An overhead crane type mobile charging pile system for vehicles

Abstract

The present application relates to the technical field of charging piles, and discloses an overhead crane type mobile vehicle charging pile system. This system is used for the scheduling of overhead crane type charging piles in a parking lot, and includes: a charging request and initial scheduling module, which is used to obtain user charging request information and schedule the overhead crane type charging pile to go; a charging pile charging start module, which is used to control the overhead crane type charging pile to charge the new energy battery based on the successful docking information; a charging pile secondary scheduling module, which is used to obtain the new energy vehicle battery information and the remaining power of the overhead crane type charging pile, and judge whether it is necessary to schedule other overhead crane type charging piles to perform parallel charging on the charging overhead crane type charging pile. If necessary, select other overhead crane type charging piles with sufficient remaining power and schedule them to go for parallel docking with the underpowered charging overhead crane type charging pile. The present application has the advantages of improving the service efficiency and utilization rate of the overhead crane type charging pile in the underground garage scenario and giving full play to its intelligent charging ability.

Description

Technical Field

[0001] This application relates to the technical field of charging piles, and particularly to an overhead crane type mobile vehicle charging pile system. 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 globally. To meet the charging needs of new energy vehicles, various charging facilities have emerged, including public charging piles, home charging piles, and emerging overhead crane type charging piles. As an intelligent and mobile charging solution, overhead crane type charging piles have received increasing attention and application in underground garages due to their flexibility and high space utilization efficiency.

[0003] In the specific scenario of an underground garage, due to the large number of parking spaces and complex layout, fixed charging piles are difficult to fully cover all parking spaces. Therefore, overhead crane type charging piles have emerged. Overhead crane type charging piles rely on a suspended track system to move and can flexibly adjust their positions according to needs to provide charging services for new energy vehicles in different parking spaces. However, the current use of overhead crane type charging piles still faces certain technical bottlenecks. Especially when the number of charging piles is limited, there are the following problems in their scheduling and management:

[0004] On the one hand, the existing technology usually schedules a fully charged overhead crane type charging pile to the area where the vehicle to be charged is located, and returns the uncharged charging pile to the charging area. This strategy causes the charging pile to frequently shuttle between the charging area and the parking space, increasing both the moving cost of the charging pile and affecting its overall charging efficiency. On the other hand, there are some charging piles with relatively large remaining power but not enough to fully charge a new energy vehicle. These charging piles are idle because they cannot meet the complete charging demand and are not effectively utilized. Summary of the Invention

[0005] In order to improve the service efficiency and utilization rate of overhead crane type charging piles in the underground garage scenario and give full play to their intelligent charging capabilities, this application provides an overhead crane type mobile vehicle charging pile system.

[0006] This application provides an overhead crane type mobile vehicle charging pile system, adopting the following technical solutions:

[0007] An overhead crane type mobile vehicle charging pile system for scheduling overhead crane type charging piles in a parking lot, comprising:

[0008] A charging request and initial scheduling module for obtaining user charging request information and scheduling an overhead crane type charging pile to go there;

[0009] A charging pile charging start module for controlling an overhead crane type charging pile to charge a new energy battery based on the docking success information.

[0010] The secondary scheduling module of the charging pile is used to obtain the battery information of new energy vehicles and the remaining power information of the overhead charging pile, determine whether it is necessary to dispatch other overhead charging piles to perform parallel charging on the overhead charging pile in the process of charging. If necessary, select other overhead charging piles with sufficient remaining power and dispatch them to be connected in parallel with the overhead charging pile with insufficient power in the process of charging.

[0011] Optionally, a number of rows of parking spaces are provided in the parking lot, and a number of parking line frames are arranged in sequence on each row of parking spaces; a number of groups of overhead crane tracks are provided above the parking lot, and the overhead crane tracks are connected in a tree-like topology;

[0012] Each row of parking spaces corresponds to a group of overhead crane tracks. Each group 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 the transition tracks. The forward track corresponds to the head line of the parking line frame, the return track corresponds to the tail line of the parking line frame, and the transition track corresponds to the side line of the parking line frame;

[0013] The forward track and the return track of the lower-level overhead crane track are connected to the return track of the upper-level overhead crane track; among them, the overhead charging pile enters the lower-level overhead crane track from the upper-level overhead crane track through the forward track and returns to the upper-level overhead crane track from the lower-level overhead crane track through the return track.

[0014] The top-level overhead crane track corresponds to the charging area of the overhead charging pile in the parking lot, and a number of charging positions in the charging area are sequentially arranged on the forward track of the top-level overhead crane track for alignment charging with the overhead charging pile.

[0015] Optionally, the states of the overhead charging pile include:

[0016] Charging in progress state, corresponding to the state of the overhead charging pile charging in the charging area;

[0017] Charging completed state, corresponding to the state of the overhead charging pile completing charging in the charging area;

[0018] Working in progress state, corresponding to the state of the overhead charging pile going to the location of the new energy vehicle and the process of charging the new energy vehicle;

[0019] Working completed state, corresponding to the state of the overhead charging pile completing the charging of the new energy vehicle and the process of returning to the charging area.

