Suspended crane type automobile mobile charging pile system

Abstract

The invention relates to the technical field of charging piles, and discloses a gantry crane type automobile mobile charging pile system. The system is used for dispatching the air-lifting type charging piles in the parking lot, and comprises a charging request and primary dispatching module used for obtaining charging request information of a user and dispatching the air-lifting type charging piles to go; the charging pile charging starting module is used for controlling the gantry crane type charging pile to charge the new energy battery based on the docking success information; the charging pile secondary dispatching module is used for acquiring the new energy automobile battery information and the electric quantity remaining information of the air-lifting type charging piles, judging whether other air-lifting type charging piles need to be dispatched to charge the air-lifting type charging piles in the charging process in parallel or not, and if yes, selecting other air-lifting type charging piles with enough electric quantity remaining, and sending the selected air-lifting type charging piles to the new energy automobile battery dispatching module; and scheduling to be in parallel connection and butt joint with the air lifting type charging pile in the charging process with the insufficient electric quantity. The method has the advantages that the service efficiency and the utilization rate of the air hanging type charging pile in an underground garage scene are improved, and the intelligent charging capacity of the air hanging type charging pile is fully exerted.

Description

Technical Field

[0001] The present application relates to the technical field of charging piles, and in particular to an overhead mobile charging pile system for automobiles. Background Art

[0002] With the rapid development of new energy technologies, new energy vehicles, as an important part of green travel, have been widely used around the world. To meet the charging needs of new energy vehicles, various charging facilities have emerged, including public charging piles, home charging piles, and emerging aerial charging piles. As an intelligent and mobile charging solution, aerial charging piles have received more and more attention and application in underground garages due to their flexibility and high space utilization efficiency.

[0003] In the specific scenario of underground garages, due to the large number of parking spaces and complex layout, it is difficult for fixed charging piles to fully cover all parking spaces, so overhead charging piles came into being. Overhead charging piles rely on a suspended track system to move, and can flexibly adjust their positions according to demand to provide charging services for new energy vehicles in different parking spaces. However, the use of overhead charging piles still faces certain technical bottlenecks, especially when the number of charging piles is limited, and their scheduling and management have the following problems: On the one hand, the existing technology usually dispatches fully charged overhead charging piles to the area where the vehicles to be charged are located, and returns the partially charged charging piles to the charging area. This strategy causes the charging piles to frequently travel between the charging area and the parking space, which not only increases the moving cost of the charging piles, but also affects their overall charging efficiency. On the other hand, there are some charging piles with a lot of remaining power but not enough to fully charge new energy vehicles. Such charging piles are idle because they cannot meet the complete charging needs and are not effectively used. Summary of the invention

[0004] In order to improve the service efficiency and utilization rate of overhead crane charging piles in underground garage scenarios and give full play to their intelligent charging capabilities, the present application provides an overhead crane mobile charging pile system.

[0005] The present application provides an aerial-type mobile charging pile system for automobiles, which adopts the following technical solutions: A crane-type mobile charging pile system for automobiles is used for dispatching crane-type charging piles in parking lots, comprising: The charging request and initial dispatch module is used to obtain the user's charging request information and dispatch the overhead charging pile to the destination; The charging pile charging start module is used to control the aerial hanging charging pile to charge the new energy battery based on the successful docking information; The charging pile secondary dispatching module is used to obtain the battery information of new energy vehicles and the remaining power information of the overhead crane charging pile, and determine whether it is necessary to dispatch other overhead crane charging piles to charge the overhead crane charging pile in parallel. If necessary, other overhead crane charging piles with sufficient remaining power are selected and dispatched to connect in parallel with the overhead crane charging pile with insufficient power.

[0006] Optionally, the parking lot is provided with several rows of parking spaces, and each row of parking spaces is sequentially arranged with several parking wireframes; a plurality of sets of aerial crane tracks are provided above the parking lot, and the aerial crane tracks are connected in a tree-like topology; Each row of parking spaces corresponds to a set of overhead crane tracks. Each set of overhead crane tracks includes a forward track, a return track and a number of transition tracks. The return track and the forward track are connected by transition tracks. The forward track corresponds to the front line of the parking line frame, the return track corresponds to the rear line of the parking line frame, and the transition track corresponds to the side line of the parking line frame. The forward track and return track of the next-level crane track are connected to the return track of the previous-level crane track; wherein the crane-type charging pile enters the next-level crane track from the previous-level crane track through the forward track, and returns to the previous-level crane track from the next-level crane track through the return track; The uppermost crane track corresponds to the charging area of ​​the crane-type charging pile in the parking lot, and several charging positions in the charging area are sequentially arranged on the forward track of the uppermost crane track for charging in alignment with the crane-type charging pile.

[0007] Optionally, the state of the overhead charging pile includes: The charging status corresponds to the state in which the overhead charging pile is charging in the charging area; The charging completion state corresponds to the state where the overhead charging pile has completed charging in the charging area; The working status corresponds to the status of the process of the overhead charging pile going to the location of the new energy vehicle and the process of charging the new energy vehicle; The work completion status corresponds to the state in which the overhead charging pile completes charging of the new energy vehicle and the state in which it returns to the charging area.

