Movable intelligent charging pile system

Abstract

The invention discloses a movable intelligent charging pile system, and belongs to the technical field of new energy automobile charging, and the system comprises an information obtaining module which is used for obtaining preset vehicle information entering and exiting a residence parking garage, and the preset vehicle information comprises license plate number information and vehicle image information; the preset vehicle information further comprises the parking position of the preset vehicle after entering the parking garage and the position of a charging port in the preset vehicle; the information acquisition module comprises a CCD camera; the obstacles existing between the preset vehicle parking position and the charging pile are collected, and when the charging pile avoids the closest obstacle, the adjacent distances between the remaining obstacles can be recalculated based on the closest obstacle, so that whether the obstacles can be avoided or not can be analyzed and judged more accurately; moreover, the mobile route can be intelligently selected according to the parking position of the preset vehicle in the future time period, so that the wrong route which cannot avoid the obstacle is avoided, and the intelligent degree of charging is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicle charging, and in particular to a movable intelligent charging pile system. Background Art

[0002] In recent years, as the provincial and municipal governments of the country have successively issued a series of policies to vigorously promote the application of new energy vehicles, the number of new energy vehicles purchased has increased day by day. At the moment when the use of new energy vehicles is becoming more and more popular, my country's charging infrastructure still has problems such as unreasonable layout, unreasonable structure, unbalanced services, inadequate operation, insufficient overall planning, unbalanced ratio of fast and slow charging piles, insufficient operation and maintenance capabilities of charging facilities, low utilization rate of charging piles in remote areas, and insufficient supply of charging services in hot areas and holidays. Charging problems have become one of the key factors restricting its development. Among them, the insufficient number and unreasonable layout of charging piles are the main problems, especially in private residential areas such as residential villas. Due to the dispersion of parking spaces and the fixed nature of charging equipment, it is difficult for existing charging equipment to charge vehicles according to the location of the owner's parked vehicle. In order to improve the convenience of charging new energy vehicles, the technical application number CN202110689799.X provides an intelligent movable DC fast charging pile and an intelligent charging method. The technical solution includes a main body, a charging gun, a fixed device, a driving device, an image detection module and a scheduling control module; the main body can be movably set on the fixed device through the driving device; the charging gun can be movably set on the main body; the image detection module and the scheduling control module are both set on the main body; the image detection module and the driving device are electrically connected to the scheduling control module, and the scheduling control module is used to manipulate the driving device to move the main body to a preset parking space to realize charging operations when a car comes to the vacant parking space. It can automatically and efficiently complete the movement of the charging pile, and further realize manual or automatic charging. However, this technical solution can only move on the set guide rail, and its movement trajectory is limited, which is not conducive to flexible charging of new energy vehicles. In addition, the parking garage in the villa residential area is usually large in area. When the charging pile of the existing technical solution is moved in such places, it is difficult to intelligently avoid obstacles and does not have an obstacle avoidance function, resulting in great restrictions on mobile charging according to the parking position of the vehicle and a low degree of intelligent charging. Summary of the invention

[0003] In view of the above-mentioned problems existing in the technical field of existing new energy vehicle charging, the present invention is proposed.

[0004] Therefore, one of the objects of the present invention is to provide a movable intelligent charging pile system, which can determine whether the charging pile can avoid the obstacles and move toward the preset vehicle direction by collecting obstacles between the preset vehicle parking position and the charging pile and calculating the distance between each adjacent obstacle; at the same time, as a further improvement, when the charging pile avoids the obstacle closest to it, it can also recalculate the adjacent distances between the remaining obstacles based on the nearest obstacle, and then make a more accurate analysis and judgment on whether the obstacle can be avoided, and in the future time period, it can also intelligently select the moving route according to the preset vehicle parking position to avoid the wrong route that cannot avoid obstacles, thereby improving the intelligence of charging.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A mobile intelligent charging pile system, comprising:

[0007] An information acquisition module, used to acquire preset vehicle information entering and exiting a residential parking garage, the preset vehicle information including license plate information and vehicle image information, the preset vehicle information also including a parking position of the preset vehicle after entering the parking garage, and a position of a charging port on the preset vehicle; the information acquisition module includes a CCD camera;