[0020] Optionally, the charging request and primary scheduling module is used to perform the following steps:

[0021] S11. Obtain the user's charging request information;

[0022] S12. Query whether there is a gantry charger in the work completed state with a remaining power higher than the preset threshold;

[0023] S13. If there is, select a gantry charger from them for scheduling according to the scheduling rules, change the state of the gantry charger 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;

[0024] If not, select the gantry charger at the exit of the charging area and control it to move to the transition track corresponding to the parking line frame corresponding to the charging request information.

[0025] Optionally, the secondary scheduling module of the charger is used to execute the following steps:

[0026] S31. Obtain the battery information of the new energy vehicle and the remaining power information of the gantry charger charging the battery of the new energy vehicle, and judge whether there is a power gap between the gantry charger charging the battery of the new energy vehicle and the battery of the new energy vehicle;

[0027] S32. If there is a power gap, calculate the power gap;

[0028] S33. Judge whether there is a gantry charger in the work completed state and with a remaining power greater than the power gap. If so, select a gantry charger from them for scheduling according to the scheduling rules and go to be connected in parallel with the gantry charger charging the battery of the new energy vehicle with insufficient power;

[0029] If there is no gantry charger in the work completed state and with a remaining power greater than the power gap, judge whether there is a gantry charger in the charging completed state. If so, select the gantry charger at the exit of the charging area to go to be connected in parallel with the gantry charger charging the battery of the new energy vehicle with insufficient power;

[0030] If there is no charger in the charging completed state at present, schedule the charger with the highest power in the current charging in progress state to go to be connected in parallel, and change the state of the charger from the charging in progress state to the work in progress state.

[0031] Optionally, the scheduling rules include the following steps:

[0032] Calculate the number of topological nodes between the positions of each gantry charger in the target group and the transition track corresponding to the parking line frame to be traveled to; where the target group is the set of gantry chargers that meet the judgment conditions in the previous steps;

[0033] Calculate the remaining power of each overhead crane charging pile in the target group;

[0034] Perform weighted calculation based on the number of topological nodes and the remaining power, and calculate the scheduling priority of each overhead crane charging pile in the target group;

[0035] Select the overhead crane charging pile with the highest scheduling priority in the target group as the scheduling object.

[0036] Optionally, the charging pile secondary scheduling module further includes the following steps:

[0037] S34. Monitor the battery information of the new energy vehicle and the remaining power information of two mutually parallel overhead crane charging piles, and determine whether there is a power gap relative to the battery of the new energy vehicle;

[0038] S35. If there is a power gap, control the separation of the two overhead crane charging piles, move the overhead crane not connected to the new energy vehicle battery to the idle transition track and switch to the work completed state;

[0039] S36. Return to S33.

[0040] Optionally, it further includes a charging pile return scheduling module, and the charging pile return scheduling module is used to perform the following steps:

[0041] S41. Detect whether the charging gun of the overhead crane charging pile is unplugged. If unplugged, control the overhead crane charging pile to retract the charging gun and enter the work completed state;

[0042] S42. Detect whether the power of the overhead crane charging pile in the work completed state is lower than the power of the overhead crane charging pile with the lowest power in the charging in progress state;

[0043] S43. If so, control the overhead crane charging pile in the work completed 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 completed state at the original place until it is scheduled 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.

[0044] Optionally, it further includes a charging area scheduling module, and the charging area scheduling module is used to perform the following steps:

[0045] S51. Control the overhead crane charging pile returning to the top-level overhead track to go from the return track to the entrance of the forward track;

[0046] S52. Determine whether there is a vacant space at the tail of the charging queue. If there is, control the gantry charger to move into the forward track to the first vacant space near the head at the tail of the charging queue, and perform the charging operation, where the charging queue is a queue formed by the charging positions in the charging area; if not, then:

[0047] Determine whether there is a vacant space at the head of the charging queue. If there is, control the gantry chargers in the charging queue to move collectively towards the head, and control the gantry charger returning to the top-level gantry track to move into the forward track to the first vacant space near the head at the tail of the charging queue, and perform the charging operation; if not, control the gantry charger returning to the top-level gantry track to standby in the return track until a vacant space appears at the head of the charging queue.

[0048] In summary, the present application includes at least one of the following beneficial technical effects:

[0049] 1. By dynamically monitoring the battery status of new energy vehicles and the remaining power of chargers, and introducing a single-parallel mechanism, the problem of insufficient power of a single charger is solved, ensuring that the charging process is not interrupted.

[0050] 2. The modular design (including the charging request and initial scheduling module, charger charging start module, charger return scheduling module, charging area scheduling module, etc.) makes the scheduling logic clearer, reduces the ineffective movement on the gantry track, and improves the overall operation efficiency.

[0051] 3. Through the tree-like topology structure and flexible scheduling rules, the system fully optimizes the allocation of charger resources, reducing the efficiency loss caused by resource idleness or frequent recharging. Description of the Drawings

[0052] Figure 1 A schematic diagram showing the gantry track in an embodiment of the present application.