[0008] Optionally, the charging request and initial scheduling module is used to perform the following steps: S11. Obtain user charging request information; S12. Query whether there is an aerial hanging charging pile in the work completion state whose remaining power is higher than a preset threshold; S13. If it exists, select the aerial hanging charging pile for scheduling according to the scheduling rules, switch the aerial hanging charging pile from the work completed state to the work in progress state, and move it to the transition track corresponding to the parking line frame corresponding to the charging request information; If it does not exist, select the overhead charging pile at the exit of the charging area and control it to move to the transition track corresponding to the parking wireframe corresponding to the charging request information.

[0009] Optionally, the charging pile secondary scheduling module is used to perform the following steps: S31. Obtaining new energy vehicle battery information and the remaining power information of the aerial hanging charging pile for charging the new energy vehicle battery, and determining whether the aerial hanging charging pile for charging the new energy vehicle battery has a power gap relative to the new energy vehicle battery; S32. If there is a power shortage, calculate the power shortage; S33. Determine whether there is an aerial hanging charging pile that is currently in the work completion state and has a remaining power greater than the power gap. If so, select the aerial hanging charging pile for dispatching according to the dispatching rules, and go to the aerial hanging charging pile that is insufficient to charge the new energy vehicle battery in parallel; If there is no overhead crane charging pile in the work completion state and the remaining power is greater than the power gap, it is determined whether there is an overhead crane charging pile in the charging completion state. If there is, the overhead crane charging pile at the exit of the charging area is selected to be connected in parallel with the overhead crane charging pile that is charging the new energy vehicle battery with insufficient power; If there is no charging pile in the charging completed state, the charging pile with the highest power in the charging in progress state will be dispatched to parallel docking, wherein the charging pile is changed from the charging in progress state to the working in progress state.

[0010] Optionally, the scheduling rule comprises the following steps: Calculate the number of topological nodes between the location of each overhead charging pile in the target group and the transition track corresponding to the parking line frame to be reached; wherein the target group is the set of overhead charging piles that meet the judgment conditions in the previous step; Calculate the remaining power of each overhead charging pile in the target group; Based on the number of topological nodes and the remaining power, a weighted calculation is performed to calculate the scheduling priority of each overhead charging pile in the target group; The aerial charging pile with the highest scheduling priority among the target group is selected as the scheduling object.

[0011] Optionally, the charging pile secondary scheduling module further includes the following steps: S34. Monitor the battery information of the new energy vehicle and the remaining power information of the two aerial hanging charging piles connected in parallel, and determine whether the sum of the remaining power is relative to the battery of the new energy vehicle. S35. If there is a power gap, the two overhead crane charging piles are controlled to separate, and the overhead crane that is not connected to the new energy vehicle battery is moved to an idle transition track and switched to the work completion state; S36. Return to S33.

[0012] Optionally, a charging pile regression scheduling module is further included, and the charging pile regression scheduling module is used to perform the following steps: S41. Detect whether the charging gun of the overhead charging pile is pulled out. If it is pulled out, control the overhead charging pile to retract the charging gun and enter the work completion state; S42. Detect whether the power of the hanging charging pile in the work completion state is lower than the power of the hanging charging pile with the lowest power in the charging state; S43. If so, control the overhead crane charging pile in the work completion state to return to the charging area and switch to the charging in progress state; if not, keep the overhead crane charging pile in the work completion state at its original location and keep the overhead crane charging pile in the work completion state until it is dispatched or the power of the overhead crane charging pile is lower than the power of the overhead crane charging pile with the lowest power in the charging in progress state.

[0013] Optionally, a charging zone scheduling module is further included, and the charging zone scheduling module is used to perform the following steps: S51. Control the return of the uppermost crane track to the entrance of the crane charging pile from the return track to the forward track; S52. Determine whether there is an empty space at the end of the charging queue. If so, control the overhead charging pile to move into the forward track to the first empty space at the end of the charging queue near the head, and perform the charging operation, wherein the charging queue is a queue formed by the charging positions in the charging area; if not, then: Determine whether there is an empty space at the head of the charging queue. If so, control the overhead crane charging piles in the charging queue to move collectively to the head, and control the overhead crane charging piles that return to the uppermost overhead crane track to move into the forward track to the first empty space at the tail of the charging queue near the head, and perform the charging operation; if not, control the overhead crane charging piles that return to the uppermost overhead crane track to wait in the return track until an empty space appears at the head of the charging queue.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: 1. By dynamically monitoring the battery status of new energy vehicles and the remaining power of the charging pile, and introducing a single parallel mechanism, the problem of insufficient power in a single charging pile is solved, ensuring that the charging process is not interrupted.

[0015] 2. Modular design (including charging request and initial scheduling module, charging pile charging start module, charging pile return scheduling module, charging area scheduling module, etc.) makes the scheduling logic clearer, reduces invalid movement on the crane track, and improves the overall operation efficiency.

[0016] 3. The system fully optimizes the allocation of charging pile resources through a tree topology and flexible scheduling rules, reducing efficiency losses caused by idle resources or frequent recharging. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram for illustrating the overhead crane track in a certain embodiment of the present application.

[0018] Figure 2 It is used to show the module connection diagram of the overhead crane type mobile charging pile system in a certain embodiment of the present application.