[0008] A data storage module, used to store the preset vehicle information acquired by the information acquisition module, and compare the vehicle information entering the parking garage at any time based on the stored preset vehicle information to verify whether the vehicle entering the parking garage is the preset vehicle, and the data storage module also includes the length, width and height data of the charging pile itself;

[0009] A distance measurement module, which responds to the verification result of the data storage module and is used to measure the distance between the charging pile and the preset vehicle parking position when the verification result is that the vehicle entering the parking garage belongs to the preset vehicle; when the verification result is that the vehicle entering the parking garage does not belong to the preset vehicle, no distance measurement is performed;

[0010] A fusion analysis unit, which responds to the distance result calculated by the distance measurement module and is used to analyze the obstacle position between the charging pile and the preset vehicle. The fusion analysis unit includes a visual image acquisition module, a division module, a coordinate setting module and a calculation module;

[0011] The visual image acquisition module is used to collect image information of obstacles between the charging pile and the preset vehicle, and obtain edge information of the obstacle image through edge detection technology;

[0012] The division module is used to divide obstacles into θ1, θ2, ..., θ n , where n represents the nth obstacle;

[0013] The coordinate setting module is used to set the position coordinate data of each obstacle according to the divided obstacles;

[0014] The calculation module is used to calculate the distance between each obstacle according to the position coordinate data of the obstacle, and obtain the minimum distance value and the maximum distance value according to the calculated distance values, wherein the minimum distance value includes the minimum distance value between any two adjacent obstacles;

[0015] The coordinate data sorting module is used to sort the coordinate data of each obstacle position based on the distance from the charging pile, taking the charging pile as the base point, and generate a data sorting set m = [m1, m2, m3, ...., m n ], where n represents the nth obstacle farthest from the charging pile, and the charging pile avoids obstacles one by one in the sorting order when moving toward the preset vehicle direction;

[0016] The mobile passage judgment module is used to calculate the distance between the adjacent obstacles and the nearest obstacle when the charging pile moves to it. When the charging pile can pass through the distance based on its own length, width and height data, the system determines that the charging pile can avoid the nearest obstacle; otherwise, no judgment is made and an early warning is issued.

[0017] As a preferred solution of the present invention, when the system determines that the charging pile can avoid the nearest obstacle, the number of obstacles between the preset vehicle and the charging pile is recalculated based on the first position of the charging pile after avoiding the obstacle. The first position includes the position within 5 to 10 cm from the obstacle after the charging pile avoids the obstacle, and according to the number of obstacles recalculated, the position coordinate data of the obstacles are re-given one by one.

[0018] As a preferred solution of the present invention, the distance value between each two adjacent obstacles is calculated based on the re-given position coordinate data, the distance is divided into a first distance value, a second distance value and a third distance value, the minimum distance value is collected from the divided distance values, and the length, width and height data of the charging pile itself are compared and analyzed with the minimum distance value to obtain the difference between the length, width and height data of the charging pile and the minimum distance value. When the difference is a positive value, the system determines that the charging pile can avoid the obstacles; when the difference is a negative value, no determination is made and an early warning is issued.

[0019] As a preferred solution of the present invention, wherein: a corresponding moving route is generated based on the re-given position coordinate data, when the difference is a negative value, the parking position of the preset vehicle is stored, and coordinate data based on the position is generated, and at the same time the system marks the moving route as an erroneous route that cannot avoid obstacles, and when the parking position of the preset vehicle in a future time period corresponds to the coordinate data, the system does not collect obstacles on the moving route.

[0020] As a preferred solution of the present invention, when the parking position of the preset vehicle in the future time period corresponds to the coordinate data, the system generates at least 2 to 3 moving routes that do not contain the original obstacle position coordinate data. In each new moving route generated, the obstacles in each moving route are collected, and the position coordinate data based on each obstacle is generated. At the same time, the distance values ​​between adjacent obstacles are calculated, and the minimum distance value is collected. The length, width, and height data of the charging pile are compared and analyzed with the minimum distance value to obtain the difference between the length, width, and height data of the charging pile and the minimum distance value. When the difference is a positive value, the system moves according to the corresponding route. When the parking position of the preset vehicle in the future time period corresponds to the coordinate data, the system automatically selects the route for movement; when the difference is a negative value, the corresponding route is marked as an incorrect route.

