Electric pile type air mobile charging robot power dispatching system and method

Abstract

The invention discloses an electric pile type air mobile charging robot power dispatching system and method.The system comprises a charging robot, an electric pile, a distribution dispatching control unit, a direct-current bus and an electricity taking module, the direct-current bus is arranged along a suspension track, and the charging robot takes electricity from the direct-current bus through the electricity taking module; and the distribution scheduling control unit controls and distributes the power for each charging robot to take electricity from the direct-current bus according to a given power distribution rule. The invention relates to the field of new energy vehicle charging, an electric pile is used as an input source for centralized energy supply to a charging robot, and flexible scheduling distribution is performed on charging power through a centralized and unified scheduling strategy, so that the operation efficiency of a whole charging station and the utilization rate of charging resources can be greatly improved, and the charging experience of a user is improved. The application of the direct-current bus can also greatly reduce the diameter of a cable required by a power supply line deployed along the suspension track, and the cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle charging, and in particular to a power dispatching system and method for a battery stack type aerial mobile charging robot. Background Art

[0002] With the development of the electric vehicle and charging pile industry, more and more disadvantages of fixed charging piles have gradually been exposed, mainly including: (1) When car owners look for charging piles, they often need to spend a lot of time looking for charging points, looking for available charging piles, and queuing, which leads to serious charging anxiety. (2) Parking spaces suitable for building commercial charging piles are generally located in relatively good locations, and the site costs are high, resulting in high comprehensive costs for stationary commercial charging piles. (3) The construction of a large number of charging piles will result in high construction costs and low utilization rates, which will waste resources and increase the power distribution pressure of the power grid. (4) The problem of charging pile parking spaces being occupied by fuel vehicles cannot be solved, resulting in a situation where either parking space resources or charging pile resources are wasted.

[0003] The above problems are mainly caused by the binding between charging parking spaces and fixed charging piles. To solve these problems, the binding between the two must be untied. Mobile charging has been well developed and improved in recent years because it can untie the binding between charging parking spaces and charging piles. In particular, aerial mobile charging along suspended tracks has become a hot research direction for mobile charging because of its many advantages. The inventor has previously applied to the State Intellectual Property Office for an invention patent named "A suspended mobile charging pile system" and application number "2023100936171", as well as a utility model patent named "A four-wheel independent drive steering suspended mobile charging pile system" and application number "2023201748902". The above two patents adopt a cross-track suspended contact power-taking mobile charging solution, which can achieve full coverage of the parking area of ​​the parking lot with charging piles without the need to deploy a large number of charging piles. Electric vehicles in the area can be charged at any time. No matter where the electric vehicles are parked in the parking lot, they can be charged very conveniently. A large number of existing parking spaces in the parking lot are utilized, and there is no need to build special charging stations, nor do car owners need to park their cars in a certain parking space. The number of charging piles can be flexibly deployed and increased or decreased according to charging needs, which will not cause a large number of charging pile resources to be idle, and can also meet charging needs to the greatest extent. It has very obvious technical advantages and industry value.

[0004] The technical solutions recorded in the above two patents have been transformed into results. In the process of developing corresponding products, the company under the name of the inventor found that since the weight of the charging power module is proportional to its output power, when the charging power increases to more than 60KW, the weight of the power module is already very heavy. If the charging power is further increased by adding power modules, the total weight of the whole machine will exceed the limit load capacity of the travel drive mechanism, which will also pose a great challenge to the load capacity of the suspension track and bring safety hazards. In addition, since the input voltage of the whole system is 380V of ordinary industrial power electricity, as the charging power of each device increases, the input current will inevitably increase, which requires thickening the diameter of the copper cable in all input cables deployed along the suspension track, which will greatly increase the deployment cost. To address this problem, the inventors proposed a solution, which adopts a battery stack mode. The power module is located in the battery stack, and the battery stack is set on the ground. The charging robot directly obtains the DC power output by the battery stack from the power supply line deployed along the track through contact power collection. This solution avoids the disadvantages and safety hazards brought about by hanging large and heavy power modules on the track. In addition, the cable diameter of the power supply line deployed along the track can be reduced by using the method of DC high-voltage power transmission, thereby greatly reducing the deployment cost of the power supply line. Summary of the invention