[0019] Figure 3 A flowchart for illustrating the steps executed by the charging request and initial scheduling module in a certain embodiment of the present application.

[0020] Figure 4 A flowchart for illustrating the steps performed by the charging pile secondary scheduling module in a certain embodiment of the present application.

[0021] Figure 5 A flowchart for illustrating the steps performed by a charging pile regression scheduling module in a certain embodiment of the present application. DETAILED DESCRIPTION

[0022] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings.

[0023] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0024] The embodiment of the present application discloses an aerial-type mobile charging pile system for automobiles, which is used for dispatching aerial-type charging piles in parking lots. Figure 1 There are several rows of parking spaces in the parking lot, and several parking wireframes are arranged in sequence on each row of parking spaces; there are several groups of overhead crane tracks above the parking lot, and the overhead crane tracks are connected in a tree-like topology. Each row of parking spaces corresponds to a group of overhead crane tracks, and each group of overhead crane tracks includes a forward track, a return track, and several transition tracks. The return track and the forward track are connected by a transition track. The forward track corresponds to the front line of the parking wireframe, the return track corresponds to the rear line of the parking wireframe, and the transition track corresponds to the side line of the parking wireframe. Figure 1 In the figure, the solid line is used to represent the transition track, the dashed line is used to represent the return track, and the dotted line is used to represent the forward track.

[0025] The forward track and return track of the next-level overhead crane track are connected to the return track of the previous-level overhead crane track; wherein, the overhead crane charging pile enters the next-level overhead crane track from the previous-level overhead crane track through the forward track, and returns to the previous-level overhead crane track from the next-level overhead crane track through the return track; the uppermost overhead crane track corresponds to the charging area of ​​the overhead crane charging pile in the parking lot, and several charging positions in the charging area are sequentially arranged on the forward track of the uppermost overhead crane track, for charging in position with the overhead crane charging pile.

[0026] At present, with the continuous expansion of residential areas and shopping malls, the area and capacity of parking lots are also increasing accordingly. The layout of parking spaces has gradually become complex and intertwined. Intuitively speaking, pedestrians often need to rely on signs to find parking spaces in such large parking lots. The complex layout of parking spaces has increased the difficulty of scheduling and management of parking lot charging facilities. In order to solve this problem and improve the management efficiency of the system, this system adopts a tree topology to organize parking spaces and aerial crane tracks. The tree topology plans the parking lot in a hierarchical manner. The parking spaces and aerial crane tracks are hierarchically divided according to the actual location and usage requirements. Through the clear organizational relationship between superiors and subordinates, the system can provide fixed forward and return paths for aerial crane charging piles. This design can effectively avoid congestion caused by path conflicts or intertwining during the use of the track, thereby improving the operating efficiency of the charging pile and simplifying the scheduling logic.

[0027] In addition, the design of the transition track of the crane track in the charging area is limited to the head-to-tail connection, which is used to achieve the necessary switching of the entry and exit tracks, and no more transition tracks are set. This is because the design of the entry and exit paths of the tracks in the charging area is relatively concentrated, and the connection is achieved only through one entry and exit track. If multiple mobile transition tracks are set in the charging area, and the charging points are arranged on these transition tracks, then due to the large number of charging piles, this will inevitably lead to a large increase in transition tracks, which not only increases the construction cost of the system, but also increases the complexity of track design and maintenance. This solution adopts the charging of the crane-type charging piles on the same track, which is conducive to reducing costs. In addition, there is a key problem in the setting of the transition track in the charging area, that is, the forward track and the return track are shared by multiple charging piles. When the number of charging piles is large and the frequency of entry and exit is high, if multiple charging piles occupy the forward track to move outward at the same time, or occupy the return track to return, it is necessary to design an additional set of complex algorithms for scheduling, so that the entry and exit of the charging piles are sorted to avoid collisions. The algorithm of this solution is relatively simple, single entry and single exit, and there is no trouble with these problems.

[0028] In the embodiment of the present application, according to the working state of the overhead crane charging pile, it can be divided into the following four types: The charging status corresponds to the state in which the overhead charging pile is charging in the charging area; The charging completion state corresponds to the state where the overhead charging pile has completed charging in the charging area; The working status corresponds to the status of the process of the overhead charging pile going to the location of the new energy vehicle and the process of charging the new energy vehicle; The work completion status corresponds to the state in which the overhead charging pile completes charging of the new energy vehicle and the state in which it returns to the charging area.

[0029] The aerial hanging charging pile is charged in the charging area, that is, it is in the charging state; when the charging area is fully charged, it turns to the charging completion state; when the user's new energy vehicle needs to be charged, the charging pile ends the charging completion state and enters the working state, which includes the process of the aerial hanging charging pile going to the location of the new energy vehicle and the process of charging the new energy vehicle. When the user pulls out the charging gun of the aerial hanging charging pile and instructs to stop charging, the aerial hanging charging pile changes from the working state to the working state. At this time, the aerial hanging charging pile chooses to return to the aerial hanging charging area for charging according to the scheduling to enter the charging state, or enters the next working state to go to the location of the next new energy vehicle and charge the next new energy vehicle, or continues to maintain the working state. It should be noted that the process of returning to the charging area for charging is also the working state. In this article, the "charging" mentioned in the charging area refers to the charging of the aerial hanging charging pile by the mains, and the "charging" in other areas refers to the charging of the aerial hanging charging pile to the new energy vehicle.