[0021] As a preferred solution of the present invention, the associated features of the obstacle position coordinate data and the negative value are collected in the wrong route, and the features of the two adjacent obstacle position coordinate data corresponding to the negative value are analyzed based on the negative value, the coordinate difference of the two obstacle position coordinate data is calculated, and a critical threshold is preset based on the coordinate difference. When obstacles are collected based on the preset vehicle at any parking position in the parking garage in the future time period, if the coordinate difference between any two adjacent obstacles among the obstacles is less than or equal to the critical threshold, the system automatically determines the moving route generated based on the corresponding obstacle as a misplaced route, otherwise, it will not be determined.

[0022] As a preferred solution of the present invention, wherein: a preset vehicle parking position corresponding to the wrong route is obtained, and based on the preset vehicle parking position, the moving trajectory of the preset vehicle after entering the parking garage is collected, and the collection method includes collecting the moving position of the preset vehicle every 3 seconds as a unit time period from the time the preset vehicle enters the parking garage, generating a trajectory coordinate value based on the moving position, and performing data feature analysis based on the last 4 trajectory coordinate values ​​collected, wherein the last trajectory coordinate value is marked as the parking position of the preset vehicle, and when the trajectory coordinate value of the preset vehicle collected in a future time period is the same as the first 3 of the last 4 trajectory coordinate values, the system determines that the final parking position of the preset vehicle is consistent with the parking position corresponding to the wrong route.

[0023] As a preferred solution of the present invention, the time when the charging pile completes charging the preset vehicle for the first time and the duration of the first charging are recorded. When any charging time lasts for 4 to 5 hours, after the charging is completed, the system presets a dormant period for the charging pile. The dormant period is at least 4 to 6 hours. During the dormant period, the charging pile does not collect and obtain the parking position of the corresponding preset vehicle entering the parking garage; when the dormant period is exceeded, the charging pile collects and obtains the parking position of the preset vehicle entering the parking garage.

[0024] As a preferred solution of the present invention, wherein: determining whether the final parking position of the preset vehicle is consistent with the parking position corresponding to the wrong route, the determination method also includes: counting the total number of the trajectory coordinate values, and sorting the first trajectory coordinate value to the median value in a front-to-back order based on the median value among the total number of trajectory coordinate values ​​counted; when the order of the trajectory coordinate values ​​of the preset vehicle is the same as the trajectory coordinate values ​​sorted in a front-to-back order, the system determines that the final parking position of the preset vehicle is consistent with the parking position of the wrong route.

[0025] Beneficial effects:

[0026] The present invention collects obstacles between a preset vehicle parking position and a charging pile, and calculates the distances between adjacent obstacles to determine whether the charging pile can avoid the obstacles and move toward a preset vehicle direction. At the same time, as a further improvement, when the charging pile avoids an obstacle that is closest to it, the adjacent distances between the remaining obstacles can be recalculated based on the nearest obstacle, which can not only verify whether the previously calculated distances between adjacent obstacles are correct, but also enable a more accurate analysis and judgment on whether the obstacles can be avoided. When the system determines that the obstacle cannot be avoided, the moving route can be replanned to achieve the purpose of moving toward the preset vehicle direction. Furthermore, in future time periods, the moving route can be intelligently selected according to the preset vehicle parking position to avoid incorrect routes that cannot avoid obstacles, thereby improving the intelligence of charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0028] Figure 1 A schematic diagram of the modular structure of a movable intelligent charging pile system according to an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of the process structure of an embodiment of the present invention;

[0030] Numbers in the figure: 110 - information acquisition module; 120 - data storage module; 130 - distance measurement module; 140 - fusion analysis unit; 1401 - visual image acquisition module; 1402 - division module; 1403 - coordinate setting module; 1404 - calculation module; 150 - coordinate data sorting module; 160 - mobile passage judgment module. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0032] Because charging piles of existing technical solutions are difficult to intelligently avoid obstacles when moving in private residential areas such as residential villas, and do not have obstacle avoidance functions, there are great restrictions on mobile charging based on the parking location of the vehicle, and the degree of intelligent charging is low.

