Energy storage type movable automobile charging system, control method and device

Abstract

The invention provides an energy storage type movable automobile charging system and a control method and device, and relates to the technical field of new energy automobile charging. The mobile subsystem carries the energy storage subsystem and transports the energy storage subsystem to the charging port of the to-be-charged automobile, the automatic charging subsystem is used for automatically charging the automobile, the system can be suitable for new energy automobiles in any parking space in a parking area, a fixed charging parking space does not need to be built, and the cost is reduced. According to the method, the limitation of a community site and the construction pressure of charging parking spaces can be effectively relieved, vehicle owners do not need to wait in line at the parking spaces and do not need to spend time in waiting for moving vehicles after charging is completed, and therefore high flexibility and convenience are achieved, and the time of the vehicle owners is liberated. And after charging is started, the mobile subsystem returns to the charging station subsystem for charging, waits for receiving other charging tasks or goes to be connected back to the energy storage subsystem after the charging of the automobile is completed, so that one automobile with multiple purposes can be realized, the resource utilization rate is improved, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicle charging, and in particular to an energy storage type mobile vehicle charging system, a control method and a device. Background Art

[0002] With the development of the new energy vehicle industry, the share of new energy vehicles is increasing day by day, and the charging piles that match new energy vehicles are also growing rapidly, but the current charging piles are still difficult to meet the needs of new energy vehicles. At present, the charging mode based on fixed charging piles has become more and more a bottleneck restricting the development of new energy vehicles. The main practical problems are as follows: due to limited space and old circuits, the expansion cost of traditional and old residential areas / communities is high, or even difficult to expand, resulting in a limited number of charging piles installed. Due to limited space, high investment cost of charging piles, long payback period and other reasons, the number of charging piles installed in commercial places such as shopping malls, office buildings, and service areas is limited, and car owners still need to queue up. At present, the construction of fast charging and super charging piles with high charging power to shorten the charging time can alleviate some of the queuing pressure, but it will also lead to other problems. For example, the charging time of fast charging and super charging piles still needs at least 15 minutes, and the car needs to be moved in time after charging is completed, otherwise a parking fee will be incurred. Car owners can choose to wait for charging to be completed or go to the mall for entertainment or office buildings for business before coming back to move the car. No matter which method is chosen, it will bring inconvenience to the car owner and the experience is not good.

[0003] Based on this, the present invention is proposed. Summary of the invention

[0004] To solve the above problems, the present invention provides an energy storage type mobile vehicle charging system, control method and device, which improve the flexibility and convenience of vehicle charging and can effectively alleviate the pressure of limited community space and charging parking space construction.

[0005] To achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides an energy storage type mobile vehicle charging system, comprising: a mobile subsystem, at least used to transport the energy storage subsystem to the charging port of the vehicle to be charged or transport it back to the recharging station subsystem, comprising a mobile device and a navigation and positioning device arranged on the mobile device and at least used to provide navigation and positioning for the mobile device; an energy storage subsystem, at least used to charge the vehicle to be charged, comprising an energy storage battery and a charging gun electrically connected to the energy storage battery; an automatic charging subsystem, at least used to insert the charging gun into the charging port of the vehicle to be charged and complete automatic charging, comprising a mechanical arm and a first 3D visual positioning device arranged on the mobile device, a mechanical gripper arranged at the end of the mechanical arm, and a second 3D visual positioning device arranged at the end of the mechanical arm; the first 3D visual positioning device is at least used to locate the position of the vehicle to be charged, and the second 3D visual positioning device is at least used to locate the position of the charging gun and the charging port; the mechanical arm and the mechanical gripper are used to grab the charging gun and insert it into the charging port or pull it out from the charging port; the recharging station subsystem has a charging pile for charging the energy storage battery of the energy storage subsystem and the mobile device of the mobile subsystem.

[0006] In a second aspect, the present invention provides a method for controlling charging of an energy storage type mobile vehicle, which controls the above-mentioned charging system, including: S100 mobile device task scheduling, which schedules the charging task of the mobile device; S200 mobile device motion control, which controls the movement of the mobile device according to the charging task; S300 mechanical arm control, when the mobile device arrives at the charging port of the vehicle to be charged, the mechanical arm and the mechanical gripper are controlled according to the position information of the vehicle to be charged, the charging gun and the charging port position information; S400 discharge control, which controls the energy storage battery to discharge when the charging gun is docked with the charging port, and controls the energy storage device to stop discharging when charging is completed; S500 charging control, when the physical connection between the energy storage battery / mobile device and the charging pile is completed, the charging pile is controlled to charge the energy storage battery / mobile device.