[0053] Figure 2 A module connection diagram showing the gantry vehicle mobile charger system in an embodiment of the present application.

[0054] Figure 3 A flowchart showing the steps executed by the charging request and initial scheduling module in an embodiment of the present application.

[0055] Figure 4 A flowchart showing the steps executed by the charger secondary scheduling module in an embodiment of the present application.

[0056] Figure 5 A flowchart showing the steps executed by the charger return scheduling module in an embodiment of the present application. Detailed Embodiments

[0057] Embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0058] In the description of this specification, the description referring to the terms "certain embodiments", "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0059] An embodiment of the present application discloses a gantry-mounted vehicle mobile charging pile system, which is used for the scheduling of gantry-mounted charging piles in a parking lot. Referring to Figure 1 , there are several rows of parking spaces in the parking lot, and several parking line frames are arranged in sequence on each row of parking spaces; several groups of gantry tracks are arranged above the parking lot, and the gantry tracks are connected in a tree-like topology. Each row of parking spaces corresponds to a group of gantry tracks, and each group of gantry tracks includes a forward track, a return track, and several transition tracks. The return track and the forward track are connected by the transition tracks. The forward track corresponds to the head line of the parking line frame, the return track corresponds to the tail line of the parking line frame, and the transition track corresponds to the side line of the parking line frame. In Figure 1 , solid lines are used to represent the transition tracks, dashed lines are used to represent the return tracks, and dotted lines are used to represent the forward tracks.

[0060] The forward track and the return track of the lower-level gantry track are connected to the return track of the upper-level gantry track; wherein, the gantry-mounted charging pile enters the lower-level gantry track from the upper-level gantry track through the forward track and returns to the upper-level gantry track from the lower-level gantry track through the return track; the top-level gantry track corresponds to the charging area of the gantry-mounted charging pile in the parking lot, and several charging positions in the charging area are sequentially arranged on the forward track of the top-level gantry track for alignment charging with the gantry-mounted charging pile.

[0061] At present, with the continuous expansion of the scale of communities and shopping malls, the area and capacity of parking lots are also increasing accordingly. The arrangement of parking spaces is gradually showing a complex and interlaced state. Intuitively speaking, pedestrians often need to rely on signboards to find parking spaces in such large parking lots. The complex arrangement of parking spaces increases the difficulty of scheduling and management of charging facilities in the parking lot. To solve this problem and improve the management efficiency of the system, this system adopts a tree-like topology structure to organize parking spaces and gantry crane tracks. The tree-like topology structure plans the parking lot in a hierarchical manner. The parking spaces and gantry crane tracks are hierarchically divided according to the actual location and usage requirements. Through the clear organizational relationship between the upper and lower levels, the system can provide fixed forward and return paths for gantry-mounted charging piles. This design can effectively avoid congestion problems caused by path conflicts or intersections during the use of the tracks, thereby improving the operating efficiency of the charging piles and simplifying the scheduling logic.

[0062] In addition, the design of the transition track of the gantry crane track in the charging area is limited to end-to-end connection for realizing the necessary switching of the incoming and outgoing tracks, and no more transition tracks are set. This is because the track incoming and outgoing path design in the charging area is relatively concentrated and is connected only through one incoming and outgoing 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 method of concentrating gantry-mounted charging piles on the same track for charging, which is conducive to reducing costs. In addition, there is a key problem in the setting of transition tracks 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 incoming and outgoing frequency is very high, if multiple charging piles simultaneously occupy the forward track and move outwards, or occupy the return track to return, then an additional set of complex algorithms needs to be designed for scheduling to sort the incoming and outgoing of the charging piles to avoid collisions. However, the algorithm of this solution is relatively simple, single-in and single-out, without being troubled by these problems.

[0063] In the embodiments of this application, according to the working states of the gantry-mounted charging piles, they can be divided into the following four types:

[0064] Charging in progress state, corresponding to the state where the gantry-mounted charging pile is charging in the charging area;

[0065] Charging completed state, corresponding to the state where the gantry-mounted charging pile has completed charging in the charging area;

[0066] Working in progress state, corresponding to the state of the process of the gantry-mounted charging pile going to the location of the new energy vehicle and the process of charging the new energy vehicle;

[0067] The working completion status corresponds to the status of the overhead charging pile completing the charging of a new energy vehicle and the status of the process of returning to the charging area.

[0068] The overhead charging pile is charging in the charging area, that is, in the charging ongoing state; when the battery is fully charged in the charging area, it switches to the charging completed state; when the user's new energy vehicle needs to be charged, the charging pile ends the charging completed state and enters the working ongoing state, which includes the process of the overhead charging pile moving 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 overhead charging pile and indicates to stop charging, the overhead charging pile switches from the working ongoing state to the working completed state. At this time, the overhead charging pile selects to return to the overhead charging area for charging according to the dispatching to enter the charging ongoing state, or moves forward to the next working ongoing state to move to the location of the next new energy vehicle and charge the next new energy vehicle, or continues to maintain the working completed state. It should be noted that the process of returning to the charging area for charging is also the working completed state. The "charging" mentioned in this article refers to the charging of the overhead charging pile by the mains power in the charging area, and the "charging" in other areas is the charging of the new energy vehicle by the overhead charging pile.