[0033] Based on this, the present invention proposes a movable intelligent charging pile system. The present application collects obstacles between a preset vehicle parking position and the charging pile, and calculates the distances between adjacent obstacles, so as to determine whether the charging pile can avoid the obstacles and move toward the preset vehicle direction. At the same time, as a further improvement, when the charging pile avoids an obstacle closest to it, it can also recalculate the adjacent distances between the remaining obstacles based on the nearest obstacle, thereby making a more accurate analysis and judgment on whether the obstacle can be avoided. Moreover, in future time periods, the moving route can be intelligently selected according to the preset vehicle parking position to avoid the wrong route that cannot avoid obstacles, thereby improving the intelligence of charging.

[0034] The present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0035] Reference Figure 1 to Figure 2 , is an embodiment of the present invention, which provides a movable intelligent charging pile system, including:

[0036] The information acquisition module 110 is used to acquire preset vehicle information entering and exiting the residential parking garage, the preset vehicle information includes license plate information and vehicle image information, the preset vehicle information also includes the parking position of the preset vehicle after entering the parking garage, and the position of the charging port on the preset vehicle; the information acquisition module includes a CCD camera;

[0037] The data storage module 120 is used to store the preset vehicle information obtained by the information acquisition module, and compare the vehicle information entering the parking garage at any time based on the stored preset vehicle information to verify whether the vehicle entering the parking garage is the preset vehicle. The data storage module also stores the length, width and height data of the charging pile itself;

[0038] The distance measurement module 130 responds to the verification result of the data storage module and is used to measure the distance between the charging pile and the preset vehicle parking position when the verification result is that the vehicle entering the parking garage belongs to the preset vehicle; when the verification result is that the vehicle entering the parking garage does not belong to the preset vehicle, no distance measurement is performed; wherein the distance measurement module includes a laser rangefinder;

[0039] The fusion analysis unit 140, which responds to the distance result calculated by the distance measurement module, is used to analyze the obstacle position between the charging pile and the preset vehicle. The fusion analysis unit includes a visual image acquisition module 1401, a division module 1402, a coordinate setting module 1403 and a calculation module 1404;

[0040] The visual image acquisition module 1401 is used to collect image information of obstacles between the charging pile and the preset vehicle, and obtain edge information of the obstacle image through edge detection technology;

[0041] According to the experience of visual image analysis, the most basic feature of an image is the edge. The edge is where the regional attributes suddenly change and where the information in the image is most concentrated. It contains rich information. Extracting the edge can separate the image from the background, and thus better obtain obstacles one by one.

[0042] The division module 1402 is used to divide obstacles into θ1, θ2, ..., θ n , where n represents the nth obstacle;

[0043] The coordinate setting module 1403 is used to set the position coordinate data of each obstacle according to the divided obstacles;

[0044] The calculation module 1404 is used to calculate the distance between each obstacle according to the position coordinate data of the obstacle, and obtain the minimum distance value and the maximum distance value according to the calculated distance value, wherein the minimum distance value includes the minimum distance value between any two adjacent obstacles;

[0045] The coordinate data sorting module 150 is used to sort the coordinate data of each obstacle position based on the distance from the charging pile, taking the charging pile as the base point, and generate a data sorting set m = [m1, m2, m3, ..., m n ], where n represents the nth obstacle farthest from the charging pile, and the charging pile avoids obstacles one by one in the sorting order when moving towards the preset vehicle direction;

[0046] The mobile passage judgment module 160 is used to calculate the distance between the adjacent obstacles and the charging pile when the charging pile moves to the nearest obstacle. When the charging pile can pass through the distance based on its own length, width and height data, the system determines that the charging pile can avoid the nearest obstacle; otherwise, no judgment is made and an early warning is issued;

[0047] It should be emphasized in this embodiment that when the system determines that the charging pile can avoid the nearest obstacle, the number of obstacles between the preset vehicle and the charging pile is recalculated based on the first position of the charging pile after avoiding the obstacle. The first position includes the position within 5 to 10 cm of the obstacle after the charging pile avoids the obstacle, and according to the number of obstacles obtained by recalculation, the position coordinate data of the obstacles are re-given one by one;

[0048] On the basis of the above, this embodiment further calculates the distance value between each two adjacent obstacles based on the re-given position coordinate data, divides the distance into a first distance value, a second distance value and a third distance value, collects the minimum distance value from the divided distance values, and compares and analyzes the length, width and height data of the charging pile itself with the minimum distance value to obtain the difference between the length, width and height data of the charging pile and the minimum distance value. When the difference is a positive value, the system determines that the charging pile can avoid the obstacles; when the difference is a negative value, no determination is made and an early warning is issued;

