Charging equipment

Abstract

The invention provides charging equipment, which belongs to the technical field of charging, and comprises a robot module (comprising a charging module, a first maintenance module, a fire hazard module and a second maintenance module) and a track system module. The robot module has the functions of charging, maintenance and fire treatment, and the system plans an optimal path according to a vehicle charging request, monitors a track state in real time, adjusts the path, monitors vehicle and environment data in the charging process, and timely treats fire disasters when finding out the fire disasters. And environment and robot maintenance is performed according to a post-disaster maintenance scheme, so that complex site requirements are met, and unmanned charging is realized.

Description

Technical Field

[0001] The present invention relates to the field of charging technology, and in particular to a charging device. Background Art

[0002] With the popularity of electric vehicles, the demand for charging is growing, and automated charging systems have become a research hotspot. Fire safety is an important issue in charging systems, especially in high-density charging environments where the risk of fire is high. In existing technologies, automated charging systems usually rely on fixed charging piles or semi-automated charging robots, lacking flexibility and intelligent path planning. In addition, existing fire monitoring systems mostly rely on smoke detectors or temperature sensors, lacking the ability to link with automated equipment.

[0003] Therefore, the present invention provides a charging device. Summary of the invention

[0004] The present invention provides a charging device, which uses a charging robot to move along the track system above the target field, and uses a mechanical arm and a visual sensor to grab the charging gun from the charging pile and connect it to the target vehicle for charging. The track system is flexibly designed to cover multiple target locations, improve the charging efficiency of the target field, save labor costs, realize automated charging, improve charging safety and convenience, optimize the space utilization of the target field, and enhance user experience.

[0005] The present invention provides a charging device, comprising: Robot module: The charging robot uses a connection device to move on the track system and uses an auxiliary charging device to charge the target vehicle, wherein the connection device includes a connection part and an extension part between the charging robot and the track system, the auxiliary charging device includes a first access, a second access and a mechanical arm, the charging gun is provided with a second access corresponding to the first access, the mechanical arm realizes the grasping of the charging gun based on the connection between the first access and the second access, the connection mode between the first access and the second access is a plug-in mode, the extension part is an extension track, the mechanical arm uses the configured visual sensor to determine the position of the charging gun, grasps the charging gun and connects the charging gun to the target vehicle, and the charging gun is connected to the charging piles around the target position, wherein the robot module also includes a charging module, a first maintenance module, a fire module and a second maintenance module; Track system module: plans the track system according to the target field.

[0006] The present invention provides a charging device, wherein the track system includes: a first direction track, a second direction track, a third direction track and a co-carrying track; the second direction track of the track system is located between different first direction tracks, the first direction track and the second direction track are located in the same plane to form a track layer, the third direction track connects at least two track layers, and the co-carrying track includes a track layer moving track and a third direction moving track.

[0007] The present invention provides a charging device. Charging module: receives the charging request from the target vehicle, locates the target position, and plans the optimal travel path and backup path of the charging robot based on the relevant track data; The first maintenance module is to obtain the track monitoring data from the track system, perform data analysis based on the relevant data to determine the track status, and maintain the optimal travel path and the backup path according to the track status; Fire module: Controls the charging robot to move to the target location and connect to the target vehicle according to the maintenance results. During the charging process, it monitors the vehicle data and environmental data, determines whether there is a fire, and handles the fire. The second maintenance module: generates a post-disaster maintenance plan according to the fire handling results, and maintains the environment and the charging robot according to the post-disaster maintenance plan.

[0008] The present invention provides a charging device, a charging module, comprising: Target acquisition unit: The system receives the charging request information of the target vehicle, parses the charging request information, obtains the target vehicle identification, queries the target field management system according to the target vehicle identification, and determines the target location where the target vehicle is parked; Charging equipment determination unit: obtains coordinate information of the target location, marks the location of the target location in the target site map, and confirms the status of the charging equipment at the target location; Data acquisition unit: obtains track-related data from the track status monitoring system, wherein the relevant data includes the current usage status data of all tracks, the topological structure data of all tracks, and the current position and status of the charging robot; Path calculation unit: Perform a first path screening according to the usage status data, topological structure data, and the charging equipment status at the target location, and perform a second path screening based on the first path screening result and the current location and status of the charging robot to obtain the optimal travel path and backup path.

[0009] The present invention provides a charging device, a path calculation unit, comprising: ,in, The objective function represents the first path screening result with the lowest comprehensive cost; P represents the first path screening result; represents the weight function coefficient of the track segment e in the first path screening result; represents the weight function of the track segment e in the first path screening result; represents the travel time function of the track segment e in the first path screening result; represents the travel time function coefficient of the track segment e in the first path screening result; represents the energy consumption function coefficient of track segment e in the first path screening result; represents the energy consumption function of track segment e in the first path screening result; represents the historical safety score function coefficient of track segment e in the first path screening result; represents the historical safety score function of track segment e in the first path screening result; represents the weight coefficient of the i-th historical risk factor; represents the score of the i-th historical risk factor of track segment e in the first path screening result; n represents the total number of historical risk factors; The second screening subunit: selects the first path screening result with the smallest objective function value as the optimal path, and the second smallest first path screening result as the backup path.

[0010] The present invention provides a charging device, a first maintenance module, comprising: A selection unit: determining system requirements according to the historical risk factors, formulating track rules using the system requirements, selecting a data analysis algorithm based on the track rules, performing data analysis on track monitoring data and related data according to the data analysis algorithm, and obtaining data analysis results; Maintenance plan unit: determine the track status of each track segment on the optimal travel path and the backup path according to the data analysis results, formulate a maintenance plan for the optimal travel path and the backup path based on the track status, and use a charging robot to execute the maintenance plan.

[0011] The present invention provides a charging device, a fire module, comprising: Charging unit: sends the location information and optimal path of the target location to the charging robot, controls the charging robot to move to the target location along the optimal path, sends a confirmation signal when the charging robot reaches the target location, uses the visual system of the charging robot to locate the charging interface of the target vehicle, controls the mechanical arm of the charging robot to dock with the charging interface of the target vehicle, and sends a connection success signal to the control system; Fire situation unit: uses sensors to monitor the battery status of the target vehicle and records the vehicle data during the charging process, uses environmental sensors to monitor the environmental data of the charging area and records the environmental data, and combines the vehicle data with the environmental data to determine the fire situation using a fire monitoring algorithm; Plan generation unit: If a fire is determined to have occurred, the charging robot generates a fire alarm signal based on the fire situation and transmits it to the system. The system then sends the charging robot a processing plan and a fire extinguishing plan to handle the fire.

[0012] The present invention provides a charging device, a scheme generating unit, comprising: Situation determination subunit: Combine vehicle data with environmental data to determine vehicle fire conditions, charging robot fire conditions, and environmental object fire conditions; Signal generation subunit: generates a first fire alarm signal according to the fire situation of the vehicle, generates a second fire alarm signal according to the fire situation of the charging robot, and generates a third fire alarm signal according to the fire situation of the environmental object; Processing plan subunit: The system performs signal analysis on the first fire alarm signal, the second fire alarm signal and the third fire alarm signal, and derives a charging robot processing plan and a fire extinguishing processing plan based on the signal analysis results.

