is provided above each parking space and is located at the end of the branch road. The charging docking unit 30 is provided with a first interface 31 for connecting a charging gun, a second interface 32 for connecting a power source (such as a mains power source, a centralized power storage device, etc.), and a support component 33 for placing the mobile charging pile 10.

[0064] In some embodiments, each charging docking portion 30 is provided with a charging gun with a cable (the length of the cable can be set according to actual needs), one end of the cable is connected to the first interface 31, and the other end is connected to the charging gun head.

[0065] In some embodiments, the charging gun is as follows Figure 4The mobile automatic retractable gun 50 shown is slidably connected to the charging gun fixed track 35 of the charging position docking part 30, and can be moved on the charging gun fixed track 35. The mobile automatic retractable gun 50 includes: a charging docking port 51, which is used to connect to the first port 31; an automatic retractable assembly 52, which is used to automatically retract the charging gun cable; a charging gun head 53, which is used to insert the charging port of the charging vehicle; a fixing frame 54, which is slidably connected to the charging gun fixed track 35, and is used to fix the automatic retractable assembly 52. ​​Among them, the automatic retractable assembly 52 includes a retractable motor 521 and a wire drum 552, and the retractable motor 521 is used to drive the wire drum 522 to rotate, thereby realizing the automatic retraction and release of the charging gun cable.

[0066] Furthermore, the charging docking interface 51 includes an elastic component and an interface component. When triggered by the charging gun docking instruction, the elastic component pops up the interface component so that the interface component forms a soft connection with the first interface 31. When triggered by the charging gun docking release instruction, the elastic component automatically retracts the interface component. Through the pop-up and retraction mechanism of the elastic component, the automatic extension and retraction of the interface component can be achieved, reducing the steps and complexity of manual operation.

[0067] In some embodiments, the first interface 32 is protruded away from one end of the mobile charging pile 10, that is, toward one end of the mobile automatic retractable gun 50, and is bent toward the charging gun fixed track 35 to be parallel to the charging docking interface 51. By protruding and bending the first interface 32, it can be made closer to the charging docking interface 51, reducing the distance and angle errors during docking. In this way, when the mobile automatic retractable gun 50 moves to the charging docking portion 30, the charging docking interface 51 can be more easily docked with the first interface 32 to achieve fast charging. By protruding and bending the first interface 32, the back space of the charging docking portion 30 can be fully utilized to reduce interference and impact on other structures. At the same time, the layout of the entire mobile charging system can also be made more compact and reasonable, improving the overall aesthetics and practicality.

[0068] In some embodiments, the interface assembly and the first interface 31 are connected by magnetic attraction. The magnetic connection method can not only help the interface assembly and the first interface 31 to achieve accurate positioning, but also provide additional fixing force to ensure the stability of the connection.

[0069] This can be achieved by providing magnetic materials on the interface component and the first interface 31. When the interface component is close to the first interface 31, the attraction between the magnetic materials will automatically adsorb them together to form a stable connection. This design can reduce the manual alignment and insertion operations and improve the efficiency and convenience of charging docking.

[0070] In addition, the magnetic connection method can also provide a certain degree of shockproof and anti-falling function. During the charging process, vibration or accidental pulling may occur, and the magnetic connection method can provide additional fixing force to prevent loosening or falling between the interface component and the first interface 31, ensuring the stability and safety of the charging process.

[0071] Figure 5 is a schematic diagram of the connection between the mobile charging pile 10 and the charging docking unit 30 in the mobile charging system 100 according to an embodiment of the present application. Figure 6 FIG. 1 is a schematic diagram of the connection structure between the mobile charging pile 10 and the charging docking unit 30 in the mobile charging system 100 according to an embodiment of the present application. Figure 5 and Figure 6 As shown, in some embodiments, the support component 33 is further provided with a conical position calibrator 34, and the mobile charging pile 10 is provided with a docking element 13 at a corresponding position on one side of the support component 33, and the docking element 13 is adapted to the conical position calibrator 34 to ensure that the mobile charging pile 10 is accurately docked and stably connected with the support component 33. The support component can be a square planar structure, and the conical position calibrator is located at the side of the support component 33 and protrudes in the horizontal direction of docking with the mobile charging pile.

[0072] In some embodiments, the charging gun includes a DC charging gun and / or an AC charging gun, and the first interface 31 includes a first DC interface connected to the DC charging gun and / or a first AC interface connected to the AC charging pile.

[0073] In some embodiments, the first interface 31 is an aviation plug, which is used to control the connection or interruption between the mobile charging pile 10 and the charging gun, as well as the charging power output by the mobile charging pile 10 when the first interface 31 is docked with the first pair interface 11 .