[0007] Further, as a preferred scheme of the control method, the S100 mobile device task scheduling schedules the charging tasks of the mobile device, which is implemented through the following steps: S111 issues a vehicle charging task to the mobile subsystem when receiving a vehicle charging demand; S112 controls the mobile subsystem to go to the location of the energy storage subsystem and loads the energy storage subsystem; S113 controls the mobile subsystem to go to the charging port of the vehicle to be charged; S114 controls the mobile subsystem to unload the energy storage subsystem after the charging gun is successfully docked with the charging port and charging is successful; S115 controls the mobile subsystem to leave the energy storage subsystem and return to the recharging station after successful unloading; S116 controls the mobile subsystem to leave the recharging station and go to the charging port of the vehicle where charging is completed after the vehicle is charged; S117 loads the energy storage subsystem after the charging gun is disconnected from the charging port; S118 controls the mobile subsystem to return to the recharging station and unloads the energy storage subsystem to the original position.

[0008] Further, as another preferred scheme of the control method, in order to adapt to the charging scene with large demand, it is necessary to set up multiple mobile subsystems and energy storage subsystems, that is, when the mobile subsystem and the energy storage subsystem are both provided with multiple, the S100 mobile device task scheduling is used to schedule the charging task of the mobile device, which is implemented by the following steps: S121 issues a vehicle charging task to an idle mobile subsystem when receiving the vehicle charging demand; S122 selects an idle energy storage subsystem and sends the location of the energy storage subsystem to the mobile subsystem; S123 controls the mobile subsystem to go to the location of the energy storage subsystem and loads the energy storage subsystem; S124 controls the mobile subsystem to go to the charging port of the car to be charged; S125 controls the mobile subsystem to unload the energy storage subsystem after the charging gun is successfully docked with the charging port and charging is successful; S126 controls the mobile subsystem to leave the energy storage subsystem and return to the recharging station after successful unloading; S127 issues a recycling task to an idle mobile subsystem after the car is charged, controls the mobile subsystem to leave the recharging station and go to the charging port of the car where charging has been completed; S128 loads the energy storage subsystem after the charging gun is disconnected from the charging port; S129 controls the mobile subsystem to return to the recharging station and unloads the energy storage subsystem to the original position.

[0009] In a third aspect, the present invention provides an energy storage type mobile vehicle charging control device, which adopts the above-mentioned charging control method, including: a mobile device task scheduling module, which is used to schedule the charging task of the mobile device; a mobile device motion control module, which is used to control the movement of the mobile device according to the charging task; a mechanical arm control module, which is used to control the movement of the mechanical arm and the mechanical gripper according to the position information of the vehicle to be charged, the charging gun and the charging port when the mobile device arrives at the charging port of the vehicle to be charged; a discharge control module, which is used to control the discharge of the energy storage battery when the charging gun is docked with the charging port, and control the energy storage device to stop discharging when charging is completed; a charging control module, which is used to control the charging pile to charge the energy storage battery / mobile device when the physical connection between the energy storage battery / mobile device and the charging pile is completed.

[0010] Compared with the prior art, the above technical solution has the following advantages: The present invention uses a mobile subsystem to carry an energy storage subsystem, and transports it to the charging port of the car to be charged, and uses the automatic charging subsystem to automatically charge the car. It can be applied to new energy vehicles in any parking space in the parking area, without the need to build fixed charging parking spaces, and can effectively alleviate the limited space in the community and the pressure of charging parking space construction. The car owner does not need to wait in line at the parking space, nor does he need to spend time waiting for the car to move after charging is completed. Therefore, it has high flexibility and convenience, freeing up the car owner's time. After charging starts, the mobile subsystem returns to the charging station subsystem to charge, and waits to receive other charging tasks or waits for the car to charge before going back to the energy storage subsystem, which can achieve "one car for multiple uses", improve resource utilization, and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0012] Figure 1 A module diagram of the energy storage type mobile vehicle charging system provided in Example 1 of the present invention; Figure 2 A module diagram of an energy storage type mobile vehicle charging system provided in Example 2 of the present invention; Figure 3 This is a flow chart of the energy storage type mobile vehicle charging control method provided in Example 3 of the present invention; Figure 4 This is a module diagram of the energy storage type mobile vehicle charging control device provided in Example 3 of the present invention; Figure 5 This is a flow chart of the energy storage type mobile vehicle charging control method provided in Example 4 of the present invention; Figure 6 A module diagram of an energy storage type mobile vehicle charging control device provided in Example 4 of the present invention; Figure 7 This is a flow chart of a mobile device task scheduling method in an energy storage type mobile vehicle charging control method provided in Example 5 of the present invention: Figure 8 This is a flow chart of the mobile device task scheduling method in the energy storage type mobile vehicle charging control method provided in Example 6 of the present invention.