[0013] The present invention provides a charging device, a processing scheme subunit, comprising: Priority block: Determine the fire situation based on the signal analysis results, evaluate the priority of the alarm signal, and at the same time, combine multiple alarm signals to determine whether there is a complex fire situation. If so, adjust the priority of the alarm signal; Charging robot processing solution block: If the charging robot is affected by the fire, the evacuation path of the charging robot is planned according to the fire type and location. If the charging robot is not affected by the fire, the optimal fire extinguishing path for the charging robot to participate in the fire extinguishing task is planned, and the charging robot processing solution is determined by combining the evacuation path and the optimal fire extinguishing path; Fire extinguishing solution block: Determine the fire extinguishing method according to the priority and the fire situation, determine the deployment location and use order of the fire extinguishing equipment, plan the movement path of the fire extinguishing equipment, and then come up with a fire extinguishing solution.

[0014] The present invention provides a charging device, a second maintenance module, comprising: Impact determination unit: Conduct post-disaster investigations on the environment, charging robots, and vehicles involved based on the fire handling results, and determine the actual impact of the charging robot handling plan and the fire extinguishing plan on the entire target site based on the investigation results; Post-disaster maintenance unit: generates a post-disaster maintenance plan based on the actual impact, and the maintenance plan includes an environmental maintenance plan and a charging robot maintenance plan.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: the charging robot moves along the track system above the target field, uses the mechanical arm and visual sensor to grab the charging gun from the charging pile, and connects it to the target vehicle for charging. The track system is flexibly designed to cover multiple target locations, improve the charging efficiency of the target field, save labor costs, realize automated charging, improve charging safety and convenience, optimize the space utilization of the target field, and enhance user experience.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 is a structural schematic diagram of a charging device provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a use scenario of a charging device provided by an embodiment of the present invention, wherein an adapter is used, and a charging robot inserts a charging gun into the adapter; Figure 3 is a schematic diagram of a mechanical arm of a charging device provided by an embodiment of the present invention in an unfolded state; Figure 4 is a schematic diagram of a mechanical arm of a charging device provided by an embodiment of the present invention in a retracted state; Figure 5 is a partially enlarged schematic diagram of a charging device provided by an embodiment of the present invention; Figure 6 is a schematic diagram of a charging device arranged in a three-dimensional target field provided by an embodiment of the present invention; Figure 7 is a schematic diagram of a track layout of a charging device provided in an embodiment of the present invention; Figure 8 is a schematic diagram of a charging device arranged in a planar target field provided by an embodiment of the present invention; Fig. 9 is a schematic diagram of another use scenario of the charging device provided by an embodiment of the present invention, in which no adapter is used, and the charging robot directly inserts the charging gun into the charging port of the vehicle; Fig.10A partial schematic diagram of a rotating track assembly provided for the track system of the present invention; Fig.11 It is a schematic structural diagram of the rotating track assembly of the present invention.

[0019] In the figure: 1, target position; 2, vehicle; 3, charging pile; 301, charging head; 302, quick-change fixture at the end of the charging gun; 303, charging pile body; 4, track system; 401, first direction track; 402, first second direction track; 403, track layer moving track; 404, third direction moving track; 405, third direction track; 406, second second direction track; 407, rotating track assembly; 407-1, rotating track; 407-2, slewing bearing; 407-3, pinion; 407- 4. Gearbox; 407-5. Motor; 407-6. Fixed plate; 403 / 01. Track layer moving track; 404 / 01. Liftable third direction track; 5. Charging robot; 501. Frame; 502. Driven wheel assembly; 503. Rail assembly; 504. Driving wheel assembly; 505. Coupling; 506-Motion motor; 507-Electrical assembly; 6. Robotic arm; 601. Six-axis robot; 602. Quick-change fixture at the end of the robot arm; 603. Visual sensor; 604. Extension track; 7. Adapter. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0021] Embodiment 1: An embodiment of the present invention provides a charging device, such as Figure 1 As shown, including: Robot module: The charging robot uses a connection device to move on the track system and uses an auxiliary charging device to charge the target vehicle, wherein the connection device includes a connection part and an extension part between the charging robot and the track system, the auxiliary charging device includes a first access, a second access and a mechanical arm, the charging gun is provided with a second access corresponding to the first access, the mechanical arm realizes the grasping of the charging gun based on the connection between the first access and the second access, the connection mode between the first access and the second access is a plug-in mode, the extension part is an extension track, the mechanical arm uses the configured visual sensor to determine the position of the charging gun, grasps the charging gun and connects the charging gun to the target vehicle, and the charging gun is connected to the charging piles around the target position, wherein the robot module also includes a charging module, a first maintenance module, a fire module and a second maintenance module; Track system module: plans the track system according to the target field.

[0022] In this embodiment, the target field includes any place where charging equipment can be placed.

[0023] In this embodiment, the charging robot, such as Figure 2 , Figure 3 as well as Figure 4 As shown, the charging robot is suitable for sliding along the track system to move between multiple target positions in the target field. The charging robot includes a robotic arm, which is suitable for grabbing the charging gun and connecting the charging gun to the target vehicle. The charging gun is connected to the charging piles around the target position. It also includes a connecting device for transferring inside the track system, and the connecting device is provided with an extended track. The robotic arm is suitable for moving along the extended track.

[0024] In this embodiment, if Figure 2 As shown, a target position 1 is set in the garage. A charging pile 3 is set around the target position 1. The charging pile 3 includes a charging pile body 303 and a charging gun. The charging pile 3 can be hoisted (installed on the top of the garage), side mounted (installed on the wall or support column of the garage) or upright (installed on the ground of the garage). The charging pile body 303 is mainly used to power the charging gun and fix the charging gun. The charging gun includes a charging head 301. The charging head 301 is used to charge the vehicle 2. The charging gun also includes a charging gun end quick-change clamp 302, which is fixed on the charging head 301 and is mainly used for quick-change clamp 602 at the end of the robot arm 6 (see Figure 3 ) docking, so as to realize the plugging and unplugging of the charging gun on the vehicle 2 and the charging pile body 3, and the charging head 301 is connected to the vehicle 2 through the adapter 7. The adapter 7 is placed in a special storage device in the garage, for example. If the user has a charging demand, the charging interface cover of the vehicle 2 can be opened and the adapter 7 can be inserted into the charging interface. The adapter 7 has a certain axial length. When the adapter 7 is located in the charging interface of the vehicle 2, it can prevent the charging interface cover of the vehicle 2 from falling, thereby keeping the charging interface cover in an open state. In addition to keeping the charging interface cover in an open state, the adapter 7 can also convert different types of charging interfaces into a unified type of charging interface. In addition, a special identification mark can be set on the adapter 7 to facilitate the charging robot to identify it. There can be an angle between the axis of the input end (the end connected to the charging gun) and the output end (the end connected to the vehicle) of the adapter 7, so that the adapter 7 can adjust the insertion angle of the charging gun. In one example, the axis of the charging port of vehicle 2 is along the horizontal direction. If the charging gun is directly inserted into the charging port, the charging gun needs to be adjusted to a horizontal position for operation, which requires a larger horizontal operating space. In this case, the adapter 7 can be used to adjust the insertion direction of the charging gun from the horizontal direction to the vertical direction, thereby reducing the demand for horizontal operating space and thereby reducing the demand for the horizontal area of ​​the target position.

[0025] In this embodiment, the track system includes: a first direction track, a second direction track, a third direction track and a co-carrying track; any combination of the first direction track, the second direction track, the third direction track and the co-carrying track, so that the conversion between the first direction track and the second direction track can be achieved by rotating the co-carrying track to switch the charging device.