[0049] Among them, this embodiment generates a corresponding moving route based on the re-given position coordinate data. When the difference is a negative value, the preset parking position of the vehicle is stored and the coordinate data based on the position is generated. At the same time, the system marks the moving route as an incorrect route that cannot avoid obstacles. When the parking position of the preset vehicle in the future period corresponds to the coordinate data, the system does not collect obstacles on the moving route;

[0050] It should be noted that in this embodiment, when the parking position of the vehicle preset in the future time period corresponds to the coordinate data, the system generates at least 2 to 3 moving routes that do not include the original obstacle position coordinate data. In each of the generated new moving routes, the obstacles in each moving route are collected, and the position coordinate data based on each obstacle is generated. At the same time, the distance values ​​between adjacent obstacles are calculated, and the minimum distance value is collected. The length, width, and height data of the charging pile are compared and analyzed with the minimum distance value to obtain the difference between the length, width, and height data of the charging pile and the minimum distance value. When the difference is a positive value, the system moves according to the corresponding route. When the parking position of the vehicle preset in the future time period corresponds to the coordinate data, the system automatically selects the route for movement; when the difference is a negative value, the corresponding route is marked as an incorrect route;

[0051] Furthermore, the associated features of the obstacle position coordinate data and the negative value are collected in the wrong route, and the features of the two adjacent obstacle position coordinate data corresponding to the negative value are analyzed based on the negative value, the coordinate difference of the two obstacle position coordinate data is calculated, and a critical threshold is preset based on the coordinate difference. When obstacles are collected based on the preset vehicle at any parking position in the parking garage in the future period, if the coordinate difference between any two adjacent obstacles in the obstacles is less than or equal to the critical threshold, the system automatically determines the moving route generated based on the corresponding obstacle as a misplaced route, otherwise, it will not be determined;

[0052] It should be emphasized in this embodiment that the preset vehicle parking position corresponding to the wrong route is obtained, and the movement trajectory of the preset vehicle after entering the parking garage is collected based on the preset vehicle parking position. The collection method includes collecting the movement position of the preset vehicle every 3 seconds as a unit time period from the time when the preset vehicle enters the parking garage, generating a trajectory coordinate value based on the movement position, and performing data feature analysis based on the last 4 trajectory coordinate values ​​collected, wherein the last trajectory coordinate value is marked as the parking position of the preset vehicle. When the preset vehicle trajectory coordinate value collected in the future time period is the same as the first 3 of the last 4 trajectory coordinate values, the system determines that the final parking position of the preset vehicle is consistent with the parking position corresponding to the wrong route;

[0053] On the basis of the above, the present embodiment determines whether the final parking position of the preset vehicle is consistent with the parking position corresponding to the wrong route, and the determination method thereof further includes: counting the total number of trajectory coordinate values, and in the total number of trajectory coordinate values ​​counted, sorting the first trajectory coordinate value to the median value in a front-to-back order based on the median value, when the order of the trajectory coordinate values ​​of the preset vehicle is the same as the trajectory coordinate values ​​sorted in a front-to-back order, the system determines that the final parking position of the preset vehicle is consistent with the parking position of the wrong route;

[0054] This embodiment also includes: recording the time when the charging pile completes charging of the preset vehicle for the first time, and the duration of the first charging. When any charging duration lasts for 4 to 5 hours, after the charging is completed, the system presets a dormant period for the charging pile, and the dormant period is at least 4 to 6 hours. During the dormant period, the charging pile does not collect and obtain the parking position of the corresponding preset vehicle entering the parking garage; when the dormant period is exceeded, the charging pile collects and obtains the parking position of the preset vehicle entering the parking garage;

[0055] It should be noted that according to the usage of household charging piles on the market, the time for charging a new energy vehicle using a household charging pile depends on multiple factors, including the power of the charging pile, the battery capacity of the electric vehicle, and the charging efficiency. Taking a 7kW (220V, 32A) household charging pile as an example, 7 degrees of electricity can be charged in one hour, and the capacity of the power battery pack of a new energy vehicle is generally between 20 and 24 degrees. Therefore, a full charge requires about 3 to 3.5 hours. However, due to energy loss and charging efficiency problems in the actual charging process, the time required for a full charge is mostly between 3.5 and 4.5 hours. Therefore, when any charging time lasts for 4 to 5 hours, after charging is completed, the system presets a dormant period for the charging pile, so that the charging pile enters a dormant period to save energy, which is in line with actual conditions.