[0030] The essence of the aerial hanging charging pile is actually a battery, and joint power supply can be achieved by connecting the batteries in parallel. In different embodiments, the structure of the aerial hanging charging pile can be different, which does not affect the invention of this application, as long as the aerial hanging charging piles can be connected in parallel by moving and docking with each other. As an example, a structure of an aerial hanging charging pile is given as an example in one embodiment.

[0031] The overhead charging pile includes a track moving module, a charging main body module, a docking interface module, a charging gun module and a battery status display module.

[0032] Track movement module: The overhead crane charging pile is equipped with a top slide rail connection mechanism for mounting on the overhead crane track, supporting forward and backward movement and steering operations. The slide rail mechanism includes a forward drive component and a steering component to ensure that the charging pile can move flexibly according to the track requirements.

[0033] Charging main module: The charging pile main module is located below the slide rail module and includes a battery energy storage unit, a charging control unit and a side docking interface unit.

[0034] Docking interface module: The side interface of the aerial charging pile adopts a slot-type design, which includes male and female connection ends. The male interface has a telescopic function, which can automatically pop out and insert into the female interface when two aerial charging piles are close. Multi-contact electrodes are set inside the docking interface to achieve efficient and low-resistance power transmission. The contacts are designed with elasticity to ensure close contact to improve the stability of parallel charging. The interface includes a data communication module to support collaborative control between docking charging piles. Through protocol exchange, the master-slave relationship can be determined and the charging power can be dynamically allocated. An electric locking mechanism is set on the periphery of the interface to ensure stability during the docking process through mechanical locking, and also supports remote unlocking function.

[0035] Charging gun module: The charging gun is connected to the charging body through a flexible telescopic mechanism, which is convenient for connecting to new energy vehicle charging ports at different heights and angles.

[0036] Battery status display module: The front of the charging pile body is equipped with a battery remaining and operating status display screen, which is used to display the power and current working status of the charging pile in real time.

[0037] Before parallel connection, the charging piles to be connected in parallel are moved to the side of the target charging pile through the overhead crane track. The two charging piles are detected and confirmed by sensors to confirm the docking position, and the alignment of the docking interface is adjusted. Then the male interface pops up and inserts into the female interface, and the mechanical docking is completed. The data communication module is started, confirms the parallel connection is successful, and assigns the charging task. The main charging pile and the new energy vehicle are connected to the charging gun for charging, and the auxiliary charging pile supplies energy to the main charging pile through the parallel interface to form power cooperation.

[0038] During the charging process, the main charging pile monitors the charging status in real time and dynamically adjusts the output power of the auxiliary charging pile to ensure efficient and stable charging. After charging is completed, the system sends an unlocking command through the communication module, the locking mechanism is released, the male interface is retracted, and the two charging piles are separated.

[0039] The aerial crane type mobile charging pile system is used for dispatching aerial crane type charging piles in parking lots. Figure 2 , including charging request and initial scheduling module, charging pile charging start module, charging pile secondary scheduling module, charging pile return scheduling module and charging area scheduling module.

[0040] The charging request and initial dispatch module is used to obtain the user's charging request information and dispatch the overhead charging pile. The charging request and initial dispatch module collects the charging request information issued by the user in real time, which includes the parking space number where the user's vehicle is located and the time node of the charging demand (i.e. current or scheduled). Through this information collection, the module can identify the target vehicle that needs service and its location, provide basic data for dispatch, and then dispatch based on this.

[0041] Reference Figure 3 , the charging request and initial scheduling module is used to perform the following steps S11-S13.

[0042] S11. Obtain user charging request information.

[0043] S12. Query whether there are any overhead crane charging piles in the work completion state whose remaining power is higher than a preset threshold.

[0044] S13. If it exists, select the overhead crane charging pile for scheduling according to the scheduling rules, switch the overhead crane charging pile from the work completed state to the work in progress state, and move it to the transition track corresponding to the parking wire frame corresponding to the charging request information; if it does not exist, select the overhead crane charging pile at the exit of the charging area and control it to move to the transition track corresponding to the parking wire frame corresponding to the charging request information.

[0045] The meaning of topological nodes directly corresponds to the connection points between different levels of tracks in the tree topology of the overhead track. These nodes are responsible for connecting the upper trunk track to the lower branch track or specific parking space track. There are also parking spaces on the trunk track and the thicker branch track. The lower track gradually extends to the periphery of the parking lot or scattered parking spaces.

[0046] In this structure, the functions of topology nodes can be concretized as the following scenarios: Assume that the parking lot distributes parking spaces through a tree-like track structure. The trunk track represents the core charging main line, while the branch track and its extended terminal track cover different partitions or scattered parking spaces. Topological nodes exist at the connection between the trunk track and the branch track, and at the junction where the branch track further extends to the peripheral scattered parking spaces. For example: Connection node between the trunk track and the first-level branch track: Assume that the trunk track covers a row of relatively dense parking spaces and is connected to several first-level branch tracks, which lead to other partitions of the tree. The topological node is located at the connection between the end of the trunk track and the branch track.