[0026] In this embodiment, if Figure 3 As shown, the quick-change fixture 602 at the end of the robot arm and the quick-change fixture 302 at the end of the charging gun serve as the first access and the second access that cooperate with each other, and can be used to connect the robot arm 6 with the charging head 301, so as to realize the robot arm grabbing the charging gun in a more efficient and convenient way. The quick-change fixture 602 at the end of the robot arm and the quick-change fixture 302 at the end of the charging gun can be connected in a plug-in manner, which is conducive to reducing the structural complexity of the connection part.

[0027] In this embodiment, Fig. 9 is a schematic diagram of another usage scenario of the charging device, such as Fig. 9 As shown, in this embodiment, no adapter is used, and the robot arm 6 directly inserts the charging head 301 into the charging port of the vehicle 2.

[0028] In this embodiment, if Figure 2 As shown, the charging equipment includes a track system 4 and a charging robot. The charging robot includes an RGV (Rail Guided Vehicle) trolley 5 and a robotic arm 6. Figure 6 The track system 4 spans across multiple target locations 1. The RGV trolley 5, as a connection device for the charging robot, can move along the track system 4 to travel to the vicinity of the target location 1 where the charging operation is required.

[0029] In this embodiment, the track system 4 and the charging robot can be installed upright, sideways or hoisted. The track system and the charging robot can be installed sideways or hoisted above the ground of the target field. There is no need to reserve a walking channel for the charging equipment on the ground, thereby reducing the space occupied by the target field.

[0030] In this embodiment, the optimal principle is that at least two adjacent target locations share one charging pile.

[0031] In this embodiment, Figure 6 The upper part is the front view of the stereoscopic target field. Figure 6 The lower part is a top view of the three-dimensional target field after cutting at the top of one layer. Figure 7 yes Figure 6 Schematic diagram of the track layout of the charging equipment. Figure 7 The upper part is a front view of the track layout. Figure 7 The lower part is a top view of the track layout. Figure 5 yes Figure 6 A partial enlarged schematic diagram of the charging equipment in FIG. Figure 6 and Figure 7 As shown, the track system 4 includes a first direction track 401, which is arranged along the arrangement direction of adjacent target positions, and is used for the charging robot to move along the first direction track 401 to the target position to complete the charging action.

[0032] In this embodiment, the track system, such as Figure 5 As shown, it contains a track layer moving track segment, a first direction track extending along a first direction, at least two first direction tracks, a second direction track extending along a second direction and located between different first direction tracks, and wherein the first direction track and the second direction track are located in the same plane, and the second direction is different from the first direction.

[0033] In this embodiment, if Figure 6 and Figure 7 As shown, the track system 4 also includes second direction tracks, such as a first second direction track 402 and a second second direction track 406. The second direction tracks 402 and 406 are in the same horizontal plane as the first direction track 401, but extend in different directions. Figure 6 and Figure 7 As shown, the extension direction of the second direction rails 402 and 406 is perpendicular to the extension direction of the first direction rail 401. The second direction rails 402 and 406 are located between different first direction rails 401 (for example, two adjacent first direction rails 401) to enable the charging robot to move between different first direction rails 401.

[0034] In this embodiment, if Figure 6 and Figure 7 As shown, the track system 4 also includes a third directional track 405. The third directional track 405 extends in the vertical direction (it can also extend obliquely but has an extension component in the vertical direction). The third directional track 405 is located between different track layers (the first directional track and / or the second directional track in the same plane form a track layer), and is used to realize the movement of the charging robot between different track layers, and also includes a third directional track 405. The third directional track 405 extends in the vertical direction (it can also extend obliquely but has an extension component in the vertical direction). The third directional track 405 is located between different track layers (the first directional track and / or the second directional track in the same plane form a track layer), and is used to realize the movement of the charging robot between different track layers.

[0035] In this embodiment, the above-mentioned track system 4 can be applied to a stereo garage (including a garage with multiple target locations and vertically transporting vehicles between different floors), and can also be applied to a flat garage (a garage with only one target location, which can include multiple rows of parking spaces or a single row of parking spaces). Different track structures can be selected according to the type of garage. For example, a single row of charging parking spaces only needs the first direction track 401. For another example, Figure 8 As shown ( Figure 8 The upper part is the front view of a multi-row flat garage. Figure 8 The lower part is a top view of a multi-row flat garage), a multi-row flat garage only needs a first direction track 401, a second direction track 406, and a track layer moving track 403, and does not need a third direction track and a third direction moving track. A multi-row flat garage may not be provided with a track layer moving track 403, but an arc track may be provided between adjacent first direction tracks 401 to enable the charging robot to switch between different first direction tracks, or only a track layer moving track 403 / 01 may be provided without a movable trolley 403 / 02, and the charging robot may switch between different first direction tracks by rotating the angle of the track layer moving track 403 / 01. Similarly, different track layers may also be connected in the above manner or in other manners to enable the charging robot to switch between different track layers.

[0036] In this embodiment, Figure 5 yes Figure 6 A partial enlarged schematic diagram of the charging device in FIG. 1 shows the structure of the connection between the first direction track, the second direction track and the third direction track, such as Figure 5 As shown, the track system includes a track layer moving track 403 and a third direction moving track 404. The track layer moving track 403 includes a track layer moving track 403 / 01 and a movable trolley 403 / 02 connected to each other. The third direction moving track 404 includes a liftable third direction track 404 / 01 and a liftable trolley 404 / 02 connected to each other. The track layer moving track 403 / 01 can be aligned with the first direction track 401, and is used to receive the RGV trolley 5 (i.e., the connection device of the charging robot). The liftable third direction track 404 / 01 can be aligned with the second direction track 402. The movable trolley 403 / 02 slides with the liftable third direction track 404 / 01 and the second direction track 402, and can drive the track layer moving track 403 / 01 and the RGV trolley 5 to move along the cross-track direction, thereby realizing the switching of the RGV trolley 5 between different first direction tracks. The liftable trolley 404 / 02 slides with the third directional track 405, and can drive the third directional moving track 404, the track layer moving track 403 and the RGV trolley 5 to move longitudinally as a whole, thereby realizing the switching of the RGV trolley 5 between different track layers.

[0037] In this embodiment, if Figure 3 As shown, the RGV trolley 5 is mainly composed of a frame 501, a driven wheel assembly 502, a rail assembly 503, a driving wheel assembly 504, a coupling 505, a motion motor 506 and an electrical assembly 507. The driven wheel assembly 502 and the driving wheel assembly 504 are mainly composed of a motion wheel and a limit wheel. The motion wheel mainly relies on friction to allow the RGV trolley 5 to run along the track, and the limit wheel is mainly used to limit the direction of the RGV trolley. The motion motor 506 is connected to the driving wheel assembly 504 through a coupling 505 to provide power to the motion wheel. The electrical assembly 507 is mainly composed of a control panel, a battery, a charging contact, a control box, a mechanical arm control box, etc., which are used to control the movement of the RGV trolley and the mechanical arm, and to supply power to it. The RGV trolley 5 comes with a rechargeable battery to provide power for the operation of the RGV trolley. The RGV trolley 5 runs along the track 4 and transports the mechanical arm assembly 6 to each parking space to meet the charging needs of each parking space. The RGV trolley 5 adopts a reducer + servo / stepper motor + wheel train structure. The RGV trolley 5 contains a mechanical arm accommodation space to ensure that it will not interfere with vehicles and other equipment during operation, and controls it to run to another parking position through sensors. In addition, the charging robot also includes a control unit, a motion unit, a detection unit, and a charging unit. In addition to the above-mentioned RGV trolley 5, other structures or forms of connection devices can also be used to realize the movement of the charging robot along the track system.