[0074] In this embodiment, the mobile charging robot 40 is an automated device that walks on an aerial track and is used to carry the mobile charging pile 10 to the support component 33, and completes the docking of the first pair of interfaces 11 with the first interface 31 and the docking of the second pair of interfaces 12 with the second interface 32. The mobile charging robot 40 is equipped with a built-in battery that can provide it with the necessary power support. Each mobile charging robot 40 has a unique electronic number for identification and tracking. This helps to manage multiple robots in the mobile charging system 100 and ensure their normal operation and scheduling. In order to ensure safe operation, the mobile charging robot 40 can be equipped with a dual anti-collision system, including an anti-collision buffer and an anti-collision sensor, which can stop or change the direction of travel in time when an obstacle is detected to avoid collision. The mobile charging robot 40 has a built-in 5G communication module, which enables it to perform real-time data transmission and remote control through a 5G network. This enables the mobile charging robot 40 to obtain the latest task instructions and status information in a timely manner to ensure its efficient operation.

[0075] Figure 7 is a structural diagram of a mobile charging robot 40 in a mobile charging system 100 according to an embodiment of the present application. Figure 7 As shown, in some embodiments, the mobile charging robot is also provided with a docking track 41 , which is perpendicular to the branch road, and is used to guide the mobile charging robot 40 to push the mobile charging pile 10 onto the supporting component 33 .

[0076] In some embodiments, the mobile charging robot 40 includes a docking mechanism 42, which includes: a stepper motor 421 and a screw transmission device 422, wherein the stepper motor 421 is a motor that can accurately control the rotation angle, and is very suitable for applications that require precise positioning, and is used to provide power. The screw transmission device 422 is a mechanical device that converts rotational motion into linear motion, and has the characteristics of high precision and high stability, and is used to push the mobile charging pile 10 onto the support component 33 under the drive of the stepper motor 421.

[0077] In some embodiments, the mobile charging robot 40 includes a walking mechanism 43, and the walking mechanism 43 includes:

[0078] Wheeled walking device 432, the wheeled walking device 432 includes at least two sets of driving wheels adapted to the aerial track 20, and each set of driving wheels can be independently controlled to achieve flexible steering and movement of the mobile charging robot; guide device 431, the guide device 431 includes at least one set of guide wheels or guide clamping devices for guiding the moving direction of the mobile charging robot 40. Among them, the guide wheels can roll on the track to provide a stable guiding effect to ensure that the mobile charging robot 40 travels along a predetermined path. The guide clamping device can achieve more precise guidance and positioning by clamping the track. In this embodiment, the mobile charging robot 40 can achieve smooth walking and precise guidance on the aerial track 20, thereby improving its work efficiency and reliability. In addition, the design of the walking mechanism 43 can also take into account stability and durability. By selecting high-quality materials and precise processing technology, it can be ensured that the walking mechanism 43 still maintains good performance and reliability during long-term use.

[0079] In some embodiments, the mobile charging robot 40 carries the mobile charging pile 10 to the charging position corresponding to the charging position docking portion 30, and the charging position is provided with a docking mark for assisting the mobile charging robot 40 to dock at the charging position. The docking mark can be a visual mark, such as a barcode or a QR code, or a magnetic mark or an RFID tag. The mobile charging robot 40 ensures that it stops at the correct charging position by reading these marks, and pushes the mobile charging pile 10 onto the support component 33.

[0080] In some embodiments, when the charging position docking portion 30 is adapted to the DC mobile charging pile 10, that is, when the user requests a DC charging pile, the mobile charging robot 40 controls the first pair of interfaces 11 of the DC mobile charging pile 10 to dock with the first DC interface; when the charging position docking portion 30 is adapted to the AC mobile charging pile 10, that is, when the user requests an AC charging pile, the mobile charging robot 40 controls the first pair of interfaces 11 of the AC mobile charging pile 10 to dock with the first AC interface.

[0081] In some embodiments, after completing the transport work, the mobile charging robot decides whether to return to the energy station for contactless charging (such as electromagnetic induction charging) based on the remaining power.