[0047] The connection node between the primary branch track and the secondary branch track or parking space: The primary branch track continues to extend to cover more dispersed parking spaces, or further connects to the secondary branch track. At this time, the intersection point from the end of each branch track to its extended branch also constitutes a topological node.

[0048] For example: A hanging charging pile starts from the charging area track (the top track), and the target parking space is located on the outer track in the tree structure. During the path, the charging pile needs to pass through three topological nodes: The first node is the connection point between the charging area track and the main track.

[0049] The second node is the connection point between the trunk track and the target branch track.

[0050] The third node is the connection point between the branch track and the track where the target parking space is located.

[0051] If the target parking space is located on the main track, the overhead charging station may only need to pass through one node, which is the connection point between the charging area track and the main track.

[0052] The scheduling rule includes the following steps ad.

[0053] a. Calculate the number of topological nodes between the location of each overhead charging pile in the target group and the transition track corresponding to the parking line frame to be reached; wherein the target group is the set of overhead charging piles that meet the judgment conditions in the previous step; b. Calculate the remaining power of each overhead charging pile in the target group; c. Perform weighted calculation based on the number of topological nodes and the remaining power to calculate the scheduling priority of each overhead charging pile in the target group; d. Select the overhead charging pile with the highest scheduling priority in the target group as the scheduling object.

[0054] During the dispatching process, the system first needs to screen out qualified overhead charging piles to form a target group. The charging piles in the target group are usually in a "work completed state" and the remaining power is higher than the current demand threshold of new energy vehicles. This step ensures that the selected charging piles can meet the basic charging needs of new energy vehicles without having to return to the charging area to replenish power. Through this preliminary screening, the system can quickly narrow the dispatching scope and avoid wasting resources.

[0055] For the selected target groups, the system will further calculate the scheduling priority of each charging pile. The priority is calculated based on two core parameters: the number of topological nodes and the remaining power. The number of topological nodes indicates the path complexity of the transition track corresponding to the charging pile from the current position to the target parking wireframe, that is, the number of connection nodes that need to be passed in the track system. The fewer the number of nodes, the shorter the path and the shorter the time required for the charging pile to reach the target position. The remaining power reflects whether the charging pile can complete the charging task and has a certain backup capacity. The scheduling rules perform weighted calculations on these two parameters, comprehensively evaluate the priority of each charging pile, and select the charging pile with the highest weight value for scheduling.

[0056] The design of this scheduling logic is not just a simple route optimization, but also incorporates power management considerations. Prioritizing the scheduling of charging piles with sufficient power and short routes can avoid frequent calls to charging piles in the charging area and reduce the number of round trips between the charging area and the parking space.

[0057] The charging pile charging start module is used to control the overhead charging pile to charge the new energy battery based on the successful docking information.

[0058] After the overhead charging pile reaches the target parking space and completes the mechanical docking, the unit verifies the stability of the physical docking and confirms the establishment of the data connection through the communication protocol. The data connection includes communication with the battery management system (BMS) of the new energy vehicle to obtain the battery status (SOC, voltage, temperature, etc.) and charging requirements. After confirming that the docking is successful, the power output function of the charging pile is started, and the initial charging power is selected according to the status of the new energy vehicle battery.

[0059] During the charging process, the charging parameters (current, voltage, charging power) of the new energy vehicle battery and the power status of the charging pile are collected in real time. When the battery is close to full charge (SOC is high), the charging power is automatically adjusted and switched to trickle charging mode to prevent overcharging.

[0060] If the current charging pile's power is found to be unable to meet the full charging needs of the new energy vehicle during the charging process, the unit will establish a parallel connection with other charging piles through the scheduling module for coordinated power supply. The main charging pile is directly connected to the new energy vehicle, and the auxiliary charging pile provides additional power to the main charging pile through the side docking interface to meet the charging needs.

[0061] The charging pile secondary dispatching module is used to obtain the battery information of new energy vehicles and the remaining power information of the overhead crane charging pile, and determine whether it is necessary to dispatch other overhead crane charging piles to charge the overhead crane charging pile in parallel. If necessary, other overhead crane charging piles with sufficient remaining power are selected and dispatched to connect in parallel with the overhead crane charging pile with insufficient power.

[0062] Reference Figure 4 The charging pile secondary scheduling module is used to execute the following steps S31-S36.

[0063] S31. Obtain new energy vehicle battery information and remaining power information of an overhead charging pile for charging the new energy vehicle battery, and determine whether the overhead charging pile for charging the new energy vehicle battery has a power gap relative to the new energy vehicle battery.

[0064] S32. If there is a power shortage, calculate the power shortage.

[0065] S33. Determine whether there is an aerial hanging charging pile that is currently in the work completion state and has a remaining power greater than the power gap. If so, select the aerial hanging charging pile for dispatching according to the dispatching rules, and go to the aerial hanging charging pile that is insufficient to charge the new energy vehicle battery in parallel; If there is no overhead crane charging pile in the work completion state and the remaining power is greater than the power gap, it is determined whether there is an overhead crane charging pile in the charging completion state. If there is, the overhead crane charging pile at the exit of the charging area is selected to be connected in parallel with the overhead crane charging pile that is charging the new energy vehicle battery with insufficient power; If there is no charging pile in the charging completed state, the charging pile with the highest power in the charging in progress state will be dispatched to parallel docking, wherein the charging pile is changed from the charging in progress state to the working in progress state.