[0038] In this embodiment, if Figure 3 and Figure 4 As shown, the robot arm 6 is mainly composed of a six-axis robot 601, a quick-change fixture 602 at the end of the robot arm, a visual sensor 603 and an extended track 604. The base of the six-axis robot 601 is fixed on the extended track 604, or it can be directly fixed on the RGV trolley 5 without the extended track 604. The main function of the extended track 604 is to expand the working radius of the six-axis robot 601, and it can be set according to needs. The quick-change fixture 602 and the visual sensor 603 at the end of the robot arm are fixed at the end of the six-axis robot 601. The six-axis robot 601 can move and rotate along the set x-axis, y-axis and z-axis. The quick-change fixture 602 at the end of the robot arm and the quick-change fixture 302 at the end of the charging gun installed on the charging gun realize the plugging and unplugging of the charging gun. The visual sensor 603 accurately locates the charging port position and the charging pile position of the vehicle in three dimensions, and guides the movement of the six-axis robot 601 to realize the automatic plugging and unplugging of the charging gun.

[0039] In this embodiment, if Figure 3 and Figure 4As shown, the six-axis robot 601 can switch between an extended state and a retracted state. During the movement of the charging robot, the six-axis robot 601 can remain in a retracted state to avoid interference with the track system or vehicles. After moving to the charging position, the six-axis robot 601 can be extended to perform the action of plugging and unplugging the charging gun.

[0040] like Fig.10 , Fig.11 As shown, the present invention also discloses a rotating track assembly 407, which is mainly used for reversing the RGV trolley 5; The rotating track assembly 407 is mainly composed of a rotating track 407-1, a slewing bearing 407-2, a pinion 407-3, a reduction box 407-4, a motor 407-5, and a fixing plate 407-6; The toothed outer ring of the slewing bearing 407-2 is fixed to the rotating track 407-1; the inner ring of the slewing bearing 407-2 is fixed to the fixing plate 407-6; the fixing plate 407-6 is fixed to the lift car 404 as required, or fixed to the tracks 401 and 402 in the parking lot; The pinion 407 - 3 , the reduction box 407 - 4 , and the motor 407 - 5 are combined together as a driving component to drive the outer ring of the slewing bearing 407 - 2 and the rotating track 407 - 1 to rotate, thereby realizing the steering of the RGV trolley 5 ; When the RGV trolley 5 needs to change direction, it moves to the rotating track 407-1; The two directional tracks on the same layer should be in the same plane, and the charging robot can be turned by rotating the track assembly 407 by 90 degrees; The working principle and beneficial effects of the above technical solution are as follows: the charging robot moves along the track system above the target field, uses the mechanical arm and visual sensor to grab the charging gun from the charging pile, and connects it to the target vehicle for charging. The track system is flexibly designed to cover multiple target locations, improve the charging efficiency of the target field, save labor costs, realize automated charging, improve charging safety and convenience, optimize the space utilization of the target field, and enhance user experience.

[0041] Embodiment 2: An embodiment of the present invention provides a charging device, wherein the second direction track of the track system is located between different first direction tracks, the first direction track and the second direction track are located in the same plane to form a track layer, the third direction track connects at least two track layers, and the co-carrying track includes a track layer moving track and a third direction moving track. According to the needs of the site, the first direction track, the second direction track, and the third direction track can be flexibly arranged, and any one or more combinations of the first direction track, the second direction track, and the third direction track can be arranged; The working principle and beneficial effects of the above technical solution are as follows: the charging device adopts a multi-layer, multi-directional track system. The first and second directional tracks form a track layer on the same plane to achieve in-plane movement; the third directional track connects different track layers to achieve vertical movement; the co-carrying track is responsible for the movement of the track layer and the third directional track, so that the charging robot can flexibly reach any position of the target field for charging, significantly improving the coverage and work efficiency of the charging robot, adapting to target fields with different layouts, reducing the number of charging robots, reducing costs, and improving the convenience and reliability of charging services.

[0042] Embodiment 3: An embodiment of the present invention provides a charging device, further comprising: Charging module: receives the charging request from the target vehicle, locates the target position, and plans the optimal travel path and backup path of the charging robot based on the relevant track data; The first maintenance module is to obtain the track monitoring data from the track system, perform data analysis based on the relevant data to determine the track status, and maintain the optimal travel path and the backup path according to the track status; Fire module: Controls the charging robot to move to the target location and connect to the target vehicle according to the maintenance results. During the charging process, it monitors the vehicle data and environmental data, determines whether there is a fire, and handles the fire. The second maintenance module: generates a post-disaster maintenance plan according to the fire handling results, and maintains the environment and the charging robot according to the post-disaster maintenance plan.

[0043] In this embodiment, the charging request information is a signal sent by the target vehicle requesting charging, which includes the basic information of the vehicle and the charging requirements. For example, an electric car sends a message of "requesting charging, power remaining 20%" through a mobile phone App or a vehicle system.

[0044] In this embodiment, the target location is the specific parking space where the target vehicle is currently parked, for example, "parking space A01" in the target field.

[0045] In this embodiment, the optimal travel path is the shortest or most economical path determined after considering various factors. For example, the charging robot-001 goes from track 2 → track 3 → track 5 to reach the A01 parking space.

[0046] In this embodiment, the backup path is an alternative path used when the optimal path is unavailable, for example, the charging robot-001 goes from track 2 → track 4 → track 6 to the A01 parking space (when track 3 is unavailable).

[0047] In this embodiment, the system parses the vehicle charging request, determines the target location and charging equipment status, combines the track usage status, topology structure and charging robot position, performs dual path screening, generates optimal and backup paths, and guides the charging robot to efficiently complete the charging task.

[0048] In this embodiment, the track monitoring data refers to real-time or historical data related to the operating status of the track system collected by sensors, cameras or other monitoring equipment; In this embodiment, the track status is the current operating status of the track segment, including whether it is available, whether there is a fault, whether maintenance is required, etc. For example, state 1: Track 1: available, no fault, state 2: Track 2: unavailable, there is a fault, state 3: Track 3: available, but maintenance is required.

[0049] In this embodiment, the relevant data includes the current usage status data of all tracks, the topological structure data of all tracks, and the current position and status of the charging robot.

[0050] In this embodiment, system requirements are determined based on historical risks, track rules are formulated and data analysis algorithms are selected; track monitoring data and related data are analyzed to derive the track status; maintenance plans for optimal paths and backup paths are formulated based on the track status, and a charging robot is used to perform maintenance.

[0051] In this embodiment, the vehicle data is the vehicle-related data recorded during the charging process, such as battery status, charging current, charging time, etc. For example, charging current: 50A; charging time: 30 minutes; battery temperature change: from 35°C to 40°C.

[0052] In this embodiment, the environmental data is environmental information of the charging area, such as temperature, humidity, smoke concentration, etc., for example, ambient temperature: 25°C; humidity: 60%; smoke concentration: 0.01%.

[0053] In this embodiment, the system sends the target position and optimal path to the charging robot, controls its movement and completes the docking of the charging interface; monitors the vehicle battery status and environmental data through sensors, and identifies fires in combination with fire monitoring algorithms; if a fire occurs, generates an alarm signal and executes a fire extinguishing plan.

[0054] In this embodiment, the post-disaster maintenance plan is a comprehensive maintenance plan based on the post-disaster situation investigation and actual impact, including a charging robot maintenance plan and an environmental maintenance plan, which aims to restore the normal operation of the system and prevent similar incidents from happening again. For example, Plan 1: Repair Track 2 and replace damaged equipment, Plan 2: Perform a comprehensive overhaul of Charging Robot-001 and replace the motor, and Plan 3: Strengthen the deployment of the fire monitoring system.