[0069] The essence of the overhead charging pile is actually a battery, and combined power supply can be achieved through the parallel connection of batteries. In different embodiments, the structure of the overhead charging pile can be different, which does not affect the inventive points of this application, as long as the overhead charging piles can be connected in parallel through movement and docking. As an example, in one embodiment, the structure of an overhead charging pile is given for illustration.

[0070] The overhead charging pile includes a rail moving module, a charging main body module, a docking interface module, a charging gun module, and a battery status display module.

[0071] Rail moving module: The overhead charging pile is equipped with a top slide rail connection mechanism for hanging on the overhead rail, 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 rail requirements.

[0072] Charging main body module: The charging pile main body 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.

[0073] Docking Interface Module: The side interface of the overhead crane type charging pile adopts a slot type design, including male and female connection terminals. The male terminal interface has a telescopic function and can automatically pop out and insert into the female terminal interface when two overhead crane type charging piles approach. Multiple contact electrodes are set inside the docking interface for efficient and low-resistance power transmission. The contacts are designed elastically to ensure tight contact to improve the stability of parallel charging. The interface includes a data communication module to support the coordinated control between the 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 outside the interface to ensure stability during the docking process through mechanical locking, and at the same time support the remote unlocking function.

[0074] Charging Gun Module: The charging gun is connected to the charging main body through a flexible telescopic mechanism, which is convenient for connecting to the charging ports of new energy vehicles at different heights and angles.

[0075] Battery Status Display Module: The front of the charging pile main body is equipped with a display screen for the remaining battery and operating status, which is used to display the power of the charging pile and the current working status in real time.

[0076] Before parallel connection, the charging piles to be paralleled are moved to the side of the target charging pile through the overhead crane track. The docking position between the two charging piles is detected and confirmed through sensors, and the alignment state of the docking interface is adjusted. Then the male terminal interface pops out and inserts into the female terminal interface, and the mechanical docking is completed. The data communication module is started to confirm the success of parallel connection and allocate charging tasks. The main charging pile is connected to the new energy vehicle with a charging gun for charging, and the auxiliary charging pile supplies energy to the main charging pile through the parallel connection interface to form power cooperation.

[0077] 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 the high efficiency and stability of the charging process. After charging is completed, the system sends an unlocking instruction through the communication module, the locking mechanism is released, the male terminal interface retracts, and the two charging piles are separated.

[0078] This overhead crane type vehicle mobile charging pile system is used for the scheduling of overhead crane type charging piles in the parking lot, referring to Figure 2 , including a charging request and initial scheduling module, a charging pile charging start module, a charging pile secondary scheduling module, a charging pile return scheduling module, and a charging area scheduling module.

[0079] The charging request and initial scheduling module is used to obtain user charging request information and schedule the overhead crane type charging pile to go. The charging request and initial scheduling module collects the user's charging request information in real time, and this information includes the parking space number where the user's vehicle is located and the time node of the charging demand (i.e., current or reservation). Through this information collection, the module can identify the target vehicle that needs to be served and its location, provide basic data for scheduling, and then perform scheduling based on this.

[0080] Referring toFigure 3 The charging request and initial scheduling module is used to perform the following steps S11 - S13.

[0081] S11. Obtain user charging request information.

[0082] S12. Query whether there is an overhead charging pile with remaining power higher than the preset threshold among the overhead charging piles in the work - completed state.

[0083] S13. If there is, select an overhead charging pile for scheduling according to the scheduling rules, switch the overhead 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 box corresponding to the charging request information; if not, 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 line box corresponding to the charging request information.

[0084] The meaning of the topological node directly corresponds to the connection points between different - level tracks in the overhead - track tree - like topological structure. These nodes are responsible for connecting the upper - level main track to the lower - level branch track or the specific parking - space track. There are also parking spaces on the trunk track and the thicker branch tracks, and the lower - level tracks gradually extend to the periphery of the parking lot or scattered parking spaces.

[0085] In this structure, the function of the topological node can be specifically explained in the following scenarios:

[0086] Suppose the parking lot distributes parking spaces through a tree - like track structure. The main track represents the most core charging main line, while the branch tracks and their extended end tracks cover different zones or scattered parking spaces. Topological nodes exist at the connection points between the main track and the branch track, as well as at the connection points where the branch track further extends to the peripheral scattered parking spaces. For example:

[0087] The connection node between the main track and the first - level branch track: Suppose the main track covers a row of relatively dense parking spaces and is connected to several first - level branch tracks that lead to other zones of the tree. The topological node is located at the connection point of the end of the main track and the branch track.