[0005] The first invention object of the present invention is to provide a power dispatching system for a battery stack type aerial mobile charging robot, wherein the charging robot can move along the track path of the suspension track and provide mobile charging services for electric vehicles in any parking space below the track. The DC bus deployed on the suspension track is connected to the battery stack, which provides high-voltage DC power. After the charging robot draws power from the DC bus, it converts the high-voltage DC power on the DC bus into DC power that can directly charge the battery of the electric vehicle. The second invention object of the present invention is to provide a power dispatching method for a battery stack type aerial mobile charging robot. Under the allocation rules of the power dispatching system and the power dispatching method, the charging power of different charging robots suspended on the track can be flexibly dispatched.

[0006] In order to achieve the first invention objective of the present invention, the corresponding technical scheme is as follows: A power dispatching system for a battery stack type aerial mobile charging robot comprises a charging robot, wherein there are several charging robots, all of which are deployed on a suspended track arranged in the air and can move along the track path of the suspended track. The system is characterized in that it also comprises a battery stack, a distribution and dispatching control unit, a DC bus, and a power taking module. The electricity input into the battery stack is AC electricity, and the electricity output from the battery stack to the DC bus is DC electricity. The DC bus is arranged along the suspended track. The charging robot takes electricity from the DC bus through the power taking module. The distribution and dispatching control unit controls the distribution of the power taken from the DC bus by each charging robot according to a given power distribution rule.

[0007] Preferably, the power dispatching system of the battery stack type aerial mobile charging robot also includes a communication module. The charging robot is provided with a DC / DC power module, and the DC / DC power module is used to convert the DC power obtained by the power taking module from the DC bus into DC power that can be output to charge the electric vehicle. The distribution scheduling control unit includes a distribution main control unit and a distribution terminal module. The distribution terminal module is arranged on the charging robot and connected to the DC / DC power module. The distribution main control unit is connected to the distribution terminal modules of all charging robots powered by the battery stack through the communication module. According to the power request of each charging robot and the given power distribution rules, the distribution main control unit sends corresponding power distribution instructions to each charging robot, and the distribution terminal module on each charging robot controls and limits the output power of the DC / DC power module of the charging robot according to the received power distribution instructions.

[0008] Preferably, the DC bus is provided with a liquid cooling unit. Preferably, the DC bus adopts a high voltage current transmission mode, and the DC voltage outputted from the battery stack to the DC bus is greater than or equal to 600V.

[0009] In order to achieve the second invention objective of the present invention, the power dispatching system of the battery stack type aerial mobile charging robot is used. When a charging robot provides charging service for an electric vehicle, the method includes the following steps: S1: The electric vehicle sends a charging power request to the distribution terminal module of the charging robot; S2: The distribution terminal module of the charging robot sends the charging power request to the distribution main control unit; S3: The allocation main control unit calculates the weight of each charging robot to obtain charging power according to the power request of each charging robot, the maximum power that each charging robot can output, and the current available power of the battery stack, and according to the given power allocation rules, obtains the maximum power that each charging robot can currently allocate, and feeds back the corresponding power allocation instruction to the allocation terminal module of the charging robot that makes the charging power request through the communication module; S4: After receiving the power allocation instruction, the distribution terminal module of the charging robot controls and limits the output power of the DC / DC power module of the charging robot according to the power allocation instruction, and charges the electric vehicle based on this power control and limitation.

[0010] Preferably, the weight factors for each charging robot to obtain charging power include the order of starting charging, the size of the requested charging power, and the charging unit price paid by the user.

[0011] Preferably, when other conditions are the same, the earlier charging starts, the higher the weight of obtaining the charging power; preferably, when other conditions are the same, the greater the requested charging power, the higher the weight of obtaining the charging power; preferably, when other conditions are the same, the higher the charging unit price paid by the user, the higher the weight of obtaining the charging power.