[0055] In this embodiment, the system investigates the post-disaster situations of the environment, charging robots, and vehicles according to the fire handling results, and evaluates the actual impacts of the charging robot handling plan and the fire extinguishing handling plan; based on the impact results, an environment maintenance plan and a charging robot maintenance plan are generated.

[0056] The working principle and beneficial effects of the above technical solution are as follows: by receiving a charging request, locating the target position and planning the optimal path and alternative path of the charging robot; real-time monitoring the track status, dynamically maintaining the path; controlling the movement of the charging robot to connect with the vehicle, monitoring the charging process and the environment, discriminating and handling fires; generating a post-disaster maintenance plan according to the fire handling results, maintaining the environment and charging robots, improving the charging efficiency, enhancing the fire handling ability, reducing the fire risk in a high-density charging environment, and enhancing the safety and reliability of the system.

[0057] Embodiment 4: The embodiment of the present invention provides a charging device, and an electrical module, including: Target acquisition unit: The system receives the charging request information of the target vehicle, analyzes the charging request information, obtains the target vehicle identifier, and queries the target field management system according to the target vehicle identifier to determine the target position where the target vehicle is parked; Charging device determination unit: Obtain the coordinate information of the target position, mark the position of the target position on the target field map, and confirm the charging device situation of the target position; Data acquisition unit: Obtain the relevant data of the track from the track status monitoring system, and the relevant data includes the usage status data of all current tracks, the topological structure data of all tracks, and the current position and status of the charging robot; Path calculation unit: Perform the first path screening according to the usage status data, topological structure data, and charging device situation of the target position, and perform the second path screening based on the first path screening result and the current position and status of the charging robot to obtain the optimal travel path and alternative path.

[0058] In this embodiment, the analysis is that the system processes the charging request information and extracts key data. For example, the vehicle number "EV-001" and the charging requirement "fast charging" are extracted from the charging request information.

[0059] In this embodiment, the target vehicle identifier is the unique identification information of the target vehicle for positioning the vehicle. For example, the vehicle number "EV-001" or the license plate number "Yue B12345".

[0060] In this embodiment, the target field management system is a system for managing information such as the parking positions of vehicles and the status of parking spaces in the target field. For example, a database records the usage situations of all target positions, such as "Parking space A01: Occupied, EV-001".

[0061] In this embodiment, the coordinate information is the specific position coordinates of the target position in the target site map, for example, the coordinates of the A01 parking space are (X: 10, Y: 20).

[0062] In this embodiment, the charging equipment status is the status of the charging equipment at the target location (such as idle, occupied or faulty). For example, the status of the charging pile at the A01 parking space is "occupied".

[0063] In this embodiment, the current usage status data of all tracks is the real-time occupied or idle status of each track in the track system, for example, track 1: occupied (charging robot-001 is in use); track 2: idle.

[0064] In this embodiment, the topological structure data is the layout and connection relationship of the track system, describing the paths and nodes between the tracks, for example, track 1 connects track 2 and track 3, and track 2 connects track 4.

[0065] In this embodiment, the current position and status of the charging robot are the real-time position and operating status (such as idle, charging or moving) of the charging robot in the track system. For example, the current position of the charging robot-001 is track 2, and the status is "idle".

[0066] In this embodiment, the first path screening is to preliminarily screen out feasible paths based on the track usage status and topological structure. For example, from the current position of the charging robot-001 to the A01 parking space, track 2→track 4→track 5 are screened out.

[0067] In this embodiment, the second path screening is to obtain the minimum value and the second minimum value according to the objective function of the first path screening result.

[0068] In this embodiment, the comprehensive cost of each path is calculated by constructing an objective function with the lowest comprehensive cost and combining weight coefficients such as the travel time, energy consumption and historical safety score of the track segment; the path with the smallest objective function value is selected as the optimal path, and the second smallest one is selected as the backup path.

[0069] In this embodiment, according to the charging request information of the target vehicle, the charging robot is controlled to connect the charging gun of the charging pile corresponding to the target position to the target vehicle, and then, the charging robot is controlled to connect the charging gun of the charging pile corresponding to the target position to the target vehicle.

[0070] The working principle and beneficial effects of the above technical solution are: the system analyzes the vehicle charging request, determines the target location and charging equipment status, combines the track usage status, topology structure and charging robot position, performs dual path screening, generates optimal and backup paths, and guides the charging robot to complete the charging task efficiently, thereby improving the flexibility and response speed of the charging system.

[0071] Embodiment 5: An embodiment of the present invention provides a charging device, a path calculation unit, including: ,in, The objective function represents the first path screening result with the lowest comprehensive cost; P represents the first path screening result; represents the weight function coefficient of the track segment e in the first path screening result; represents the weight function of the track segment e in the first path screening result; represents the travel time function of the track segment e in the first path screening result; represents the travel time function coefficient of the track segment e in the first path screening result; represents the energy consumption function coefficient of track segment e in the first path screening result; represents the energy consumption function of track segment e in the first path screening result; represents the historical safety score function coefficient of track segment e in the first path screening result; represents the historical safety score function of track segment e in the first path screening result; represents the weight coefficient of the i-th historical risk factor; represents the score of the i-th historical risk factor of track segment e in the first path screening result; n represents the total number of historical risk factors; The second screening subunit selects the first path screening result with the smallest objective function value as the optimal path, and the second smallest first path screening result as the backup path.

[0072] In this embodiment, historical risk factors refer to various potential risks in the rail system that may affect the safe operation or path efficiency of the charging robot based on historical data records, including track failure frequency, equipment aging, environmental risks, collision accident records, maintenance records, usage frequency, etc.

[0073] In this embodiment, the energy consumption function is a mathematical model used to quantify the energy required by the charging robot when operating on a specific track segment. Based on the physical characteristics of the track segment, the operating parameters of the charging robot and environmental factors, the energy consumed by the charging robot when traveling on the track segment is calculated.

[0074] The working principle and beneficial effects of the above technical solution are: by constructing an objective function with the lowest comprehensive cost, combining weight coefficients such as the travel time, energy consumption and historical safety score of the track segment, the comprehensive cost of each path is calculated; the path with the smallest objective function value is selected as the optimal path, and the second smallest one is selected as the backup path, to achieve intelligent path planning based on multi-factor trade-offs, enhance system safety, and provide a more reliable solution for high-density charging environments.

[0075] Embodiment 6: An embodiment of the present invention provides a charging device, a first maintenance module, including: A selection unit: determining system requirements according to the historical risk factors, formulating track rules using the system requirements, selecting a data analysis algorithm based on the track rules, performing data analysis on track monitoring data and related data according to the data analysis algorithm, and obtaining data analysis results; Maintenance plan unit: determine the track status of each track segment on the optimal travel path and the backup path according to the data analysis results, formulate a maintenance plan for the optimal travel path and the backup path based on the track status, and use a charging robot to execute the maintenance plan.

[0076] In this embodiment, the system requirements are basic requirements for system operation and maintenance determined based on historical risk factors (such as track failure frequency, equipment aging, etc.). For example, requirement 1: areas with high track failure frequency need to increase sensor density, and requirement 2: track sections with severe equipment aging need regular maintenance.