[0088] The connection node between the first - level branch track and the second - level branch track or parking space: The first - level branch track continues to extend, covering more scattered parking spaces, or further connecting to the second - level branch track. At this time, the intersection point from the end of each branch track to its extended branch also constitutes a topological node.

[0089] For example:

[0090] An overhead charging pile starts from the charging - area track (the top - level track), and the target parking space is on a relatively peripheral track in the tree - like structure. During the path, the charging pile needs to pass through three topological nodes:

[0091] The first node is the connection point between the charging area track and the main track.

[0092] The second node is the connection point between the main track and the target branch track.

[0093] The third node is the connection point between the branch track and the track where the target parking space is located.

[0094] If the target parking space is located on the main track, the gantry charger may only need to pass through one node, that is, the connection point between the charging area track and the main track.

[0095] The scheduling rules include the following steps a - d.

[0096] a. Calculate the number of topological nodes between the position of each gantry charger in the target group and the transition track corresponding to the parking line frame to be reached; where the target group is the set of gantry chargers that meet the judgment conditions in the previous steps.

[0097] b. Calculate the remaining power of each gantry charger in the target group.

[0098] c. Based on the number of topological nodes and the remaining power, perform a weighted calculation to calculate the scheduling priority of each gantry charger in the target group.

[0099] d. Select the gantry charger with the highest scheduling priority in the target group as the scheduling object.

[0100] During the scheduling process, the system first needs to screen out the eligible gantry chargers to form the target group. The chargers in the target group are usually in the "work completed state" and the remaining power is higher than the demand threshold of the current new energy vehicle. This step ensures that the selected chargers can meet the basic charging needs of the new energy vehicle without having to return to the charging area to replenish the power. Through this preliminary screening, the system can quickly narrow the scheduling scope and avoid waste of resources.

[0101] For the screened target group, the system will further calculate the scheduling priority of each charger. The calculation of the priority is based on two core parameters: the number of topological nodes and the remaining power. The number of topological nodes represents the path complexity of the charger from the current position to the transition track corresponding to the target parking line frame, that is, the number of connection nodes that need to be passed through in the track system. The fewer the number of nodes, the shorter the path and the shorter the time required for the charger to reach the target position. The remaining power reflects whether the charger can complete the charging task and has a certain reserve capacity. The scheduling rules perform a weighted calculation on these two parameters, comprehensively evaluate the priority of each charger, and select the charger with the highest weight value for scheduling.

[0102] The design of this scheduling logic is not just simple path optimization, but also incorporates considerations of power management. Prioritizing the scheduling of charging piles with sufficient power and shorter paths can avoid frequently calling charging piles in the charging area and reduce the number of round trips between the charging area and parking spaces for the charging piles.

[0103] The charging start module of the charging pile is used to control the gantry charging pile to charge the new energy battery based on the successful docking information.

[0104] After the gantry charging pile reaches the target parking space and completes mechanical docking, this unit verifies the stability of the physical docking and confirms the establishment of a data connection through the communication protocol. The data connection includes communication with the battery management system (BMS) of the new energy vehicle to obtain battery status (SOC, voltage, temperature, etc.) and charging requirements. After confirming successful docking, 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.

[0105] 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 approaching full charge (high SOC), the charging power is automatically adjusted and switched to the trickle charging mode to prevent overcharging.

[0106] If it is found during the charging process that the power of the current charging pile cannot meet the complete charging requirements of the new energy vehicle, this unit establishes 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 requirements.

[0107] The secondary scheduling module of the charging pile is used to obtain the new energy vehicle battery information and the remaining power information of the gantry charging pile, determine whether it is necessary to schedule other gantry charging piles to perform parallel charging on the charging gantry charging pile, and if so, select other gantry charging piles with sufficient remaining power and schedule them to go for parallel docking with the power-deficient charging gantry charging pile.

[0108] Refer to Figure 4 , the secondary scheduling module of the charging pile is used to execute the following steps S31 - S36.

[0109] S31. Obtain the new energy vehicle battery information and the remaining power information of the gantry charging pile that charges the new energy vehicle battery, and determine whether there is a power gap for the gantry charging pile that charges the new energy vehicle battery relative to the new energy vehicle battery.

[0110] S32. If there is a power gap, calculate the power gap.

[0111] S33. Determine whether there is a gantry charger that is in the work completion state and has a remaining power greater than the power gap. If so, select a gantry charger according to the scheduling rules for scheduling, and go to parallel connection with the gantry charger that is charging the battery of the power-deficient new energy vehicle;

[0112] If there is no gantry charger that is in the work completion state and has a remaining power greater than the power gap, then determine whether there is a gantry charger that is in the charging completion state. If there is, select the gantry charger at the exit of the charging area and go to parallel connection with the gantry charger that is charging the battery of the power-deficient new energy vehicle;

[0113] If there is no charger in the charging completion state currently, then schedule the charger with the highest power in the current charging state to go for parallel connection. Among them, this charger changes from the charging state to the work-in-progress state.

