A charging device

Abstract

The present invention provides a charging device, which belongs to the field of charging technology. The system includes a robot module (including a charging module, a first maintenance module, a fire module and a second maintenance module), a track system module, and moves in the track system through a connecting device, uses a visual sensor to locate the charging gun, and uses a mechanical arm to grab the charging gun and connect it to the target vehicle. The robot module includes charging, maintenance and fire handling functions. The system plans the optimal path according to the vehicle charging request, monitors the track status in real time and adjusts the path, monitors vehicle and environmental data during the charging process, handles the fire in a timely manner when it is discovered, and performs environmental and robot maintenance according to the post-disaster maintenance plan, adapting to the needs of complex sites and realizing unmanned charging.

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 for processing.

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

[0004] The charging device provided by this invention uses a charging robot to move along a track system above a target site. Using a robotic arm and visual sensors, it grabs a charging gun from a charging pile and connects it to a target vehicle for charging. The flexible track system design can cover multiple target locations, improving charging efficiency at the target site, saving labor costs, enabling automated charging, improving charging safety and convenience, optimizing target site space utilization, and enhancing the user experience.

[0005] The present invention provides a charging device, comprising:

[0006] 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. The connection device includes a connection part and an expansion part between the charging robot and the track system. The auxiliary charging device includes a first access, a second access and a robotic arm. The charging gun is provided with a second access corresponding to the first access. The robotic arm grasps the charging gun based on the connection between the first access and the second access. The connection method between the first access and the second access is plug-in. The expansion part is an expansion track. The robotic 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. The charging gun is connected to the charging piles around the target position. The robot module also includes a charging module, a first maintenance module, a fire module and a second maintenance module.

[0007] Track system module: plans the track system according to the target field.

[0008] 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.

[0009] The present invention provides a charging device.

[0010] Charging module: Receives charging requests from target vehicles, locates the target position, and plans the optimal and backup paths for the charging robot based on track data.

[0011] The first maintenance module acquires track monitoring data from the track system, performs data analysis based on the relevant data to determine the track status, and maintains the optimal travel path and backup path based on the track status;

[0012] Fire module: Controls the charging robot to move to the target location and connect to the target vehicle based on the maintenance results. During the charging process, it monitors vehicle and environmental data to determine whether there is a fire and handles the fire accordingly.

[0013] Second maintenance module: Generates a post-disaster maintenance plan based on the fire handling results, and maintains the environment and the charging robot according to the post-disaster maintenance plan.

[0014] The present invention provides a charging device, a charging module, comprising:

[0015] 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 based on the target vehicle identification, and determines the target parking location of the target vehicle;

[0016] Charging equipment determination unit: obtains the 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;

[0017] Data acquisition unit: acquires track-related data from the track status monitoring system, including 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;

[0018] Path calculation unit: Perform a first path screening based on the usage status data, topology 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.

[0019] The present invention provides a charging device, a path calculation unit, comprising:

[0020] ,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;

[0021] 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.

[0022] The present invention provides a charging device, a first maintenance module, comprising:

[0023] A selection unit: determining system requirements based on 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 the track monitoring data and related data according to the data analysis algorithm, and obtaining data analysis results;

[0024] Maintenance plan unit: determine the track status of each track segment on the optimal travel path and the backup path based on 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.

[0025] The present invention provides a charging device, a fire module, comprising:

[0026] Charging unit: Sends the target location information and optimal path 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 charging robot's vision system to locate the charging port of the target vehicle, controls the charging robot's mechanical arm to dock with the charging port of the target vehicle, and sends a connection success signal to the control system;

[0027] Fire situation unit: uses sensors to monitor the battery status of the target vehicle and records vehicle data during the charging process, uses environmental sensors to monitor environmental data in the charging area and records the environmental data, and combines the vehicle data and environmental data with a fire monitoring algorithm to determine the fire situation;

[0028] 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 issues a charging robot processing plan and a fire extinguishing plan to handle the fire.

[0029] The present invention provides a charging device and a scheme generating unit, comprising:

[0030] Situation determination subunit: Combines vehicle data with environmental data to determine the vehicle fire situation, charging robot fire situation, and environmental object fire situation;

[0031] Signal generation subunit: generates a first fire alarm signal according to the vehicle fire situation, generates a second fire alarm signal according to the charging robot fire situation, and generates a third fire alarm signal according to the environmental object fire situation;

[0032] 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.