[0077] In this embodiment, the track rules are rules or constraints for track operation and maintenance formulated based on system requirements, which are used to guide the selection of data analysis algorithms and path planning. For example, Rule 1: Track sections with failure frequency exceeding a threshold (such as 3 times per month) are prohibited from use; Rule 2: Track sections with equipment aging exceeding 80% are given priority for maintenance; Rule 3: The speed of the charging robot on high-risk track sections shall not exceed 1 m / s.

[0078] In this embodiment, the data analysis algorithm is a mathematical or statistical method used to process track monitoring data and related data to extract useful information and support decision-making, such as Algorithm 1: cluster analysis, used to identify high-incidence areas of track failures, Algorithm 2: regression analysis, used to predict the aging trend of track equipment, Algorithm 3: path optimization algorithm (such as Dijkstra algorithm), used to calculate the optimal travel path.

[0079] In this embodiment, data analysis is to process track monitoring data and related data using data analysis algorithms to discover patterns, identify problems or support decision-making, such as counting the frequency of track failures and identifying high-risk track sections.

[0080] In this embodiment, the data analysis result is a conclusion or output obtained through data analysis, which is used to guide subsequent maintenance and path planning. For example, track 3 has the highest failure frequency and requires priority maintenance. The aging degree of equipment on track 5 has reached 90% and needs to be replaced immediately.

[0081] In this embodiment, the maintenance plan is a specific maintenance plan formulated based on the track status, including maintenance content, time and execution method. For example, Plan 1: Repair the fault of Track 2, which is expected to take 2 hours; Plan 2: Replace the equipment on Track 5, which is expected to take 1 day.

[0082] The working principle and beneficial effects of the above technical solution are: determine system requirements based on historical risks, formulate track rules and select data analysis algorithms; analyze track monitoring data and related data to obtain the track status; formulate maintenance plans for optimal paths and backup paths based on the track status, and use charging robots to perform maintenance, so as to realize dynamic management and maintenance of the track status, improve the reliability and safety of the track system, and improve the system operation efficiency.

[0083] Embodiment 7: An embodiment of the present invention provides a charging device, a fire module, including: Charging unit: sends the location information and optimal path of the target location to the charging robot, controls the charging robot to move to the target location along the optimal path, sends a confirmation signal when the charging robot reaches the target location, uses the visual system of the charging robot to locate the charging interface of the target vehicle, controls the mechanical arm of the charging robot to dock with the charging interface of the target vehicle, and sends a connection success signal to the control system; Fire situation unit: uses sensors to monitor the battery status of the target vehicle and records the vehicle data during the charging process, uses environmental sensors to monitor the environmental data of the charging area and records the environmental data, and combines the vehicle data with the environmental data to determine the fire situation using a fire monitoring algorithm; Plan generation unit: If a fire is determined to have occurred, the charging robot generates a fire alarm signal based on the fire situation and transmits it to the system. The system then sends the charging robot a processing plan and a fire extinguishing plan to handle the fire.

[0084] In this embodiment, the vision system is a camera or image processing system on the charging robot, which is used to identify and locate the charging port of the target vehicle. For example, the charging robot scans the rear of the vehicle through the camera, identifies the location of the charging port, and guides the robotic arm to dock.

[0085] In this embodiment, the confirmation signal is a signal sent by the charging robot after it reaches the target position, which is used to notify the system that it is ready. For example, after the charging robot reaches the A01 parking space, it sends an "arrived" signal to the control system.

[0086] In this embodiment, the battery status is the real-time status information of the battery of the target vehicle, including power, temperature, voltage, etc., for example, battery power: 20%; battery temperature: 35°C; battery voltage: 400V.

[0087] In this embodiment, the fire monitoring algorithm is an algorithm used to analyze vehicle data and environmental data to determine whether there is a fire risk. For example, if the algorithm detects that the battery temperature exceeds 60°C and the smoke concentration exceeds 0.1%, it is determined to be a fire risk.

[0088] In this embodiment, the fire situation is the possibility of fire or the actual fire status obtained according to the fire monitoring algorithm, for example, situation 1: the battery temperature is too high and there is a fire risk; situation 2: the smoke concentration exceeds the standard and a fire is confirmed.

[0089] In this embodiment, the fire alarm signal is an alarm signal generated by the charging robot or system after detecting a fire, which is used to notify the system or relevant personnel. For example, the charging robot sends a "fire alarm: A01 parking space, battery temperature is too high" signal to the control system.

[0090] In this embodiment, the charging robot processing plan is the charging robot response measures formulated by the system according to the fire situation, such as evacuation, avoidance or participation in fire fighting. For example, the charging robot immediately evacuates the fire area, the charging robot avoids to a safe area, and waits for further instructions.

[0091] In this embodiment, the fire extinguishing solution is a fire extinguishing measure formulated by the system according to the fire situation, including the use of fire extinguishing equipment and fire extinguishing path planning. For example, Solution 1: Start the fire extinguishing robot and use a dry powder fire extinguisher to put out the fire. Solution 2: The charging robot carries the fire extinguishing device and goes to the fire area along the optimal path to extinguish the fire.

[0092] The working principle and beneficial effects of the above technical solution are: the system sends the target position and optimal path to the charging robot, controls its movement and completes the docking of the charging interface; monitors the vehicle battery status and environmental data through sensors, and identifies fires in combination with fire monitoring algorithms; if a fire occurs, generates an alarm signal and executes a fire extinguishing plan, realizing intelligent charging and fire emergency handling, reducing the risk of fire, and enhancing system reliability and emergency response capabilities.

[0093] Embodiment 8: An embodiment of the present invention provides a charging device, a scheme generating unit, including: Situation determination subunit: Combine vehicle data with environmental data to determine vehicle fire conditions, charging robot fire conditions, and environmental object fire conditions; Signal generation subunit: generates a first fire alarm signal according to the fire situation of the vehicle, generates a second fire alarm signal according to the fire situation of the charging robot, and generates a third fire alarm signal according to the fire situation of the environmental object; Processing plan subunit: The system performs signal analysis on the first fire alarm signal, the second fire alarm signal and the third fire alarm signal, and derives a charging robot processing plan and a fire extinguishing processing plan based on the signal analysis results.

[0094] In this embodiment, the vehicle fire situation is a fire situation caused by battery overheating or other reasons during the charging process of the target vehicle. For example, if the vehicle battery temperature exceeds 80°C and is accompanied by smoke, it is determined to be a vehicle fire.

[0095] In this embodiment, the charging robot fire situation is a fire situation caused by an electrical failure or other reasons of the charging robot. For example, the motor of the charging robot overheats, the temperature exceeds 100°C, and there are sparks, which determines that the charging robot is on fire.

[0096] In this embodiment, the environmental object fire situation is a fire situation caused by environmental objects around the charging area (such as charging piles, cables or other equipment). For example, the charging pile cable short-circuits, causing sparks and igniting surrounding debris, which is determined to be an environmental object fire.

[0097] In this embodiment, the first fire alarm signal is an alarm signal generated after the system detects that the vehicle is on fire, for example, the signal content is: "Vehicle fire: A01 parking space, battery temperature is too high, smoke concentration exceeds the standard".

[0098] In this embodiment, the second fire alarm signal is an alarm signal generated by the system after detecting that the charging robot is on fire. For example, the signal content is: "Charging robot on fire: Charging robot-001, the motor temperature is too high, and sparks are detected."

[0099] In this embodiment, the third fire alarm signal is an alarm signal generated by the system after detecting that an environmental object is on fire, for example, the signal content is: "Environmental object on fire: the charging pile cable near the A01 parking space is short-circuited, and an open fire is detected."