[0114] S34. Monitor the battery information of the new energy vehicle and the remaining power information of the two mutually parallel gantry chargers, and determine whether the sum of the remaining power is in a power gap relative to the battery of this new energy vehicle.

[0115] S35. If there is a power gap, control the separation of the two gantry chargers, and move the gantry charger not connected to the new energy vehicle battery to the idle transition track and switch to the work completion state.

[0116] S36. Return to S33.

[0117] In the gantry vehicle mobile charging pile system, the emergence of parallel charging requirements is mainly due to the complex and difficult-to-fully-predict actual situation during the charging process of new energy vehicles. Although the system has performed matching calculations through battery information and the remaining power of the charging piles during the initial scheduling, during the actual charging process, the charging efficiency differences of different vehicles and dynamic electricity consumption behaviors may lead to insufficient power calculated in the early stage to complete the entire charging task.

[0118] The battery management system (BMS) of new energy vehicles usually adjusts the charging efficiency according to the real-time state of the battery during charging. For example, some vehicles will significantly reduce the charging speed when the battery is approaching full charge, but the BMS of some vehicles may require higher power support at specific charging stages. If these dynamic demands exceed the initial scheduling power budget, it will lead to the inability of a single charging pile 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, in-vehicle system or other devices running continuously), further increasing the dynamic uncertainty of charging. This behavior of charging while using electricity will cause the actual power consumption to be higher than the initial calculated value, so that the system needs to supplement the deficiency by connecting other charging piles in parallel.

[0119] The parallel charging mechanism is designed to address the above dynamic requirements. By continuously monitoring the power status of charging piles and new energy vehicles, the system can quickly respond after detecting a shortage 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 adapt to various complex scenarios, such as temporary increases in vehicle load, unexpected battery requirements, etc., making the entire system more flexible and intelligent.

[0120] The advantage of this process lies in the maximization of resource utilization. When the power of existing charging piles cannot meet the demand, the system preferentially selects charging piles in the "work completed state" with sufficient remaining power to join the parallel cooperation. This strategy of preferentially calling charging piles with high remaining power not only reduces the time wasted for charging piles to frequently return 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 is possible to dispatch charging piles in the "charging completed state" or "charging in progress state" to ensure that the charging requirements of new energy vehicles can be met under different conditions. The entire process logic is clear, and the hierarchical scheduling strategy effectively reduces interference with other tasks.

[0121] During the parallel charging process, S34 ensures through dynamic monitoring that the power cooperation of the two charging piles can meet the charging requirements of new energy vehicles. When the sum of the powers is still insufficient, the S35 logic separates the auxiliary charging pile and moves it to the idle transition track, while rescheduling a new charging pile for replenishment to form a closed-loop optimization.

[0122] It should be noted that the scale of parallel charging is restricted in the process, and the single-parallel (cooperation of two charging piles) rather than three-parallel or four-parallel methods are clearly adopted because multi-parallel may lead to unlimited expansion of the parallel quantity, easily causing more charging pile resources to be constrained by a single task, thus significantly reducing the overall scheduling efficiency of the system. In addition, as the parallel scale expands, the control complexity of power distribution, communication synchronization, and current stability will increase significantly, which may lead to instability in system operation or even resource waste. In the multi-parallel mode, with each additional charging pile, the marginal efficiency will decrease, unable to significantly improve the charging performance, but instead affecting the resource allocation of the system and the availability of charging piles.

[0123] Refer to Figure 5 , the charging pile return scheduling module is used to execute the following steps S41 - S43.

[0124] S41. Detect whether the charging gun of the gantry crane charging pile is pulled out. If it is pulled out, control the gantry crane charging pile to retract the charging gun and enter the work completed state.

[0125] S42. Detect whether the power of the overhead charging pile in the work completion state is lower than that of the overhead charging pile with the lowest power in the charging ongoing state.

[0126] S43. If so, control the overhead charging pile in the work completion state to return to the charging area and switch to the charging ongoing state; if not, keep the overhead charging pile in the work completion state staying in place until it is scheduled or the power of the overhead charging pile is lower than that of the overhead charging pile with the lowest power in the charging ongoing state.

[0127] The logical starting point of this module is to detect the state of the charging gun. When the charging gun is pulled out by the user and indicates the end of charging, the charging pile switches to the "work completion state". At this time, the module needs to decide the next action of the charging pile: whether to directly return to the charging area and enter the "charging ongoing state" to replenish power, or continue to stay in the current position to wait for the next charging request. After the charging pile enters the "work completion state", the system will detect whether its current power is lower than the lowest power value of the charging piles in the "charging ongoing state" in the system. If it is lower, the charging pile is scheduled to return to the charging area, switch to the "charging ongoing state", and replenish power. This design ensures that the charging pile will not be unable to participate in the next task due to insufficient power, thus improving the reliability of the charging pile. At the same time, for those charging piles with sufficient power, they will stay in the standby state in place to quickly respond according to subsequent scheduling requirements. This logic avoids excessive movement of resources and unnecessary recharging operations, improving the operating efficiency of the system.