[0013] The figure numbers are as follows: mobile subsystem 10, mobile device 11, navigation and positioning device 12, multi-line laser radar 121, visual sensor 122, ultrasonic sensor 123, energy storage subsystem 20, energy storage battery 21, charging gun 22, automatic charging subsystem 30, robotic arm 31, robotic gripper 32, first 3D visual positioning device 33, second 3D visual positioning device 34, recharging station subsystem 40, charging pile 41, mobile device task scheduling module 100, mobile device motion control module 200, robotic arm control module 300, discharge control module 400, charging control module 500, battery management module 600, thermal management module 700. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] Example 1: Please refer to Figure 1 The present embodiment provides an energy storage type mobile vehicle charging system, which is mainly composed of the following subsystems: a mobile subsystem 10, which is used to transport the energy storage subsystem 20 to the charging port of the vehicle to be charged or transport it back to the recharging station subsystem 40, including a mobile device 11 and a navigation and positioning device 12 provided on the mobile device 11 for providing navigation and positioning for the mobile device 11; the energy storage subsystem 20, which is used to charge the vehicle to be charged, includes an energy storage battery 21 and a charging gun 22 electrically connected to the energy storage battery 21; an automatic charging subsystem 30, which is used to insert the charging gun 22 into the charging port of the vehicle to be charged and complete automatic charging, including It includes a robotic arm 31 and a first 3D vision positioning device 33 provided on the mobile device 11, a robotic gripper 32 provided at the end of the robotic arm 31, and a second 3D vision positioning device 34 provided at the end of the robotic arm 31; the first 3D vision positioning device 33 is used to locate the position of the car to be charged, and the second 3D vision positioning device 34 is used to locate the charging gun 22 and the charging port; the robotic arm 31 and the robotic gripper 32 are used to grab the charging gun 22 and insert it into the charging port or pull it out from the charging port; the recharging station subsystem 40 has a charging pile 41 for charging the energy storage battery 21 of the energy storage subsystem 20 and the mobile device 11 of the mobile subsystem 10.

[0016] In this embodiment, as usual, after the owner parks the new energy vehicle in the parking lot (the parking lot open to the energy storage type mobile vehicle charging system of the present invention), he can put forward the demand for mobile charging, and can send the charging demand to the energy storage type mobile vehicle charging system of the present invention through the mobile terminal APP or applet (this is the existing common and conventional method, which will not be described in detail). When the system of this embodiment receives the charging demand (with the parking space number) from the owner, it can control the mobile subsystem 10 to load the energy storage subsystem 20 and transport it to the charging port of the car to be charged in the corresponding parking space through the navigation and positioning device 12 (the current common and conventional navigation and positioning methods, such as GPS, Beidou positioning, etc., can be adopted, which is suitable for ground parking lots). The positioning and identification of the charging port are completed by the first 3D visual positioning device 33 and the second 3D visual positioning device 34. The mechanical arm 31 and the mechanical gripper 32 grab the charging gun 22 and insert it into the charging port. The energy storage subsystem 20 discharges and starts charging. Then, after unloading the energy storage subsystem 20, the mobile subsystem 10 returns to the recharging station subsystem 40 for charging. After waiting for the car to be charged, the energy storage subsystem 20 is connected back to the recharging station subsystem 40 for charging; or it waits for other charging tasks at the recharging station subsystem 40 and carries other energy storage subsystems 20 to the vicinity of other cars to be charged.

[0017] This embodiment uses the mobile subsystem 10 to carry the energy storage subsystem 20, and transports it to the charging port of the car to be charged, and uses the automatic charging subsystem 30 to automatically charge the car. It can be applied to new energy vehicles in any parking space in the parking area, without the need to build fixed charging parking spaces, which can effectively alleviate the limited space in the community and the pressure of charging parking space construction. The car owner does not need to wait in line at the parking space, nor does he need to spend time waiting for the car to move after charging is completed. Therefore, it has high flexibility and convenience, freeing up the car owner's time. After charging starts, the mobile subsystem 10 returns to the charging station subsystem 40 to charge, and waits to receive other charging tasks or waits for the car to charge after it is completed to go back to the energy storage subsystem 20, which can achieve "one car for multiple uses", improve resource utilization, and reduce costs.