[0082] For example, in a smart parking lot based on the mobile charging system 100 in the above embodiment, a charging gun is hung above the parking space, and the user needs to manually hold the charging gun and insert it into the charging port of the new energy vehicle. In order to facilitate the positioning of parking spaces with charging requirements, each parking space is provided with a corresponding area number and RFID radio frequency identification code. The user uses a mobile phone to scan the QR code on the parking space to issue a charging request, and the mobile charging robot 40 will receive the coordinate information of the target position contained in the QR code. During the movement of the mobile charging robot, it will move according to the position of the corresponding grating and the mechanical encoder. The mobile charging robot automatically moves to the target position, and the grating coordinates are fixed. The mobile charging robot can define the position of the mobile charging robot head reaching the grating position according to the rising edge signal, thereby correcting the position of the mobile charging robot; the tail leaving signal is defined by the grating falling edge signal, thereby correcting the tail position signal of the mobile charging robot. After reaching the target position, the mobile charging robot further calibrates the position of the charging port through the RFID radio frequency signal. This process ensures that the mobile charging pile 10 can be accurately docked to the support component 33. After reaching the target position, the mobile charging robot further calibrates the position of the charging position through the RFID radio frequency signal. This process ensures that the mobile charging pile 10 can be accurately docked to the support component 33. When the charging request is executed, although the charging gun is still locked in the charging interface of the vehicle, it does not affect the mobile charging pile being carried by the mobile charging robot 40 to perform the next charging task. The charging gun only needs to wait for the owner to use the car and then pull it out. The split design of the mobile charging pile and the charging gun in this embodiment can greatly improve the turnover rate and utilization rate of the mobile charging pile.

[0083] Based on any of the above embodiments, in some embodiments, the mobile charging system 100 further includes a robot scheduling management platform, which is used to receive a charging request from a user terminal and schedule the mobile charging robot 40 to carry the mobile charging pile 10 to the corresponding charging docking portion 30 based on the charging request. This embodiment can achieve a more intelligent and automated charging service, improve charging efficiency, reduce user waiting time, and also optimize the utilization rate of the mobile charging pile 10 to avoid waste of resources.

[0084] In one embodiment, the robot scheduling management platform is used to receive a charging request from a user terminal, determine a target robot and a target charging pile based on the charging request, and schedule the target robot to transport the target charging pile to the charging docking unit 30, so that the vehicle connected to the charging docking unit 30 can be charged through the target charging pile.

[0085] The robot management and scheduling platform can query the working status of each mobile charging robot 40 and mobile charging pile 10, which includes an idle state and a working state. The target robot is preferentially determined from the mobile charging robots 40 in the idle state, and the target charging pile is preferentially determined from the mobile charging piles 10 in the idle state.

[0086] When there is no idle mobile charging pile 10 in the mobile charging system 100, a target charging pile is determined from the working mobile charging piles 10. Specifically, the charging interruption index of each mobile charging pile 10 is calculated according to the charging task information and charging request of each working mobile charging pile 10, and the mobile charging pile 10 with the highest charging interruption index is selected as the target charging pile.

[0087] The charging request includes the request task priority. The charging task information includes the corresponding charging task priority, the estimated remaining charging time, and the estimated remaining parking time. It should be noted that the estimated remaining charging time indicates the charging time required to complete the charging task. The estimated remaining parking time refers to the remaining parking time calculated by subtracting the vehicle's parking time based on the estimated parking time of the charging task from the vehicle's parking time.

[0088] According to the request task priority and the charging task priority, the mobile charging piles with a charging task priority lower than the request task priority are regarded as interruptible charging piles. The charging interruption index is calculated according to the estimated remaining charging time and the estimated remaining parking time of each interruptible charging pile.

[0089] Among them, the charging interruption index indicates the probability that charging can be completed after the charging task is interrupted. The charging interruption index is negatively correlated with the estimated remaining charging time and positively correlated with the estimated remaining parking time. The smaller the estimated remaining charging time and the longer the estimated remaining parking time, the greater the charging interruption index. It can be calculated by simple division, dividing the estimated remaining charging time by the estimated remaining parking time, and the quotient is the charging interruption index.

[0090] When a mobile charging pile 10 in working state is determined as the target charging pile corresponding to the charging request, the charging pile can be reallocated to the corresponding vehicle whose charging is interrupted, and the new mobile charging pile 10 in idle state that appears later can be used as the target charging pile for the vehicle whose charging is interrupted.

[0091] By selecting the mobile charging pile 10 with the highest charging interruption index as the target charging pile, the flexibility and adaptability of the mobile charging system 100 can be improved to better cope with different charging requirements.