[0100] In this embodiment, signal analysis is the system processing and evaluating the fire alarm signal, determining the type, location and severity of the fire, and generating a response plan. For example, Analysis 1: Based on the first fire alarm signal, it is determined that the vehicle fire location is A01 parking space, and the fire level is "high". Analysis 2: Based on the second fire alarm signal, it is determined that the charging robot fire location is track 2, and the fire level is "medium". Analysis 3: Based on the third fire alarm signal, it is determined that the environmental object fire location is near A01 parking space, and the fire level is "low".

[0101] In this embodiment, the system analyzes the fire alarm signal, evaluates the priority and determines the complex fire situation; plans the evacuation path or fire extinguishing path of the charging robot, and determines the charging robot processing plan; selects the fire extinguishing method according to the fire priority and type, deploys the fire extinguishing equipment and plans the moving path, and generates the fire extinguishing processing plan.

[0102] The working principle and beneficial effects of the above technical solution are: combining vehicle data and environmental data, analyzing the fire conditions of the vehicle, charging robot and environmental objects, and generating corresponding fire alarm signals; the system analyzes the alarm signals, formulates charging robot processing plans and fire extinguishing processing plans, realizes accurate fire identification and emergency processing, improves fire identification accuracy, quickly generates emergency plans, enhances system safety and response efficiency, and reduces fire losses.

[0103] Embodiment 9: An embodiment of the present invention provides a charging device, a processing scheme subunit, including: Priority block: Determine the fire situation based on the signal analysis results, evaluate the priority of the alarm signal, and at the same time, combine multiple alarm signals to determine whether there is a complex fire situation. If so, adjust the priority of the alarm signal; Charging robot processing solution block: If the charging robot is affected by the fire, the evacuation path of the charging robot is planned according to the fire type and location. If the charging robot is not affected by the fire, the optimal fire extinguishing path for the charging robot to participate in the fire extinguishing task is planned, and the charging robot processing solution is determined by combining the evacuation path and the optimal fire extinguishing path; Fire extinguishing solution block: Determine the fire extinguishing method according to the priority and the fire situation, determine the deployment location and use order of the fire extinguishing equipment, plan the movement path of the fire extinguishing equipment, and then come up with a fire extinguishing solution.

[0104] In this embodiment, the fire situation is comprehensive information such as the type, location, scale and severity of the fire. For example, situation 1: the battery of a vehicle in parking space A01 caught fire, and the scale of the fire was small. Situation 2: the charging robot on track 2 caught fire, and the scale of the fire was medium. Situation 3: the charging pile near parking space A01 caught fire, and the scale of the fire was large.

[0105] In this embodiment, the priority is to sort the alarm signals according to the severity of the fire and the scope of impact, and determine the order of processing. For example, priority 1: charging robot fire (directly affecting system operation), priority 2: vehicle battery fire (may spread to other vehicles), priority 3: environmental fire (smaller impact).

[0106] In this embodiment, a composite fire situation is a situation where multiple fires occur simultaneously or affect each other, for example, a vehicle battery fire causes a charging pile fire, and at the same time a charging robot catches fire due to high temperature.

[0107] In this embodiment, being affected by the fire refers to whether the charging robot is located in the fire area or is threatened by the fire. For example, the charging robot-001 is located on track 2, and a fire occurs in track 2, and the charging robot-001 is affected by the fire.

[0108] In this embodiment, the fire type and location are the specific type of fire (such as battery fire, electrical fire) and the location where the fire occurred, for example, type 1: battery fire; location: parking space A01, type 2: electrical fire; location: track 2.

[0109] In this embodiment, the evacuation path is the path for the charging robot to safely evacuate from the fire area. For example, the charging robot-001 evacuates from track 2 → track 3 → track 5 to a safe area.

[0110] In this embodiment, the optimal fire-fighting path is the optimal path for the charging robot or the fire-fighting equipment to go to the fire area. For example, the charging robot-002 goes from track 4 → track 6 → track 1 to the A01 parking space to extinguish the fire.

[0111] In this embodiment, the fire extinguishing method is a fire extinguishing method selected according to the fire type, such as dry powder fire extinguishing, gas fire extinguishing or water-based fire extinguishing. For example, method 1: using a dry powder fire extinguisher to extinguish a battery fire, method 2: using a carbon dioxide fire extinguisher to extinguish an electrical fire.

[0112] In this embodiment, the deployment position and usage order of the fire extinguishing equipment are the specific placement position and usage priority of the fire extinguishing equipment. For example, the deployment position: the fire extinguishing robot is placed near track 1, and the usage order: the fire extinguishing robot is used first, followed by the fire extinguishing device carried by the charging robot.

[0113] In this embodiment, the moving path is the moving route of the fire-fighting equipment or the charging robot to the fire area, for example, the fire-fighting robot goes from track 1 → track 3 → track 5 to the A01 parking space.

[0114] The working principle and beneficial effects of the above technical solution are: the system analyzes fire alarm signals, evaluates priorities and determines complex fire situations; plans the evacuation path or fire extinguishing path of the charging robot, and determines the charging robot processing plan; selects the fire extinguishing method according to the fire priority and type, deploys fire extinguishing equipment and plans the moving path, generates a fire extinguishing processing plan, realizes accurate response and processing of fires, improves fire response efficiency, optimizes the scheduling of charging robots and fire extinguishing equipment, reduces fire losses, and enhances system safety and emergency capabilities.

[0115] Embodiment 10: An embodiment of the present invention provides a charging device, a second maintenance module, including: Impact determination unit: Conduct post-disaster investigations on the environment, charging robots, and vehicles involved based on the fire handling results, and determine the actual impact of the charging robot handling plan and the fire extinguishing plan on the entire target site based on the investigation results; Post-disaster maintenance unit: generates a post-disaster maintenance plan based on the actual impact, and the maintenance plan includes an environmental maintenance plan and a charging robot maintenance plan.

[0116] In this embodiment, the post-disaster investigation is to conduct a comprehensive inspection of the environment, charging robots and vehicles after the fire is handled, and evaluate the damage and impact caused by the fire. For example, Investigation 1: The charging pile near the A01 parking space is damaged, and the track 2 is partially burned. Investigation 2: The charging robot-001 was damaged due to the fire and the motor could not work normally. Investigation 3: The battery casing of the target vehicle was damaged, but the internal structure was not affected.

[0117] In this embodiment, the actual impact is the actual consequences of the fire handling plan on the target field environment, charging robots and vehicles, including the degree of damage, repair costs and the impact on system operation. For example, Impact 1: Track 2 needs to be repaired, which is expected to take 2 days and affect the operation of the charging robot. Impact 2: Charging Robot-001 needs to replace the motor, with an estimated cost of 5,000 yuan.

[0118] In this embodiment, the environmental maintenance plan is a maintenance plan for the target field environment after the fire, including equipment repair, cleaning and safety inspection. For example, Plan 1: Replace the charging pile near the A01 parking space, Plan 2: Clean up the fire residues and repair the burned tracks, Plan 3: Check and reinforce all charging equipment to prevent similar incidents from happening.

[0119] In this embodiment, the charging robot maintenance plan is a maintenance plan for the charging robot after a fire, including inspection, replacement of parts and performance testing. For example, Plan 1: Perform a comprehensive inspection of Charging Robot-001 and replace the damaged motor. Plan 2: Perform a performance test on Charging Robot-002 to ensure its normal operation. Plan 3: Strengthen the fire prevention design of the charging robot, such as adding thermal insulation materials.