[0018] Example 2: Please refer to Figure 2 On the basis of implementation 1, an energy storage type mobile car charging system of this embodiment adds the following preferred scheme: the mobile device 11 is provided with a 360° omnidirectional chassis, which can rotate 360° in all directions to enhance the flexibility of movement. The navigation and positioning device 12 uses a combination of a multi-line laser radar 121, a visual sensor 122 and an ultrasonic sensor 123 for positioning and navigation. Among them, the multi-line laser radar 121 is used for high-precision environmental perception, accurately identifying roads, vehicles, pedestrians and other obstacles for avoidance; the visual sensor 122 is used to obtain environmental information within the field of view and identify the vehicle to be charged and the charging port; the ultrasonic sensor 123 is used to detect the distance of obstacles around the mobile device 11 to avoid collision.

[0019] The positioning of this embodiment is carried out by navigating in the form of a combination of a multi-line laser radar 121, a visual sensor 122 and an ultrasonic sensor 123, which is applicable to underground parking environments with poor GPS signals. In addition, the combination of multiple sensors can further improve the accuracy, precision and stability of navigation and positioning.

[0020] Example 3: Please refer to Figure 3 This embodiment provides a charging control method for an energy storage type mobile vehicle, which controls the charging system in Embodiment 1 and Embodiment 2, and mainly adopts the following control steps: S100: Task scheduling of the mobile device 11, scheduling the charging task of the mobile device 11; S200: motion control of the mobile device 11, controlling the motion of the mobile device 11 according to the charging task; S300: Control of the mechanical arm 31: When the mobile device 11 reaches the charging port of the vehicle to be charged, the mechanical arm 31 and the mechanical gripper 32 are controlled to move according to the position information of the vehicle to be charged, the charging gun 22 and the position information of the charging port; S400 discharge control, controlling the energy storage battery 21 to discharge when the charging gun 22 is docked with the charging port, and controlling the energy storage device to stop discharging when charging is completed; S500 charging control, when the energy storage battery 21 / mobile device 11 is physically connected to the charging pile 41 , the charging pile 41 is controlled to charge the energy storage battery 21 / mobile device 11 .

[0021] Please refer to Figure 4 This embodiment also provides an energy storage type mobile vehicle charging control device, which adopts the above charging control method and is mainly composed of the following parts: The mobile device task scheduling module 100 is used to schedule the charging task of the mobile device 11; The mobile device motion control module 200 is used to control the motion of the mobile device 11 according to the charging task; The robot arm control module 300 is used to control the movement of the robot arm 31 and the robot gripper 32 according to the position information of the vehicle to be charged, the charging gun 22 and the charging port; The discharge control module 400 is used to control the energy storage battery 21 to discharge when the charging gun 22 is docked with the charging port, and to control the energy storage device to stop discharging when charging is completed; The charging control module 500 is used to control the charging pile 41 to charge the energy storage battery 21 / mobile device 11 when the physical connection between the energy storage battery 21 / mobile device 11 and the charging pile 41 is completed.

[0022] The charging control method and device of this embodiment are used to control the charging system in Embodiment 1 and Embodiment 2. When the mobile device task scheduling module 100 receives the charging demand of the car owner, it first performs task scheduling of the mobile device 11, and issues the task of charging to the mobile device 11 of the mobile subsystem 10. After the mobile device 11 receives the task, the mobile device motion control module 200 controls the movement of the mobile device 11 according to the task, during which it first controls it to carry the energy storage subsystem 20, and then controls it to go to the location according to positioning and navigation. When the mobile device 11 arrives at the charging port of the car to be charged, the mechanical arm control module 300 controls the mechanical arm 31 and the mechanical gripper 32 to grab the charging gun 22 on the energy storage subsystem 20, and then dock it to the corresponding charging port position. Prior to this, the charging cover on the charging port can be opened by the car owner, or the second 3D visual positioning device 34 at the end of the mechanical arm 31 can identify and determine the charging cover, and the mechanical arm control module 300 controls the mechanical gripper 32 to open the charging port. After opening, the second 3D visual positioning device 34 identifies the charging port and inserts the charging gun 22 into alignment. After docking is completed, the discharge control module 400 controls the energy storage battery 21 to discharge and start charging. After charging is completed or interrupted (the owner can terminate charging at any time on the APP or mini program), the energy storage battery 21 is controlled to stop discharging when charging is completed. After the car is fully charged or the charging is interrupted and the mobile device 11 returns to the recharging station subsystem 40 with the energy storage subsystem 20, the charging control module 500 can control the charging pile 41 to charge the energy storage battery 21 / mobile device 11 when the physical connection between the energy storage battery 21 / mobile device 11 and the charging pile 41 of the recharging station subsystem 40 is completed.

[0023] This embodiment uses the above-mentioned charging control method and device to control the entire charging system of the present invention, and through scheduling, realizes the orderly progress of mobile and energy storage charging.