[0033] The present invention provides a charging device and a processing scheme subunit, comprising:

[0034] Priority block: Determines the fire situation based on the signal analysis results, evaluates the priority of the alarm signal, and combines multiple alarm signals to determine whether a complex fire situation exists. If so, adjusts the priority of the alarm signal;

[0035] Charging robot processing plan 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. The evacuation path and the optimal fire extinguishing path are combined to determine the charging robot processing plan;

[0036] Fire extinguishing solution block: Determine the fire extinguishing method based on 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.

[0037] The present invention provides a charging device, a second maintenance module, comprising:

[0038] Impact determination unit: Conduct post-disaster investigations on the environment, charging robots, and vehicles involved based on the fire handling results. Based on the investigation results, determine the actual impact of the charging robot handling plan and the fire extinguishing plan on the entire target site.

[0039] 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.

[0040] Compared with existing technologies, this application has the following advantages: the charging robot moves along a track system above the target field, using a robotic arm and visual sensors to grab the charging gun from the charging pile and connect it to the target vehicle for charging. The track system is flexible in design and can cover multiple target locations, improving charging efficiency at the target field, saving labor costs, achieving automated charging, improving charging safety and convenience, optimizing target field space utilization, and enhancing user experience.

[0041] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be 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.

[0042] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] 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:

[0044] Figure 1 This is a schematic structural diagram of a charging device provided by an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of a usage scenario of the charging device provided by an embodiment of the present invention, in which an adapter is used and a charging robot inserts a charging gun into the adapter;

[0046] 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;

[0047] Figure 4 is a schematic diagram of a robotic arm of a charging device provided by an embodiment of the present invention in a retracted state;

[0048] Figure 5 is a partially enlarged schematic diagram of a charging device provided by an embodiment of the present invention;

[0049] 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;

[0050] Figure 7 is a schematic diagram of the track layout of the charging equipment provided by an embodiment of the present invention;

[0051] Figure 8 is a schematic diagram of a charging device arranged in a planar target field provided by an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of another usage 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;

[0053] Figure 10 A partial schematic diagram of a track system according to the present invention providing a rotating track assembly;

[0054] Figure 11 It is a structural schematic diagram of the rotating track assembly of the present invention.

[0055] In the figure: 1. Target position; 2. Vehicle; 3. Charging pile; 301. Charging head; 302. Quick-change fixture at the charging gun end; 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. Vision sensor; 604. Extension track; 7. Adapter. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described below with reference to 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.

[0057] Example 1:

[0058] An embodiment of the present invention provides a charging device, such as Figure 1 Shown, including:

[0059] 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. The connection device includes a connection part and an expansion part between the charging robot and the track system. The auxiliary charging device includes a first access, a second access and a robotic arm. The charging gun is provided with a second access corresponding to the first access. The robotic arm grasps the charging gun based on the connection between the first access and the second access. The connection method between the first access and the second access is plug-in. The expansion part is an expansion track. The robotic 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. The charging gun is connected to the charging piles around the target position. The robot module also includes a charging module, a first maintenance module, a fire module and a second maintenance module.

[0060] Track system module: plans the track system according to the target field.

[0061] In this embodiment, the target field includes any place where charging equipment can be placed.

[0062] 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 within the track system, and the connecting device is provided with an extended track. The robotic arm is suitable for moving along the extended track.

[0063] In this embodiment, Figure 2As 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 supply power to 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. The charging gun end quick-change clamp 302 is fixed on the charging head 301 and is mainly used to connect with the robot arm end quick-change clamp 602 installed on the robot arm 6 (see Figure 3 ) docking, thereby realizing 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 needs to charge, he can open the charging interface cover of the vehicle 2 and insert the adapter 7 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 its identification by the charging robot. There can be an angle between the axes 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 horizontal. 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, reducing the demand for horizontal operating space, and thereby reducing the demand for the horizontal area of ​​the target position.

[0064] 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.

[0065] In this embodiment, Figure 3As shown, the quick-change fixture 602 on the manipulator end and the quick-change fixture 302 on the charging gun end serve as the first and second connections that cooperate with each other, and can be used to connect the manipulator 6 to the charging head 301, enabling the manipulator to grasp the charging gun in a more efficient and convenient manner. The quick-change fixture 602 on the manipulator end and the quick-change fixture 302 on the charging gun end can be connected in a plug-in manner, which helps reduce the structural complexity of the connection part.

[0066] In this embodiment, Figure 9 This is a schematic diagram based on another usage scenario of the charging device, such as Figure 9 As shown, in this embodiment, no adapter is used, and the robotic arm 6 directly inserts the charging head 301 into the charging port of the vehicle 2.