[0012] Beneficial effects of the present invention: (1) The present invention uses the battery stack as the input source for centralized energy supply to the charging robot, and flexibly dispatches and allocates the charging power through a centralized and unified scheduling strategy, which can greatly improve the operating efficiency of the entire charging station and the utilization rate of charging resources, and at the same time improve the user charging experience; (2) The present invention adopts multiple weight factors as the basis for charging power allocation, which can achieve flexible and efficient charging power allocation and improve operational efficiency and user experience; (3) The present invention adopts a high-voltage DC bus as the power supply line of the charging robot. According to the characteristics of high-voltage power transmission, under the same power, the higher the voltage, the smaller the current. Therefore, the diameter of the cable required for the power supply line deployed along the suspension track can be greatly reduced, which will directly and significantly reduce the cost of deploying the power supply line along the suspension track. In addition, the liquid cooling setting can further improve the current carrying capacity while keeping the diameter of the power supply line cable unchanged.

[0013] It should be noted that the beneficial effects of the present invention are not limited to the above description, and the beneficial effects can be understood in conjunction with specific technical solutions and preferred implementations. In addition, descriptions of the technical effects and beneficial effects of a specific technical solution or preferred implementation are also interspersed in the content of the present invention and the implementations thereafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a deployment diagram of the charging robot, suspension track and battery stack.

[0015] Figure 2 It is a power supply scheme and connection diagram of the power dispatching system of the battery stack type aerial mobile charging robot described in the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described and explained in detail below in conjunction with the embodiments, implementation modes and drawings of the present invention. It should be noted that the described embodiments or implementation modes are only part of the embodiments or implementation modes of the present invention, rather than all of the embodiments or implementation modes, and the drawings are only schematic diagrams for convenience of explanation, rather than complete limitations on the implementation modes of the present invention. Based on the embodiments or implementation modes of the present invention, all other embodiments or implementation modes obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0017] The following description of the embodiments or implementations of the present invention is merely illustrative in nature and is in no way intended to limit the present invention, its application, or use.

[0018] Figure 1 A three-dimensional schematic diagram of the outdoor deployment of the charging robot, the suspension track and the battery stack of the present invention is shown. Figure 2 The power supply scheme and connection diagram of the power dispatching system of the battery stack type aerial mobile charging robot described in the present invention are shown. The power dispatching system of the battery stack type aerial mobile charging robot includes a charging robot. There are several charging robots, all of which are deployed on a suspended track arranged in the air and can move along the track path of the suspended track. It also includes a battery stack 1, a distribution and dispatching control unit, a DC bus 1002, and a power supply module. The power input to the battery stack 1 is AC power, and the power output from the battery stack 1 to the DC bus 1002 is DC power. The DC bus 1002 is arranged along the suspended track. The charging robot draws power from the DC bus 1002 through the power supply module. The distribution and dispatching control unit controls the distribution of power drawn from the DC bus 1002 by each charging robot according to a given power distribution rule.

[0019] exist Figure 1In the outdoor deployment embodiment shown, the hanging track is suspended by a column 4, and the main structure of the hanging track includes a main path 2, a branch path 3, and a T-shaped tee 5. The charging robots are provided with several of them, all of which are suspended on the hanging track. Preferably, the charging robot includes a charging robot body 6, a charging gun line, a charging gun line retracting unit, and a driving module. The charging gun line is connected to the charging robot body 6, and the charging gun line retracting unit is used to realize the retraction of the charging gun line. The driving module can drive the charging robot to move along the track path of the hanging track under the control of the control unit. The battery stack 1 is used to provide power input for the several charging robots. The DC bus 1002 is connected to the battery stack 1 and is arranged along the hanging track. The charging robot draws power from the DC bus 1002 through the power taking module.