[0024] Example 4: Please refer to Figure 5 This embodiment provides a charging control method for an energy storage type mobile vehicle, which controls the charging system in Embodiment 1 and Embodiment 2, and mainly adopts the following control steps: S100: Task scheduling of the mobile device 11, scheduling the charging task of the mobile device 11; S200: motion control of the mobile device 11, controlling the motion of the mobile device 11 according to the charging task; S300: Control of the mechanical arm 31: When the mobile device 11 reaches the charging port of the vehicle to be charged, the mechanical arm 31 and the mechanical gripper 32 are controlled to move according to the position information of the vehicle to be charged, the charging gun 22 and the position information of the charging port; S400 discharge control, controlling the energy storage battery 21 to discharge when the charging gun 22 is docked with the charging port, and controlling the energy storage device to stop discharging when charging is completed; S500 charging control, when the energy storage battery 21 / mobile device 11 is physically connected to the charging pile 41, controlling the charging pile 41 to charge the energy storage battery 21 / mobile device 11; S600 battery management, which monitors the battery voltage, current and temperature in real time, calculates the remaining capacity and degree of degradation of the battery, and estimates the battery status; S700 thermal management keeps the battery running within the set temperature range.

[0025] The above steps S600 battery management and S700 thermal management may not be executed in a certain order in the control method. S600 battery management and S700 thermal management are executed during the discharge and charging process of the energy storage battery 21, that is, after S400 discharge control, S600 battery management and S700 thermal management are performed simultaneously, and after S500 charging control, S600 battery management and S700 thermal management are performed simultaneously again.

[0026] Please refer to Figure 6 The present embodiment also provides a charging control device for an energy storage type mobile vehicle, which adopts the above charging control method and is mainly composed of the following parts: a mobile device task scheduling module 100, which is used to schedule the charging task of the mobile device 11; a mobile device motion control module 200, which is used to control the motion of the mobile device 11 according to the charging task; a mechanical arm control module 300, which is used to control the movement of the mechanical arm 31 and the mechanical gripper 32 according to the position information of the vehicle to be charged, the charging gun 22 and the charging port; a discharge control module 400, which is used to control the energy storage battery 21 to discharge when the charging gun 22 is docked with the charging port, and to control the energy storage device to stop discharging when charging is completed; a charging control module 500, which is used to control the charging pile 41 to charge the energy storage battery 21 / mobile device 11 when the physical connection between the energy storage battery 21 / mobile device 11 and the charging pile 41 is completed; a battery management module 600 (which can adopt a BMS battery management system) is used to monitor the voltage, current and temperature of the battery in real time, calculate the remaining capacity and deterioration degree of the battery, and estimate the state of the battery. The thermal management module 700 is used to keep the battery operating within a set temperature range.

[0027] Based on Example 4, this embodiment adds battery management and thermal management. During the battery charging and discharging process, the battery management module 600 can collect the terminal voltage and temperature of each battery in the battery pack, the charging and discharging current, and the total voltage of the battery pack in real time to prevent the battery from being overcharged or over-discharged, and the health of the battery can be managed to extend the battery life. During the charging and discharging process, under high voltage and high current, a large amount of heat will be generated inside the energy storage battery 21 and the charging pile 41, and the internal temperature will rise sharply. Excessive local temperature will cause the device function to be reduced or even fail, and may also cause flammable materials to catch fire. For this reason, adding a thermal management module 700 and matching it with a corresponding heat dissipation or cooling device to keep the battery running within the set temperature range is a method to ensure the stable and safe operation of the entire system.

[0028] In addition, during the charging and discharging process, the energy storage battery 21 (battery pack) supplies power to the battery management module 600 and the thermal management module 700, and the BMS battery management system monitors the status of the energy storage battery 21 in real time. Balancing between single cells means charging the single cells evenly, by protecting the safe working area where the battery is operated from outside, monitoring its status, calculating auxiliary data, reporting the data, controlling its environment, authenticating it and / or balancing it, so that each battery in the energy storage battery 21 group reaches a balanced and consistent state.

[0029] In this embodiment, a 96V / 280AH lithium iron phosphate energy storage battery 21 can be selected. Lithium iron phosphate battery is a very advantageous material at present. There is no need to worry about the risk of battery explosion. It can be charged with AC power, car power generation, or solar energy. It has a built-in battery protection board with charging protection, over-current protection, over-discharge protection, overvoltage protection, short-circuit protection, reverse connection protection and other functions, and is very suitable for the energy storage mobile charging solution of the present invention.