[0066] S34. Monitor the battery information of the new energy vehicle and the remaining power information of the two aerial hanging charging piles connected in parallel, and determine whether the sum of the remaining power has a power gap relative to the battery of the new energy vehicle.

[0067] S35. If there is a power gap, the two overhead crane charging piles are controlled to separate, and the overhead crane that is not connected to the new energy vehicle battery is moved to an idle transition track and switched to the work completion state.

[0068] S36. Return to S33.

[0069] In the overhead mobile charging pile system, the demand for parallel charging arises mainly because the actual situation of the new energy vehicle charging process is complex and difficult to fully predict. Although the system has matched and calculated the battery information and the remaining power of the charging pile during the initial scheduling, in the actual charging process, the difference in charging efficiency of different vehicles and the dynamic power consumption behavior may result in the power calculated in the early stage being insufficient to complete the entire charging task.

[0070] The battery management system (BMS) of new energy vehicles usually adjusts the charging efficiency according to the real-time status of the battery when charging. For example, some vehicles will significantly reduce the charging speed when the battery is close to full, but the BMS of some vehicles may require higher power support at a specific charging stage. If these dynamic demands exceed the power budget of the initial scheduling, a single charging pile will not be able to complete the charging task. In addition, some new energy vehicles may still use part of the power during the charging process (such as the air conditioner, vehicle system or other equipment continue to run), further increasing the dynamic uncertainty of charging. This behavior of charging and using electricity at the same time will cause the actual power consumption to be higher than the initial calculated value, so that the system needs to make up for the shortfall by connecting other charging piles in parallel.

[0071] The parallel charging mechanism is designed to address the above dynamic needs. By monitoring the power status of charging piles and new energy vehicles in real time, the system can respond quickly after discovering a gap and dispatch additional charging piles to participate in parallel power supply. This mechanism not only ensures the continuity of charging, but also avoids charging interruptions caused by insufficient power in a single charging pile. In addition, the dynamic adjustment logic of parallel charging can also adapt to a variety of complex scenarios, such as temporary increase in vehicle load and battery demand exceeding expectations, making the entire system more flexible and intelligent.

[0072] The advantage of this process is the maximum utilization of resources. When the power of the existing charging piles cannot meet the demand, the system gives priority to charging piles that are in the "work completed state" and have sufficient power reserve to join the parallel collaboration. This strategy of prioritizing the use of high-remaining charging piles not only reduces the time wasted by the charging piles frequently returning to the charging area for replenishment, but also improves the overall scheduling efficiency of the system. When there are no charging piles in the work completed state that meet the conditions, the system further determines whether it can dispatch charging piles in the "charging completed state" or "charging in progress state" to ensure that the charging needs of new energy vehicles can be met under different conditions. The entire process has clear logic, and the hierarchical scheduling strategy effectively reduces interference with other tasks.

[0073] During parallel charging, S34 ensures that the power of the two charging piles can meet the charging needs of new energy vehicles through dynamic monitoring. If the total power is still insufficient, S35 logically separates the auxiliary charging pile and moves it to an idle transition track, while rescheduling a new charging pile to supplement it, forming a closed-loop optimization.

[0074] It is worth noting that the scale of parallel charging is limited in the process, and single parallel (two charging piles working together) is explicitly adopted instead of three or four parallels, because multiple parallels may lead to an unlimited expansion of the number of parallels, which can easily cause more charging pile resources to be constrained by a single task, thereby significantly reducing the overall scheduling efficiency of the system. In addition, as the scale of parallel connections expands, the control complexity of power distribution, communication synchronization, and current stability will increase significantly, which may cause instability in system operation and even waste of resources. In the multi-parallel mode, the marginal efficiency of each additional charging pile will decrease, and the charging performance cannot be significantly improved. Instead, it will affect the system's resource allocation and the availability of charging piles.

[0075] Reference Figure 5 The charging pile regression scheduling module is used to execute the following steps S41-S43.

[0076] S41. Detect whether the charging gun of the overhead charging pile is pulled out. If it is pulled out, control the overhead charging pile to retract the charging gun and enter the work completion state.

[0077] S42. Detect whether the power of the overhead crane charging pile in the work completion state is lower than the power of the overhead crane charging pile with the lowest power in the charging progress state.

[0078] S43. If so, control the overhead crane charging pile in the work completion state to return to the charging area and switch to the charging in progress state; if not, keep the overhead crane charging pile in the work completion state at its original location and keep the overhead crane charging pile in the work completion state until it is dispatched or the power of the overhead crane charging pile is lower than the power of the overhead crane charging pile with the lowest power in the charging in progress state.

[0079] The logical starting point of this module is to detect the status of the charging gun. When the charging gun is unplugged by the user and indicates that charging is finished, the charging pile switches to the "work completed state". At this time, the module needs to decide the next action of the charging pile: whether to return directly to the charging area to enter the "charging in progress" state to replenish the power, or to continue to stay at the current location on standby to respond to the next charging request. After the charging pile enters the "work completed state", the system will detect whether its current power is lower than the lowest power value of the charging pile in the "charging in progress" state in the system. If it is lower, the charging pile is scheduled to return to the charging area and switch to the "charging in progress" state for replenishment. This design ensures that the charging pile will not be unable to participate in the next task due to insufficient power, thereby improving the reliability of the charging pile. At the same time, for those charging piles with sufficient power, they remain on standby in place so as to respond quickly according to subsequent scheduling requirements. This logic avoids excessive movement of resources and unnecessary recharging operations, and improves the operating efficiency of the system.