[0020] Figure 1 The charging robot shown uses a mechanical arm retractable module as a charging gun line retractable unit. In this embodiment, the mechanical arm retractable module is a soft-hard combination mechanical arm, including a multi-joint mechanical arm 7 and a joint motor. The charging gun line includes a charging cable 8 and a charging gun 9. The soft-hard combination mechanical arm is installed below the charging robot body 6. The charging cable 8 is arranged along the multi-joint mechanical arm 7. Under the control of the control unit, the joint motor can drive the multi-joint mechanical arm 7 to drive the charging gun line to realize folding and retracting. The charging gun 9 can be inserted into a joint of the multi-joint mechanical arm 7 when not working.

[0021] Regarding the fuel cell stack, its implementation method is relatively mature at present. Power modules with high charging power can be deployed inside the fuel cell stack 1. In terms of deployment architecture, a single large-power module can be used, or many small power modules can be stacked and deployed as a power module cluster.

[0022] Preferably, Figure 1 As shown, the battery stack 1 is set on the ground, and the charging robot is suspended on the suspension track. The advantage of this deployment method is that when the charging power is large, there is no need to install a bulky power module in the charging robot, which reduces the size of the charging robot and the load of the drive module and the suspension track, thereby improving the safety and reliability of the charging robot moving on the suspension track.

[0023] like Figure 1 , Figure 2As shown, preferably, civil AC power or industrial AC power is input into the battery stack 1 through an AC transmission line 1001, and the battery stack 1 outputs DC power of a specific voltage. The power supply line is a DC bus 1002, and a DC-to-DC power module is provided on the charging robot body 6, which is used to convert the DC power of a specific voltage output by the battery stack 1 into DC power of a voltage required by the charging load end. Preferably, the DC bus 1002 adopts a high-voltage current transmission mode, and the voltage of the DC power output by the battery stack 1 to the DC bus 1002 is greater than or equal to 600V. Preferably, the voltage on the DC bus 1002 is 1500V.

[0024] Preferably, the charging robot can travel and turn on the suspension track. Preferably, the solution for the charging robot to travel and turn on the suspension track is a four-wheel independent steering solution. Regarding this solution, the two patent documents previously submitted by the inventor mentioned in the background technology of the present invention have provided specific implementation methods, which will not be repeated here.

[0025] Preferably, another embodiment of the present invention that enables the charging robot to have the function of moving and turning along the suspended track is that the aerial mobile charging robot system that flexibly calls the battery stack also includes a steering unit, and the track path of the suspended track includes a plurality of straight sections, a plurality of intersections, and greater than or equal to zero turning sections, and the steering unit is a track turntable, which is provided at each intersection and turning section of the suspended track, and the track turntable can drive the charging robot to rotate together, and after turning into place, the driving module can move straight in the direction of the rotated track.

[0026] Preferably, the charging gun line retracting unit may also be a winding gun line retracting module, which includes a slip ring and a winding motor, wherein the slip ring includes a slip ring stator and a slip ring rotor, and the winding motor can drive the slip ring rotor to rotate under the control of the control unit, thereby realizing the winding retracting of the charging gun line. Slip rings are a type of special component used in the electrical industry to connect conductive cables under rotating conditions.

[0027] Preferably, the charging gun wire retracting and releasing unit is an automatic gun plugging and pulling out mechanical arm, which is installed on the charging robot body and includes multiple degrees of freedom joints. The charging gun wire is arranged along the automatic gun plugging and pulling out mechanical arm. Under the control of the control unit, the automatic gun plugging and pulling out mechanical arm can drive the charging gun wire to realize folding and retracting as well as automatic gun plugging and pulling out operation.

[0028] Regarding the power extraction module, the two patent documents previously submitted by the inventor mentioned in the background technology of the present invention have provided specific implementation methods, which will not be repeated here.

[0029] Preferably, the distribution main control unit should at least have the ability of data analysis, processing and control, and can be a general chip, such as a central processing unit CPU, a microprocessor MCU, etc., or a dedicated processing control chip, or a circuit board module with the above chip as the main control chip. The control unit usually carries a program or software that implements the corresponding function. The present invention does not limit the type of the control unit. On the basis of the present invention, simply changing the type of the control unit should fall within the protection scope of the present invention. Preferably, the distribution main control unit and the distribution terminal module should have the ability to communicate, and the communication module can be a wired communication module or a wireless communication module.