[0030] Example 5: Please refer to Figure 7 In the energy storage type mobile vehicle charging control method provided in the present embodiment 3 or 4, a preferred mobile device 11 task scheduling method is provided. The present embodiment considers the mobile device 11 task scheduling method used when one mobile subsystem 10 corresponds to one energy storage subsystem 20. It is mainly used in parking lots with a smaller range or parking lots with a small number of vehicles, and is mainly implemented through the following steps: When receiving the vehicle charging demand, S111 issues a vehicle charging task to the mobile subsystem 10; S112 controls the mobile subsystem 10 to go to the location of the energy storage subsystem 20 and loads the energy storage subsystem 20; S113 controls the mobile subsystem 10 to go to the charging port of the vehicle to be charged; S114: After the charging gun 22 is successfully docked with the charging port and charging is successful, the mobile subsystem 10 is controlled to unload the energy storage subsystem 20; After successful unloading, S115 controls the mobile subsystem 10 to leave the energy storage subsystem 20 and return to the recharging station; S116 After the car is fully charged, control the mobile subsystem 10 to leave the recharging station and go to the charging port of the car where charging has been completed; S117: After the charging gun 22 is separated from the charging port, the energy storage subsystem 20 is loaded; S118 controls the mobile subsystem 10 to return to the recharging station and unloads the energy storage subsystem 20 to the original position.

[0031] In a more preferred embodiment, one mobile subsystem 10 can be used to correspond to multiple energy storage subsystems 20, which can be applied to parking lots with medium range or parking lots with medium vehicles, so as to realize "one car for multiple uses", improve the utilization rate of the mobile subsystem 10, and reduce the overall operating cost. In this case, in the task scheduling method of the mobile device 11, a step is added after the step of "S111, when receiving the charging demand of the car, issuing the vehicle charging task to the mobile subsystem 10": selecting a certain idle energy storage subsystem 20, and sending the location of the energy storage subsystem 20 to the mobile subsystem 10. Then execute step S113, and the other steps are similar, which will not be repeated here. In this embodiment, the idle energy storage subsystem 20 refers to the energy storage subsystem 20 whose power (actual power that can be provided) after the charging conversion rate of the energy storage battery 21 is greater than the charging power required by the car to be charged and is neither in a discharging state nor in a charging state.

[0032] In order to meet the battery limit conditions of a vehicle (from 0 to 100%), the selection of the factory capacity of the energy storage battery 21 needs to be based on preliminary research on various vehicle models, and a capacity above the average level or more than 1 times the maximum capacity of the power battery among all vehicle models currently on the market should be selected as the capacity of the energy storage battery 21 of the charging system of the present invention, and it should be set according to the actual needs of different application scenarios.

[0033] In this embodiment, the charging power required for the car to be charged is obtained by one of the following methods: Method 1: Setting a default value for the charging power required for the car to be charged, the default charging power required for the car to be charged is 80%-100% of the full capacity of the energy storage battery 21 after the charging conversion rate is converted, and this method is an option for the user to choose. If the user chooses the default value, it means that the car needs to be fully charged (here, the user can be reminded: your car will be fully charged). Method 2: Obtain the charging power input by the user, preset multiple charging power options for the user to choose, this method is an option for the user to choose, and the final charging goal is to power the car according to one of the charging power selected by the user. Through this default option combined with the power selection method, not only can the user operate more quickly (directly select the default), it is relatively worry-free, especially when the user is in a hurry to do things, but also it can give relatively free users space to choose. Because considering that some users have installed charging piles 41 at home (charging is relatively cheap), out of the desire to save, they only need to charge the car to enough power to go home, and this embodiment can meet the personalized needs of various users by setting multiple power for users to choose, which is more in line with actual needs. In a more preferred embodiment, different power options can correspond to corresponding mileages that can be driven, giving users a more intuitive experience and allowing them to make quick judgments, which is faster and more convenient.

[0034] Example 6: Please refer to Figure 8 In the energy storage type mobile vehicle charging control method provided in the present embodiment 3 or 4, another preferred mobile device 11 task scheduling method is provided. This embodiment considers the mobile device 11 task scheduling method used when multiple mobile subsystems 10 correspond to multiple energy storage subsystems 20. It is mainly used in parking lots with a large range or parking lots with a large number of vehicles and a large demand for charging. It can also achieve "one car for multiple uses" (the specific ratio of the mobile device 11 to the energy storage device can be set according to actual needs), improve the utilization rate of the mobile subsystem 10, and reduce the overall operating cost. It is mainly achieved through the following steps: When receiving a vehicle charging demand, S121 issues a vehicle charging task to an idle mobile subsystem 10; S122 selects an idle energy storage subsystem 20 and sends the location of the energy storage subsystem 20 to the mobile subsystem 10; S123 controls the mobile subsystem 10 to go to the location of the energy storage subsystem 20 and loads the energy storage subsystem 20; S124 controls the mobile subsystem 10 to go to the charging port of the vehicle to be charged; S125: After the charging gun 22 is successfully docked with the charging port and charging is successful, the mobile subsystem 10 is controlled to unload the energy storage subsystem 20; After successful unloading, S126 controls the mobile subsystem 10 to leave the energy storage subsystem 20 and return to the recharging station; S127, after the car is fully charged, issues a recovery task to an idle mobile subsystem 10, and controls the mobile subsystem 10 to leave the recharging station and go to the charging port of the car that has completed charging; S128 After the charging gun 22 is separated from the charging port, the energy storage subsystem 20 is loaded; S129 controls the mobile subsystem 10 to return to the recharging station and unloads the energy storage subsystem 20 to the original position.