[0056] To sum up, by collecting the obstacles between the preset vehicle parking position and the charging pile, and by calculating the distance between each adjacent obstacle, it can be determined whether the charging pile can avoid the obstacles and move in the preset vehicle direction; at the same time, as a further improvement, when the charging pile avoids the obstacle closest to it, it can also recalculate the adjacent distances between the remaining obstacles based on the nearest obstacle, which can not only verify whether the previously calculated distances between adjacent obstacles are correct, but also make a more accurate analysis and judgment on whether the obstacles can be avoided. When the system determines that the obstacle cannot be avoided, the moving route can be replanned to achieve the purpose of moving in the preset vehicle direction, and in the future time period, the moving route can be intelligently selected according to the preset vehicle parking position to avoid the wrong route that cannot avoid obstacles, thereby improving the intelligence of charging.

[0057] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A mobile intelligent charging pile system, characterized in that: include: An information acquisition module, used to acquire preset vehicle information entering and exiting a residential parking garage, the preset vehicle information including license plate information and vehicle image information, the preset vehicle information also including a parking position of the preset vehicle after entering the parking garage, and a position of a charging port on the preset vehicle; the information acquisition module includes a CCD camera; A data storage module, used to store the preset vehicle information acquired by the information acquisition module, and compare the vehicle information entering the parking garage at any time based on the stored preset vehicle information to verify whether the vehicle entering the parking garage is the preset vehicle, and the data storage module also includes the length, width and height data of the charging pile itself; A distance measurement module, which responds to the verification result of the data storage module and is used to measure the distance between the charging pile and the preset vehicle parking position when the verification result is that the vehicle entering the parking garage belongs to the preset vehicle; when the verification result is that the vehicle entering the parking garage does not belong to the preset vehicle, no distance measurement is performed; A fusion analysis unit, which responds to the distance result calculated by the distance measurement module and is used to analyze the obstacle position between the charging pile and the preset vehicle. The fusion analysis unit includes a visual image acquisition module, a division module, a coordinate setting module and a calculation module; The visual image acquisition module is used to collect image information of obstacles between the charging pile and the preset vehicle, and obtain edge information of the obstacle image through edge detection technology; The division module is used to divide obstacles into θ1, θ2, ..., θ n , where n represents the nth obstacle; The coordinate setting module is used to set the position coordinate data of each obstacle according to the divided obstacles; The calculation module is used to calculate the distance between each obstacle according to the position coordinate data of the obstacle, and obtain the minimum distance value and the maximum distance value according to the calculated distance values, wherein the minimum distance value includes the minimum distance value between any two adjacent obstacles; The coordinate data sorting module is used to sort the coordinate data of each obstacle position based on the distance from the charging pile, taking the charging pile as the base point, and generate a data sorting set m = [m1, m2, m3, ...., m n ], where n represents the nth obstacle farthest from the charging pile, and the charging pile avoids obstacles one by one in the sorting order when moving toward the preset vehicle direction; The mobile passage judgment module is used to calculate the distance between the adjacent obstacles and the nearest obstacle when the charging pile moves to it. When the charging pile can pass through the distance based on its own length, width and height data, the system determines that the charging pile can avoid the nearest obstacle; otherwise, no judgment is made and an early warning is issued.

2. A mobile intelligent charging pile system as claimed in claim 1, characterized in that: When the system determines that the charging pile can avoid the nearest obstacle, the number of obstacles between the preset vehicle and the charging pile is recalculated based on the first position of the charging pile after avoiding the obstacle. The first position includes the position within 5 to 10 cm from the obstacle after the charging pile avoids the obstacle. According to the number of obstacles recalculated, the position coordinate data of the obstacles are re-given one by one.