[0080] In addition, charging piles in the waiting state not only reduce the congestion in the charging area, but can also be quickly dispatched to the target task in an emergency. Especially in scenarios with intensive charging demand, this mechanism can significantly improve the system's concurrent processing capabilities for multiple tasks. By dynamically controlling the switching between the "return" and "standby" states, the module achieves the optimal allocation of charging pile resources.

[0081] In addition, the design of this module also takes into account the optimization of the scheduling order of charging piles. For example, for a charging pile in the "work completed state", its priority to return to the charging area is usually lower than the need to continue to perform tasks in the standby state. This design further reduces the ineffective movement of charging piles and optimizes the energy and time utilization of the entire system.

[0082] The charging zone scheduling module is used to execute the following steps S51-S52.

[0083] S51. Control the crane-type charging pile that returns to the uppermost crane track to move from the return track to the entrance of the forward track.

[0084] S52. Determine whether there is a vacant space at the tail of the charging queue. If so, control the overhead crane charging pile to move into the forward track to the first vacant space at the tail near the head of the charging queue, and perform the charging operation, wherein the charging queue is a queue formed by the charging positions in the charging area; if not, then: determine whether there is a vacant space at the head of the charging queue. If so, control the overhead crane charging piles in the charging queue to move collectively toward the head, and control the overhead crane charging piles that return to the uppermost overhead crane track to move into the forward track to the first vacant space at the tail near the head of the charging queue, and perform the charging operation; if not, control the overhead crane charging piles that return to the uppermost overhead crane track to wait in the return track until a vacant space appears at the head of the charging queue.

[0085] After the charging pile returns to the charging area, the module first guides the charging pile to the forward track entrance of the charging area through the track control system. The module first determines whether there is an empty space at the tail of the charging queue. If there is an empty space at the tail, the charging pile is directly dispatched to the first empty space near the head of the tail and the charging operation is performed immediately. When the tail of the charging queue is full, the module will further determine whether there is an empty space at the head of the queue. If there is an empty space at the head, the other charging piles in the charging queue will collectively move forward to make room for the newly returned charging pile. The new charging pile is then guided to the first empty space at the tail of the queue and starts charging. This process maximizes the use of the space resources in the charging area and avoids congestion on the track through the dynamic adjustment of the charging piles in the queue.

[0086] If both the head and tail of the charging queue are full, the module will control the returning charging pile to wait temporarily in the return track. The charging pile will not enter the charging area in the standby state until there is a vacancy at the head of the charging queue.

[0087] The logic design of this module has multiple advantages. First, it reduces the waiting time of charging piles through tail priority and queue adjustment mechanism, and improves the efficiency of charging operation. Second, through collective movement optimization in the queue, the module can efficiently utilize the limited space resources in the charging area. Third, for peak hours or scenes with intensive charging demand, the standby mechanism provides buffer space for the system, avoiding failures or resource waste caused by overload of system operation.

[0088] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A hanging type mobile charging pile system for automobiles, characterized in that: Used for dispatching aerial charging piles in parking lots, including: The charging request and initial dispatch module is used to obtain the user's charging request information and dispatch the overhead charging pile to the destination; The charging pile charging start module is used to control the aerial hanging charging pile to charge the new energy battery based on the successful docking information; The charging pile secondary dispatching module is used to obtain the battery information of new energy vehicles and the remaining power information of the overhead crane charging pile, and determine whether it is necessary to dispatch other overhead crane charging piles to charge the overhead crane charging pile in parallel. If necessary, other overhead crane charging piles with sufficient remaining power are selected and dispatched to connect in parallel with the overhead crane charging pile with insufficient power.

2. The aerial vehicle mobile charging pile system according to claim 1 is characterized in that: The parking lot is provided with a plurality of rows of parking spaces, and each row of parking spaces is sequentially arranged with a plurality of parking wireframes; a plurality of groups of aerial crane tracks are provided above the parking lot, and the aerial crane tracks are connected in a tree-like topology; Each row of parking spaces corresponds to a set of overhead crane tracks. Each set of overhead crane tracks includes a forward track, a return track and a number of transition tracks. The return track and the forward track are connected by transition tracks. The forward track corresponds to the front line of the parking line frame, the return track corresponds to the rear line of the parking line frame, and the transition track corresponds to the side line of the parking line frame. The forward track and return track of the next-level crane track are connected to the return track of the previous-level crane track; wherein the crane-type charging pile enters the next-level crane track from the previous-level crane track through the forward track, and returns to the previous-level crane track from the next-level crane track through the return track; The uppermost crane track corresponds to the charging area of ​​the crane-type charging pile in the parking lot, and several charging positions in the charging area are sequentially arranged on the forward track of the uppermost crane track for charging in alignment with the crane-type charging pile.