[0035] In this embodiment, an idle mobile subsystem 10 refers to a mobile subsystem 10 in which the range supported by the current power of the mobile device 11 is greater than the round-trip distance between the vehicle to be charged and the charging station and the mobile subsystem 10 is not currently performing any task; an idle energy storage subsystem 20 refers to an energy storage subsystem 20 in which the power of the energy storage battery 21 converted by the charging conversion rate (the actual power that can be provided) is greater than the charging power required by the vehicle to be charged and the mobile subsystem 10 is neither in a discharging state nor in a charging state.

[0036] In this embodiment, the charging power required by the vehicle to be charged is obtained by the following three methods: Method 1: Set a default value for the charging power required for the vehicle to be charged. The default charging power required for the vehicle to be charged is 80%-100% of the full capacity of the energy storage battery 21 after the charging conversion rate is converted. This method is an option for the user to choose.

[0037] Method 2: Obtain the charging power input by the user, preset multiple charging power options for the user to choose, and this method is used as an option for the user to choose.

[0038] Method 3: Obtain the charging time input by the user (setting options such as 5min, 15min, 30min, 60min), and calculate the required charging power of the vehicle to be charged according to the charging time and the charging power of the energy storage battery 21 as the charging target. Adding the option of charging time can meet the needs of users who have actual needs for stay time or are more sensitive to time. While meeting the personalized needs of different users, the operation is faster and more suitable for practical applications.

[0039] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the above-mentioned embodiments of the methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0040] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] The above embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An energy storage type mobile vehicle charging system, characterized in that: include: A mobile subsystem, at least used to transport the energy storage subsystem to the charging port of the vehicle to be charged or back to the recharging station subsystem, including a mobile device and a navigation and positioning device provided on the mobile device and at least used to provide navigation and positioning for the mobile device; An energy storage subsystem, at least used to charge the vehicle to be charged, including an energy storage battery and a charging gun electrically connected to the energy storage battery; The automatic charging subsystem is at least used to insert the charging gun into the charging port of the vehicle to be charged and complete automatic charging, including a mechanical arm and a first 3D visual positioning device provided on the mobile device, a mechanical gripper provided at the end of the mechanical arm, and a second 3D visual positioning device provided at the end of the mechanical arm; the first 3D visual positioning device is at least used to locate the position of the vehicle to be charged, and the second 3D visual positioning device is at least used to locate the position of the charging gun and the charging port; the mechanical arm and the mechanical gripper are used to grab the charging gun and insert it into the charging port or pull it out from the charging port; The recharging station subsystem has a charging pile for charging the energy storage battery of the energy storage subsystem and the mobile device of the mobile subsystem.

2. The energy storage type mobile vehicle charging system according to claim 1, characterized in that: In the mobile subsystem, the mobile device is provided with a 360° omnidirectional chassis; the navigation and positioning device adopts a combination of multi-line laser radar, visual sensor and ultrasonic sensor for positioning and navigation; the multi-line laser radar is used to identify roads, vehicles, pedestrians and other obstacles for avoidance; the visual sensor is used to obtain environmental information within the field of view and identify the vehicle to be charged and the charging port; the ultrasonic sensor is used to detect the distance of obstacles around the mobile device to avoid collision.

3. A method for controlling charging of an energy storage type mobile vehicle, which controls the charging system according to any one of claims 1 to 2, characterized in that: include: S100 mobile device task scheduling, scheduling charging tasks for mobile devices; S200 mobile device motion control, controls the movement of the mobile device according to the charging task; S300 robotic arm control: when the mobile device reaches the charging port of the vehicle to be charged, the robotic arm and the mechanical gripper are controlled according to the location information of the vehicle to be charged, the charging gun and the charging port; S400 discharge control, controls the energy storage battery to discharge when the charging gun is connected to the charging port, and controls the energy storage device to stop discharging when charging is completed; S500 charging control, when the energy storage battery / mobile device is physically connected to the charging pile, controls the charging pile to charge the energy storage battery / mobile device.