[0128] In addition, the charging piles in the waiting state not only reduce the congestion in the charging area but can also be quickly scheduled to the target task in case of emergency. Especially in scenarios with intensive charging demands, this mechanism can significantly improve the system's concurrent processing ability for multiple tasks. By dynamically controlling the switching between the "return" and "standby" states, the module realizes the optimal allocation of charging pile resources.

[0129] Furthermore, the design of this module also considers the optimization of the charging pile scheduling order. For example, for the overhead charging piles in the "work completion state", their priority to return to the charging area is usually lower than the requirement that the standby state can continue to execute tasks. This design further reduces the ineffective movement of the charging piles, making the energy and time utilization rate of the entire system reach the best.

[0130] The charging area scheduling module is used to execute the following steps S51 - S52.

[0131] S51. Control the overhead charging pile that returns to the top - level overhead track to go from the return track to the entrance of the forward track.

[0132] S52. Determine whether there is a vacant position at the tail of the charging queue. If there is, control the gantry charger to move into the forward track of the charging area to the first vacant position near the head at the tail of the charging queue, and perform the charging operation, where the charging queue is the queue formed by the charging positions in the charging area; if not, then: determine whether there is a vacant position at the head of the charging queue. If there is, control the gantry chargers in the charging queue to move collectively towards the head, and control the gantry charger returning to the top-level gantry track to move into the forward track of the charging area to the first vacant position near the head at the tail of the charging queue, and perform the charging operation; if not, control the gantry charger returning to the top-level gantry track to standby in the return track until a vacant position appears at the head of the charging queue.

[0133] After the charger returns to the charging area, the module first guides the charger into the entrance of the forward track of the charging area through the track control system. The module first determines whether there is a vacant position at the tail of the charging queue. If there is a vacant position at the tail, the charger is directly dispatched to the first vacant position near the head at the tail and immediately performs the charging operation. When the tail of the charging queue is full, the module further determines whether there is a vacant position at the head of the queue. If there is a vacant position at the head, the other chargers in the charging queue will move forward collectively to make room for the newly returned charger. The new charger is then guided to the first vacant position at the tail of the queue and starts charging. Through the dynamic adjustment of the chargers in the queue, this process maximizes the utilization of the space resources in the charging area and avoids congestion problems on the track.

[0134] If both the head and the tail of the charging queue are full, the module controls the returned charger to standby temporarily in the return track. The charger will not enter the charging area in the standby state until a vacant position appears at the head of the charging queue.

[0135] The logic design of this module has multiple advantages. First, it reduces the waiting time of the charger and improves the efficiency of the charging operation through the tail-first and queue adjustment mechanisms. Second, through the optimization of the collective movement in the queue, the module can efficiently utilize the limited space resources in the charging area. Third, for peak periods or scenarios with intensive charging demands, the standby mechanism provides a buffer space for the system, avoiding failures or resource waste caused by system operation overload.

[0136] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An overhead crane type vehicle mobile charging pile system, characterized in that, For the scheduling of gantry-mounted charging piles in a parking lot, there are several rows of parking spaces in the parking lot, and several parking line frames are arranged in sequence on each row of parking spaces; several groups of gantry tracks are arranged above the parking lot, and the gantry tracks are connected in a tree-like topology; Each row of parking spaces corresponds to a group of gantry tracks. Each group of gantry tracks includes a forward track, a return track, and several transition tracks. The return track and the forward track are connected by the transition tracks. The forward track corresponds to the head line of the parking line frame, the return track corresponds to the tail line of the parking line frame, and the transition track corresponds to the side line of the parking line frame; The forward track and the return track of the lower-level gantry track are connected to the return track of the upper-level gantry track; among them, the gantry-mounted charging pile enters the lower-level gantry track from the upper-level gantry track through the forward track and returns to the upper-level gantry track from the lower-level gantry track through the return track; The top-level gantry track corresponds to the charging area of the gantry-mounted charging pile in the parking lot, and several charging positions in the charging area are sequentially arranged on the forward track of the top-level gantry track for docking charging with the gantry-mounted charging pile; the forward track and the return track of the gantry track in the charging area are only connected by a transition track at the end to realize the switching between the forward track and the return track; The gantry-mounted vehicle mobile charging pile system includes a charging request and initial scheduling module, a charging pile charging start module, a charging pile secondary scheduling module, a charging pile return scheduling module, and a charging area scheduling module; The charging request and initial scheduling module is used to obtain the user charging request information and schedule the gantry-mounted charging pile to go there; The charging pile charging start module is used to control the gantry-mounted charging pile to charge the new energy battery based on the successful docking information; The charging pile secondary scheduling module is used to obtain the new energy vehicle battery information and the remaining power of the gantry-mounted charging pile, and judge whether it is necessary to schedule other gantry-mounted charging piles to perform parallel charging on the charging gantry-mounted charging pile. If necessary, select other gantry-mounted charging piles with sufficient remaining power and schedule them to go to parallel docking with the under-powered charging gantry-mounted charging pile; The charging area scheduling module is used to perform the following steps: S51. Control the gantry-mounted charging pile returning to the top-level gantry track to go from the return track to the entrance of the forward track; S52. Judge whether there is a vacant position at the tail of the charging queue. If there is, control the gantry-mounted charging pile to move into the forward track to the first vacant position near the head at the tail of the charging queue and perform the charging operation, where the charging queue is the queue formed by the charging positions in the charging area; if not, then: Judge whether there is a vacant position at the head of the charging queue. If there is, control the gantry-mounted charging piles in the charging queue to move collectively to the head, and control the gantry-mounted charging pile returning to the top-level gantry track to move into the forward track to the first vacant position near the head at the tail of the charging queue and perform the charging operation; if not, control the gantry-mounted charging pile returning to the top-level gantry track to standby in the return track until a vacant position appears at the head of the charging queue.