3. A mobile intelligent charging pile system as claimed in claim 2, characterized in that: The distance value between each two adjacent obstacles is calculated based on the re-given position coordinate data, and the distance is divided into a first distance value, a second distance value and a third distance value. The minimum distance value is collected from the divided distance values, and a comparison and analysis is performed between the length, width and height data of the charging pile and the minimum distance value to obtain the difference between the length, width and height data of the charging pile and the minimum distance value. When the difference is a positive value, the system determines that the charging pile can avoid the obstacles; when the difference is a negative value, no determination is made and an early warning is issued.

4. A mobile intelligent charging pile system as claimed in claim 3, characterized in that: A corresponding moving route is generated based on the re-given position coordinate data. When the difference is a negative value, the parking position of the preset vehicle is stored, and coordinate data based on the position is generated. At the same time, the system marks the moving route as an erroneous route that cannot avoid obstacles. When the parking position of the preset vehicle in the future time period corresponds to the coordinate data, the system does not collect obstacles on the moving route.

5. A mobile intelligent charging pile system as claimed in claim 4, characterized in that: When the parking position of the preset vehicle in the future time period corresponds to the coordinate data, the system generates at least 2 to 3 moving routes that do not contain the original obstacle position coordinate data. In each of the generated new moving routes, the obstacles in each moving route are collected, and the position coordinate data based on each obstacle is generated. At the same time, the distance values ​​between adjacent obstacles are calculated, and the minimum distance value is collected. The length, width, and height data of the charging pile are compared and analyzed with the minimum distance value to obtain the difference between the length, width, and height data of the charging pile and the minimum distance value. When the difference is a positive value, the system moves according to the corresponding route. When the parking position of the preset vehicle in the future time period corresponds to the coordinate data, the system automatically selects the route for movement; When the difference is a negative value, the corresponding route is marked as an incorrect route.

6. A mobile intelligent charging pile system as claimed in claim 5, characterized in that: The associated features of the obstacle position coordinate data and the negative value are collected in the wrong route, and based on the negative value, the features of the two adjacent obstacle position coordinate data corresponding to it are analyzed, the coordinate difference of the two obstacle position coordinate data is calculated, and a critical threshold is preset based on the coordinate difference. When obstacles are collected based on the preset vehicle at any parking position in the parking garage in a future time period, if the coordinate difference between any two adjacent obstacles among the obstacles is less than or equal to the critical threshold, the system automatically determines the moving route generated based on the corresponding obstacle as a misplaced route, otherwise, it will not be determined.

7. A mobile intelligent charging pile system as claimed in claim 6, characterized in that: A preset vehicle parking position corresponding to the erroneous route is obtained, and a moving trajectory of the preset vehicle after entering the parking garage is collected based on the preset vehicle parking position, wherein the collection method includes collecting the moving position of the preset vehicle every 3 seconds as a unit time period starting from the collection of the preset vehicle entering the parking garage, generating a trajectory coordinate value based on the moving position, and performing data feature analysis based on the last 4 trajectory coordinate values ​​collected, wherein the last trajectory coordinate value is marked as the parking position of the preset vehicle, and when the trajectory coordinate value of the preset vehicle collected in a future time period is the same as the first 3 of the last 4 trajectory coordinate values, the system determines that the final parking position of the preset vehicle is consistent with the parking position corresponding to the erroneous route.

8. The mobile intelligent charging pile system according to claim 1, characterized in that: The time when the charging pile completes charging of the preset vehicle for the first time and the duration of the first charging are recorded. When any charging duration lasts for 4 to 5 hours, after the charging is completed, the system presets a dormant period for the charging pile. The dormant period is at least 4 to 6 hours. During the dormant period, the charging pile does not collect and obtain the parking position of the corresponding preset vehicle entering the parking garage; when the dormant period is exceeded, the charging pile collects and obtains the parking position of the preset vehicle entering the parking garage.

9. A mobile intelligent charging pile system as claimed in claim 7, characterized in that: Determining whether the final parking position of the preset vehicle is consistent with the parking position corresponding to the wrong route, the determination method also includes: counting the total number of the trajectory coordinate values, and sorting the first trajectory coordinate value to the median value in a front-to-back order based on the median value among the total number of trajectory coordinate values ​​counted; when the order of the trajectory coordinate values ​​of the preset vehicle is the same as the trajectory coordinate values ​​sorted in a front-to-back order, the system determines that the final parking position of the preset vehicle is consistent with the parking position of the wrong route.

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