[0092] In this implementation, on the one hand, the mobile charging system 100 in this embodiment can carry the mobile charging pile 10 to the charging position docking part 30 corresponding to the position of the vehicle to be charged by the mobile charging robot 40, which effectively solves the problem that the traditional charging pile is easily occupied and improves the turnover rate and utilization rate of the charging pile. On the second hand, the aerial track 20 in this embodiment includes a main road and a branch road, which can flexibly transport the mobile charging pile 10 to each parking space to meet the charging needs of vehicles in different locations. This flexible scheduling method can allocate charging resources more efficiently, reduce waiting time, and improve user experience. On the third hand, the hardware facilities of the mobile charging system 100 of this application are all set above the parking space, which reduces the floor space of the hardware facilities, is particularly suitable for places with limited space such as parking lots, and can also avoid interference from ground equipment and improve space utilization. On the fourth hand, compared with the existing mobile charging pile technology in which the charging pile and the charging gun are integrated, the charging gun is still locked in the charging interface of the vehicle after charging, which affects the movement and reuse of the charging pile. The charging gun in this embodiment is detachable from the mobile charging pile. When charging is completed, although the charging gun is still locked in the charging port of the vehicle, it does not affect the mobile charging pile being carried by the mobile charging robot to perform the next charging task. The charging gun only needs to wait for the owner to use the car and then unplug it. That is, the separate design of the mobile charging pile and the charging gun in this embodiment can greatly improve the turnover rate and utilization rate of the mobile charging pile.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0094] In addition, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present application, and should not be regarded as an admission or in any form to imply that the information constitutes prior art already known to those skilled in the art.

Claims

1. A mobile charging system, characterized in that: The mobile charging system comprises: A mobile charging pile, wherein the mobile charging pile is provided with a first pair of interfaces and a second pair of interfaces; An aerial track, the aerial track comprising a plurality of main roads and a plurality of branch roads, the branch roads leading to each parking space; A charging docking portion, the charging docking portion is arranged at the end position of the branch road, and the charging docking portion is provided with a first interface for connecting a charging gun, a second interface for connecting a power source, and a supporting component for placing the mobile charging pile; A mobile charging robot, which walks on the aerial track and is used to carry the mobile charging pile to the supporting component and complete the docking of the first pair of interfaces with the first interface and the docking of the second pair of interfaces with the second interface; The mobile charging robot is also provided with a docking track, which is perpendicular to the branch road, and is used to guide the mobile charging robot to push the mobile charging pile onto the supporting component. The main road is provided with an energy station, and the energy station is used to charge the mobile charging robot; The mobile charging robot also includes a docking mechanism, which includes a stepper motor and a screw transmission device. The stepper motor is used to provide power, and the screw transmission device is used to push the mobile charging pile onto the supporting component under the drive of the stepper motor.

2. The mobile charging system according to claim 1, characterized in that: The support component is also provided with a conical position calibrator, and the mobile charging pile is provided with a docking element at a corresponding position on a side facing the support component. The docking element is adapted to the conical position calibrator to ensure that the mobile charging pile is accurately docked and stably connected to the support component.

3. The mobile charging system according to claim 1, characterized in that: The first interface is an aviation plug, and the aviation plug is used to control the connection or interruption between the mobile charging pile and the charging gun, and the charging power output by the mobile charging pile when the first interface is connected to the first pair of interfaces.

4. The mobile charging system according to claim 1, characterized in that: The mobile charging robot includes a walking mechanism, and the walking mechanism includes: A wheeled walking device, the wheeled walking device comprising at least two sets of driving wheels adapted to the aerial track, each set of driving wheels being independently controllable; A guiding device, wherein the guiding device comprises at least one set of guiding wheels or guiding clamping devices, and is used to guide the moving direction of the mobile charging robot.

5. The mobile charging system according to claim 1, characterized in that: The mobile charging robot carries the mobile charging pile to the charging position corresponding to the charging position docking part. The charging position is provided with a docking mark, and the docking mark is used to assist the mobile charging robot to dock at the charging position. The mobile charging robot pushes the mobile charging pile from the charging position to the supporting component.

6. The mobile charging system according to claim 1, characterized in that: Position calibration devices are arranged at intervals on the aerial track, and the position calibration devices are used to eliminate the accumulated error of distance calculation of the mobile charging robot during movement.

7. The mobile charging system according to claim 1, characterized in that: The mobile charging pile includes a DC mobile charging pile and / or an AC mobile charging pile, and the first interface includes a first AC interface and / or a first DC interface; When the charging position docking portion is adapted to the DC mobile charging pile, the mobile charging robot controls the first pair of interfaces of the DC mobile charging pile to dock with the first DC interface; When the charging position docking portion is adapted to the AC mobile charging pile, the mobile charging robot controls the first pair of interfaces of the AC mobile charging pile to dock with the first AC interface.

8. The mobile charging system according to any one of claims 1 to 7, characterized in that: The mobile charging system also includes: A robot scheduling management platform, the robot scheduling management platform is used to receive a charging request from a user, and based on the charging request, schedule the mobile charging robot to carry the mobile charging pile to a corresponding charging docking station.

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