2. The overhead crane type vehicle mobile charging pile system according to claim 1, wherein The states of the gantry-mounted charging pile include: Charging in - progress status, corresponding to the status of the gantry - type charging pile charging in the charging area; Charging completed status, corresponding to the status of the gantry - type charging pile completing charging in the charging area; Working in - progress status, corresponding to the status of the gantry - type charging pile moving to the location of the new - energy vehicle and the process of charging the new - energy vehicle; Working completed status, corresponding to the status of the gantry - type charging pile completing the charging of the new - energy vehicle and the process of returning to the charging area; 3. The overhead crane type vehicle mobile charging pile system according to claim 2, 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 a gantry - type charging pile in the working completed status with a remaining power higher than a preset threshold; S13. If there is, select a gantry - type charging pile for scheduling according to the scheduling rule, switch the gantry - type charging pile from the working completed status to the working in - progress status, and move it to the transition track corresponding to the parking line frame corresponding to the charging request information; If not, select the gantry - type charging pile at the charging area exit and control it to move to the transition track corresponding to the parking line frame corresponding to the charging request information.

4. The overhead crane type vehicle mobile charging pile system according to claim 3, wherein The secondary charging - pile scheduling module is used to perform the following steps: S31. Obtain the new - energy vehicle battery information and the remaining power information of the gantry - type charging pile charging the new - energy vehicle battery, and judge whether there is a power gap between the gantry - type charging pile charging the new - energy vehicle battery and the new - energy vehicle battery; S32. If there is a power gap, calculate the power gap; S33. Judge whether there is currently a gantry - type charging pile in the working completed status with a remaining power greater than the power gap. If so, select a gantry - type charging pile for scheduling according to the scheduling rule and go to be connected in parallel with the gantry - type charging pile charging the new - energy vehicle battery with insufficient power; If there is no gantry - type charging pile in the working completed status with a remaining power greater than the power gap, judge whether there is currently a gantry - type charging pile in the charging completed status. If there is, select the gantry - type charging pile at the charging area exit to go to be connected in parallel with the gantry - type charging pile charging the new - energy vehicle battery with insufficient power; If there is currently no charging pile in the charging completed status, schedule the charging pile with the highest power in the current charging in - progress status to go for parallel connection, where the charging pile is changed from the charging in - progress status to the working in - progress status.

5. The overhead crane type vehicle mobile charging pile system according to claim 4, wherein The scheduling rule includes the following steps: Calculate the number of topological nodes between the locations of each gantry - type charging pile in the target group and the transition track corresponding to the parking line frame to be reached; where the target group is the set of gantry - type charging piles that meet the judgment conditions in the previous steps; Calculate the remaining power of each gantry - type charging pile in the target group; Perform weighted calculation based on the number of topological nodes and the remaining power to calculate the scheduling priority of each gantry - type charging pile in the target group; Select the gantry - type charging pile with the highest scheduling priority in the target group as the scheduling object.

6. The overhead crane type vehicle mobile charging pile system according to claim 5, characterized in that, The secondary charging - pile scheduling module further includes the following steps: S34. Monitor the battery information of new energy vehicles and the remaining power information of two gantry chargers connected in parallel, and determine whether there is a power gap relative to the new energy vehicle battery for the sum of the remaining power; S35. If there is a power gap, control the separation of the two gantry chargers, move the gantry charger not connected to the new energy vehicle battery to the idle transition track and switch to the work completed state; S36. Return to S33.

7. The overhead crane type vehicle mobile charging pile system according to claim 6, characterized in that It further includes a charger return scheduling module, and the charger return scheduling module is used to perform the following steps: S41. Detect whether the charging gun of the gantry charger is unplugged. If it is unplugged, control the gantry charger to retract the charging gun and enter the work completed state; S42. Detect whether the power of the gantry charger in the work completed state is lower than that of the gantry charger with the lowest power in the charging state; S43. If so, control the gantry charger in the work completed state to return to the charging area and switch to the charging state; if not, keep the gantry charger in the work completed state at its original position until it is scheduled or the power of the gantry charger is lower than that of the gantry charger with the lowest power in the charging state.

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