4. The energy storage type mobile vehicle charging control method according to claim 3 is characterized in that: It also includes S600 battery management, which monitors the battery voltage, current and temperature in real time, calculates the battery's remaining capacity and degree of degradation, and estimates the battery's status; and S700 thermal management, which keeps the battery running within a set temperature range.

5. The energy storage type mobile vehicle charging control method according to claim 3 is characterized in that: The S100 mobile device task scheduling is to schedule the charging task of the mobile device, which is implemented by the following steps: When receiving the charging demand from the vehicle, S111 issues the task of charging the vehicle to the mobile subsystem; S112 controls the mobile subsystem to go to the location of the energy storage subsystem and loads the energy storage subsystem; S113 controls the mobile subsystem to go to the charging port of the vehicle to be charged; S114: After the charging gun is successfully docked with the charging port and charging is successful, controlling the mobile subsystem to unload the energy storage subsystem; After successful unloading, S115 controls the mobile subsystem to leave the energy storage subsystem and return to the recharging station; S116 After the car is fully charged, control the mobile subsystem to leave the recharging station and go to the charging port of the car where charging has been completed; S117 loads the energy storage subsystem after the charging gun is separated from the charging port; S118 controls the mobile subsystem to return to the recharging station and unloads the energy storage subsystem to the original position.

6. The energy storage type mobile vehicle charging control method according to claim 3 is characterized in that: When the mobile subsystem and the energy storage subsystem are both provided in plurality, the S100 mobile device task scheduling is to schedule the charging task of the mobile device, which is implemented by the following steps: When receiving a vehicle charging demand, S121 issues a vehicle charging task to an idle mobile subsystem; S122 selects an idle energy storage subsystem and sends the location of the energy storage subsystem to the mobile subsystem; S123 controls the mobile subsystem to go to the location of the energy storage subsystem and loads the energy storage subsystem; S124 controls the mobile subsystem to go to the charging port of the vehicle to be charged; S125 controls the mobile subsystem to unload the energy storage subsystem after the charging gun is successfully docked with the charging port and charging is successful; After successful unloading, S126 controls the mobile subsystem to leave the energy storage subsystem and return to the recharging station; After the car is fully charged, S127 issues a recovery task to an idle mobile subsystem, controlling the mobile subsystem to leave the recharging station and go to the charging port of the car where charging has been completed; S128 loads the energy storage subsystem after the charging gun is separated from the charging port; S129 controls the mobile subsystem to return to the recharging station and unloads the energy storage subsystem to the original position.

7. The energy storage type mobile vehicle charging control method according to claim 6 is characterized in that: The idle mobile subsystem refers to a mobile subsystem in which the range supported by the current power of the mobile device is greater than the round-trip distance between the vehicle to be charged and the charging station and the mobile subsystem is not currently performing any task; the idle energy storage subsystem refers to an energy storage subsystem in which the power of the energy storage battery after charging conversion rate is greater than the charging power required by the vehicle to be charged and the mobile subsystem is neither in a discharging state nor in a charging state.

8. The energy storage type mobile vehicle charging control method according to claim 7 is characterized in that: The charging power required for the vehicle to be charged is obtained by one of the following methods: Method 1: setting a default value for the charging power required for the vehicle to be charged, and the default charging power required for the vehicle to be charged is 80%-100% of the full capacity of the energy storage battery after the charging conversion rate is converted. This method is an option for the user to choose; Method 2: obtaining the charging power input by the user, and presetting multiple charging power options for the user to choose. This method is an option for the user to choose.

9. The energy storage type mobile vehicle charging control method according to claim 7 or 8, characterized in that: The required charging power of the vehicle to be charged is obtained in the following manner: the charging time input by the user is obtained, and the required charging power of the vehicle to be charged is calculated according to the charging time and the charging power of the energy storage battery.

10. An energy storage type mobile vehicle charging control device, using the charging control method according to any one of claims 3 to 9, characterized in that: include: A mobile device task scheduling module, used to schedule charging tasks for mobile devices; A mobile device motion control module, used to control the motion of the mobile device according to the charging task; A robotic arm control module, used to control the movement of the robotic arm and the robotic gripper according to the position information of the vehicle to be charged, the charging gun and the charging port when the mobile device reaches the charging port of the vehicle to be charged; The discharge control module is used to control the energy storage battery to discharge when the charging gun is connected to the charging port, and to control the energy storage device to stop discharging when charging is completed; The charging control module is used to control the charging pile to charge the energy storage battery / mobile device when the physical connection between the energy storage battery / mobile device and the charging pile is completed.

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