3. The aerial vehicle mobile charging pile system according to claim 2 is characterized in that: The states of the overhead charging pile include: The charging status corresponds to the state in which the overhead charging pile is charging in the charging area; The charging completion state corresponds to the state where the overhead charging pile has completed charging in the charging area; The work in progress status corresponds to the status of the process of the overhead charging pile going to the location of the new energy vehicle and the process of charging the new energy vehicle; The work completion status corresponds to the state in which the overhead charging pile completes charging of the new energy vehicle and the state in which it returns to the charging area.

4. The aerial-mounted mobile charging pile system of claim 3 is characterized in that: The charging request and initial scheduling module is used to perform the following steps: S11. Obtain user charging request information; S12. Query whether there is an aerial hanging charging pile in the work completion state whose remaining power is higher than a preset threshold; S13. If it exists, select the aerial hanging charging pile for scheduling according to the scheduling rules, switch the aerial hanging charging pile from the work completed state to the work in progress state, and move it to the transition track corresponding to the parking line frame corresponding to the charging request information; If it does not exist, select the overhead charging pile at the exit of the charging area and control it to move to the transition track corresponding to the parking wireframe corresponding to the charging request information.

5. The aerial vehicle mobile charging pile system according to claim 4 is characterized in that: The charging pile secondary scheduling module is used to perform the following steps: S31. Obtaining new energy vehicle battery information and the remaining power information of the aerial hanging charging pile for charging the new energy vehicle battery, and determining whether the aerial hanging charging pile for charging the new energy vehicle battery has a power gap relative to the new energy vehicle battery; S32. If there is a power shortage, calculate the power shortage; S33. Determine whether there is an aerial hanging charging pile that is currently in the work completion state and has a remaining power greater than the power gap. If so, select the aerial hanging charging pile for dispatching according to the dispatching rules, and go to the aerial hanging charging pile that is insufficient to charge the new energy vehicle battery in parallel; If there is no overhead crane charging pile in the work completion state and the remaining power is greater than the power gap, it is determined whether there is an overhead crane charging pile in the charging completion state. If there is, the overhead crane charging pile at the exit of the charging area is selected to be connected in parallel with the overhead crane charging pile that is charging the new energy vehicle battery with insufficient power; If there is no charging pile in the charging completed state, the charging pile with the highest power in the charging in progress state will be dispatched to parallel docking, wherein the charging pile is changed from the charging in progress state to the working in progress state.

6. The aerial vehicle mobile charging pile system according to claim 5 is characterized in that: The dispatching rule comprises the following steps: Calculate the number of topological nodes between the location of each overhead charging pile in the target group and the transition track corresponding to the parking line frame to be reached; wherein the target group is the set of overhead charging piles that meet the judgment conditions in the previous step; Calculate the remaining power of each overhead charging pile in the target group; Based on the number of topological nodes and the remaining power, a weighted calculation is performed to calculate the scheduling priority of each overhead charging pile in the target group; The aerial charging pile with the highest scheduling priority among the target group is selected as the scheduling object.

7. The aerial vehicle mobile charging pile system according to claim 6 is characterized in that: The charging pile secondary scheduling module also includes the following steps: S34. Monitor the battery information of the new energy vehicle and the remaining power information of the two aerial hanging charging piles connected in parallel, and determine whether the sum of the remaining power is relative to the battery of the new energy vehicle. S35. If there is a power gap, the two overhead crane charging piles are controlled to separate, and the overhead crane that is not connected to the new energy vehicle battery is moved to an idle transition track and switched to the work completion state; S36. Return to S33.

8. The aerial-mounted mobile charging pile system of claim 7, characterized in that: It also includes a charging pile regression scheduling module, which is used to perform the following steps: S41. Detect whether the charging gun of the overhead charging pile is pulled out. If it is pulled out, control the overhead charging pile to retract the charging gun and enter the work completion state; S42. Detect whether the power of the hanging charging pile in the work completion state is lower than the power of the hanging charging pile with the lowest power in the charging state; S43. If so, control the overhead crane charging pile in the work completion state to return to the charging area and switch to the charging in progress state; if not, keep the overhead crane charging pile in the work completion state at its original location and keep the overhead crane charging pile in the work completion state until it is dispatched or the power of the overhead crane charging pile is lower than the power of the overhead crane charging pile with the lowest power in the charging in progress state.

9. The aerial vehicle mobile charging pile system according to claim 8, characterized in that: The charging zone scheduling module is further included, and the charging zone scheduling module is used to perform the following steps: S51. Control the return of the uppermost crane track to the entrance of the crane charging pile from the return track to the forward track; S52. Determine whether there is an empty space at the tail of the charging queue. If so, control the overhead crane charging pile to move into the forward track to the first empty space at the tail of the charging queue near the head, and perform the charging operation, wherein the charging queue is a queue formed by the charging positions in the charging area; if not, then: Determine whether there is an empty space at the head of the charging queue. If so, control the overhead crane charging piles in the charging queue to move collectively to the head, and control the overhead crane charging piles that return to the uppermost overhead crane track to move into the forward track to the first empty space at the tail of the charging queue near the head, and perform the charging operation; if not, control the overhead crane charging piles that return to the uppermost overhead crane track to wait in the return track until an empty space appears at the head of the charging queue.

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