[0030] The DC / DC power module is a DC-to-DC power module commonly used in the charging pile industry and will not be described in detail here.

[0031] Preferably, the DC bus is provided with a liquid cooling unit. Preferably, the liquid cooling unit is a tubular liquid cooling unit, that is, the coolant flows in a liquid pipe, the liquid pipe is tied together with the current-carrying cable of the DC bus, and the heat dissipated during the current-carrying process of the DC bus is taken away by the flow of the coolant.

Claims

1. A battery stack type aerial mobile charging robot power dispatching system, comprising a charging robot, wherein the charging robots are in plurality and are all deployed on a suspended track arranged in the air and can move along the track path of the suspended track, characterized in that: It also includes a battery stack, a distribution and scheduling control unit, a DC bus, and a power supply module. The power input to the battery stack is AC power, and the power output from the battery stack to the DC bus is DC power. The DC bus is arranged along the suspension track. The charging robot draws power from the DC bus through the power supply module. The distribution and scheduling control unit controls the distribution of power drawn from the DC bus to each charging robot according to a given power distribution rule.

2. The power dispatching system for a battery stack type aerial mobile charging robot according to claim 1 is characterized in that: It also includes a communication module. The charging robot is provided with a DC / DC power module. The DC / DC power module is used to convert the DC power obtained by the power taking module from the DC bus into DC power that can be output to charge the electric vehicle. The distribution scheduling control unit includes a distribution main control unit and a distribution terminal module. The distribution terminal module is arranged on the charging robot and connected to the DC / DC power module. The distribution main control unit is connected to the distribution terminal modules of all charging robots powered by the battery stack through the communication module. According to the power request of each charging robot and the given power distribution rules, the distribution main control unit sends corresponding power distribution instructions to each charging robot. The distribution terminal module on each charging robot controls and limits the output power of the DC / DC power module of the charging robot according to the received power distribution instructions.

3. The power dispatching system for a battery stack type aerial mobile charging robot according to claim 1 is characterized in that: The DC bus is provided with a liquid cooling unit.

4. The power dispatching system for a battery stack type aerial mobile charging robot according to claim 1, characterized in that: The DC bus adopts a high-voltage current-carrying power transmission method, and the DC voltage output by the battery stack to the DC bus is greater than or equal to 600V.

5. A power dispatching method for a battery stack type aerial mobile charging robot, utilizing the power dispatching system for a battery stack type aerial mobile charging robot according to claim 2, characterized in that: When a charging robot provides charging service for an electric vehicle, the method comprises the following steps: S1: The electric vehicle sends a charging power request to the distribution terminal module of the charging robot; S2: The distribution terminal module of the charging robot sends the charging power request to the distribution main control unit; S3: The allocation main control unit calculates the weight of each charging robot to obtain charging power according to the power request of each charging robot, the maximum power that each charging robot can output, and the current available power of the battery stack, and according to the given power allocation rules, obtains the maximum power that each charging robot can currently allocate, and feeds back the corresponding power allocation instruction to the allocation terminal module of the charging robot that makes the charging power request through the communication module; S4: After receiving the power allocation instruction, the distribution terminal module of the charging robot controls and limits the output power of the DC / DC power module of the charging robot according to the power allocation instruction, and charges the electric vehicle based on this power control and limitation.

6. The power dispatching method for a battery stack type aerial mobile charging robot according to claim 5, characterized in that: The weight factors for each charging robot to obtain charging power include the order of starting charging, the size of the requested charging power, and the charging unit price paid by the user.

7. The power dispatching method for a battery stack type aerial mobile charging robot according to claim 6, characterized in that: The weight rule for each charging robot to obtain charging power is: When other conditions are the same, the earlier charging starts, the higher the weight of charging power is; When other conditions are the same, the greater the requested charging power, the higher the weight of obtaining the charging power; When other conditions are the same, the higher the charging price paid by the user, the higher the weight of obtaining charging power.

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