[0120] The working principle and beneficial effects of the above technical solution are: the system investigates the post-disaster conditions of the environment, charging robots and vehicles according to the fire handling results, and evaluates the actual impact of the charging robot handling plan and the fire extinguishing plan; generates an environmental maintenance plan and a charging robot maintenance plan based on the impact results, realizes post-disaster recovery and system maintenance, improves post-disaster recovery efficiency, reduces the impact of fire on the target field, ensures the safety of the environment and equipment, and enhances the sustainability of the system.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A charging device, characterized in that: include: Robot module: The charging robot uses a connection device to move on the track system and uses an auxiliary charging device to charge the target vehicle, wherein the connection device includes a connection part and an extension part between the charging robot and the track system, the auxiliary charging device includes a first access, a second access and a mechanical arm, the charging gun is provided with a second access corresponding to the first access, the mechanical arm realizes the grasping of the charging gun based on the connection between the first access and the second access, the connection mode between the first access and the second access is a plug-in mode, the extension part is an extension track, the mechanical arm uses the configured visual sensor to determine the position of the charging gun, grasps the charging gun and connects the charging gun to the target vehicle, and the charging gun is connected to the charging piles around the target position, wherein the robot module also includes a charging module, a first maintenance module, a fire module and a second maintenance module; Track system module: plans the track system according to the target field.

2. A charging device according to claim 1, It is characterized in that Wherein, the track system includes: a first direction track, a second direction track, a third direction track and a co-carrying track; The second direction track of the track system is located between different first direction tracks. The first direction track and the second direction track are located in the same plane to form a track layer. The third direction track connects at least two track layers. The co-carrying track includes a track layer moving track and a third direction moving track.

3. A charging device according to claim 1, characterized in that: Charging module: receives the charging request from the target vehicle, locates the target position, and plans the optimal travel path and backup path of the charging robot based on the relevant track data; The first maintenance module is to obtain the track monitoring data from the track system, perform data analysis based on the relevant data to determine the track status, and maintain the optimal travel path and the backup path according to the track status; Fire module: Controls the charging robot to move to the target location and connect to the target vehicle according to the maintenance results. During the charging process, it monitors the vehicle data and environmental data, determines whether there is a fire, and handles the fire. The second maintenance module: generates a post-disaster maintenance plan according to the fire handling results, and maintains the environment and the charging robot according to the post-disaster maintenance plan.

4. A charging device according to claim 3, characterized in that: Charging module, including: Target acquisition unit: The system receives the charging request information of the target vehicle, parses the charging request information, obtains the target vehicle identification, queries the target field management system according to the target vehicle identification, and determines the target location where the target vehicle is parked; Charging equipment determination unit: obtains coordinate information of the target location, marks the location of the target location in the target site map, and confirms the status of the charging equipment at the target location; Data acquisition unit: obtains track-related data from the track status monitoring system, wherein the relevant data includes the current usage status data of all tracks, the topological structure data of all tracks, and the current position and status of the charging robot; Path calculation unit: Perform a first path screening according to the usage status data, topological structure data, and the charging equipment status at the target location, and perform a second path screening based on the first path screening result and the current location and status of the charging robot to obtain the optimal travel path and backup path.

5. A charging device according to claim 4, characterized in that: A path calculation unit, comprising: ,in, The objective function represents the first path screening result with the lowest comprehensive cost; P represents the first path screening result; represents the weight function coefficient of the track segment e in the first path screening result; represents the weight function of the track segment e in the first path screening result; represents the travel time function of the track segment e in the first path screening result; represents the travel time function coefficient of the track segment e in the first path screening result; represents the energy consumption function coefficient of track segment e in the first path screening result; represents the energy consumption function of track segment e in the first path screening result; represents the historical safety score function coefficient of track segment e in the first path screening result; represents the historical safety score function of track segment e in the first path screening result; represents the weight coefficient of the i-th historical risk factor; represents the score of the i-th historical risk factor of track segment e in the first path screening result; n represents the total number of historical risk factors; The second screening subunit: selects the first path screening result with the smallest objective function value as the optimal path, and the second smallest first path screening result as the backup path.

6. A charging device according to claim 5, characterized in that: The first maintenance module includes: A selection unit: determining system requirements according to the historical risk factors, formulating track rules using the system requirements, selecting a data analysis algorithm based on the track rules, performing data analysis on track monitoring data and related data according to the data analysis algorithm, and obtaining data analysis results; Maintenance plan unit: determine the track status of each track segment on the optimal travel path and the backup path according to the data analysis results, formulate a maintenance plan for the optimal travel path and the backup path based on the track status, and use a charging robot to execute the maintenance plan.

7. A charging device according to claim 3, characterized in that: Fire module, including: Charging unit: sends the location information and optimal path of the target location to the charging robot, controls the charging robot to move to the target location along the optimal path, sends a confirmation signal when the charging robot reaches the target location, uses the visual system of the charging robot to locate the charging interface of the target vehicle, controls the mechanical arm of the charging robot to dock with the charging interface of the target vehicle, and sends a connection success signal to the control system; Fire situation unit: uses sensors to monitor the battery status of the target vehicle and records the vehicle data during the charging process, uses environmental sensors to monitor the environmental data of the charging area and records the environmental data, and combines the vehicle data with the environmental data to determine the fire situation using a fire monitoring algorithm; Plan generation unit: If a fire is determined to have occurred, the charging robot generates a fire alarm signal based on the fire situation and transmits it to the system. The system then sends the charging robot a processing plan and a fire extinguishing plan to handle the fire.

8. A charging device according to claim 7, characterized in that: Solution generation unit, including: Situation determination subunit: Combine vehicle data with environmental data to determine vehicle fire conditions, charging robot fire conditions, and environmental object fire conditions; Signal generation subunit: generates a first fire alarm signal according to the fire situation of the vehicle, generates a second fire alarm signal according to the fire situation of the charging robot, and generates a third fire alarm signal according to the fire situation of the environmental object; Processing plan subunit: The system performs signal analysis on the first fire alarm signal, the second fire alarm signal and the third fire alarm signal, and derives a charging robot processing plan and a fire extinguishing processing plan based on the signal analysis results.

9. A charging device according to claim 8, characterized in that: Treatment plan subunit, including: Priority block: Determine the fire situation based on the signal analysis results, evaluate the priority of the alarm signal, and at the same time, combine multiple alarm signals to determine whether there is a complex fire situation. If so, adjust the priority of the alarm signal; Charging robot processing solution block: If the charging robot is affected by the fire, the evacuation path of the charging robot is planned according to the fire type and location. If the charging robot is not affected by the fire, the optimal fire extinguishing path for the charging robot to participate in the fire extinguishing task is planned, and the charging robot processing solution is determined by combining the evacuation path and the optimal fire extinguishing path; Fire extinguishing solution block: Determine the fire extinguishing method according to the priority and the fire situation, determine the deployment location and use order of the fire extinguishing equipment, plan the movement path of the fire extinguishing equipment, and then come up with a fire extinguishing solution.

10. A charging device according to claim 3, characterized in that: The second maintenance module includes: Impact determination unit: Conduct post-disaster investigations on the environment, charging robots, and vehicles involved based on the fire handling results, and determine the actual impact of the charging robot handling plan and the fire extinguishing plan on the entire target site based on the investigation results; Post-disaster maintenance unit: generates a post-disaster maintenance plan based on the actual impact, and the maintenance plan includes an environmental maintenance plan and a charging robot maintenance plan.

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