[0067] In this embodiment, 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 connecting 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 needs to be performed.

[0068] In this embodiment, the track system 4 and the charging robot can be mounted upright, sideways or hoisted. The track system and the charging robot can be mounted sideways or hoisted above the ground of the target field. There is no need to reserve a walking path for the charging equipment on the ground, thereby reducing the space occupied by the target field.

[0069] In this embodiment, the optimal principle is that at least two adjacent target locations share one charging pile.

[0070] In this embodiment, Figure 6 The upper part is the front view of the stereo target field. Figure 6 The lower part is a top view of the three-dimensional target field after being cut 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, such as 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.

[0071] 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.

[0072] In this embodiment, Figure 6 and Figure 7 As shown, the track system 4 further 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.

[0073] In this embodiment, 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 at an angle but with a vertical extension component). 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 enable the charging robot to move between different track layers. The third-directional track 405 is also included. The third-directional track 405 extends in the vertical direction (it can also extend at an angle but with a vertical extension component). 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 enable the charging robot to move between different track layers.

[0074] In this embodiment, the above-mentioned track system 4 can be applied to a stereo garage (including a multi-layer target location, a garage for vertically transporting vehicles between different layers), and can also be applied to a flat garage (a garage including only one layer of 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 requires 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 8The lower part is a top view of a multi-row flat garage), a multi-row flat garage only needs the first direction track 401, the second direction track 406, and the track layer moving track 403, and does not need the third direction track and the 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 be switched 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 other manners to enable the charging robot to switch between different track layers.

[0075] 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, as shown in FIG. Figure 5 As shown, the track system includes a track-layer movable track 403 and a third-direction movable track 404. The track-layer movable track 403 includes an interconnected track-layer movable track 403 / 01 and a movable trolley 403 / 02. The third-direction movable track 404 includes an interconnected, elevating third-direction movable track 404 / 01 and an elevating trolley 404 / 02. The track-layer movable track 403 / 01 is capable of aligning with the first-direction rail 401 to receive the RGV trolley 5 (i.e., the docking device for the charging robot). The elevating third-direction movable track 404 / 01 is capable of aligning with the second-direction rail 402. The movable trolley 403 / 02 slidably engages with the elevating third-direction movable track 404 / 01 and the second-direction rail 402, driving the track-layer movable track 403 / 01 and the RGV trolley 5 in the cross-track direction, enabling the RGV trolley 5 to switch between different first-direction rails. The liftable trolley 404 / 02 slides with the third directional track 405, which 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.

[0076] In this embodiment, Figure 3As 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 limiting wheel. The motion wheel mainly relies on friction to allow the RGV trolley 5 to run along the track, and the limiting 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 the 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 robotic arm control box, etc., which are used to control the movement of the RGV trolley and the robotic arm, and to supply power to them. 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 robotic arm assembly 6 to each parking space to meet the charging needs of each parking space. The RGV 5 utilizes a reducer + servo / stepper motor + gear train structure. The RGV 5 includes space underneath for a robotic arm, ensuring it won't interfere with vehicles or other equipment during operation. Sensors control its movement to another parking space. The charging robot also includes a control unit, motion unit, detection unit, and charging unit. In addition to the RGV 5 described above, other structures or forms of connecting devices can also be used to enable the charging robot to move along the track system.

[0077] In this embodiment, Figure 3 and Figure 4 As shown, the robotic arm 6 mainly consists of a six-axis robot 601, a quick-change fixture 602 at the end of the robotic arm, a visual sensor 603, and an extension track 604. The base of the six-axis robot 601 is fixed to the extension track 604, but it can also be fixed directly to the RGV trolley 5 without the extension track 604. The main function of the extension track 604 is to extend the working radius of the six-axis robot 601, and it can be set up as needed. The quick-change fixture 602 and the visual sensor 603 at the end of the robotic arm are fixed to 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 robotic arm and the quick-change fixture 302 at the charging gun end installed on the charging gun realize the plugging and unplugging of the charging gun. The visual sensor 603 accurately locates the position of the vehicle's charging port and the charging pile in three dimensions, guiding the movement of the six-axis robot 601 to realize the automatic plugging and unplugging of the charging gun.

[0078] In this embodiment, Figure 3 and Figure 4As shown, the six-axis robot 601 can switch between an extended and retracted state. During the movement of the charging robot, the six-axis robot 601 can remain retracted to avoid interference with the track system or vehicles. After moving to the charging position, the six-axis robot 601 can be deployed to facilitate the insertion and removal of the charging gun.

[0079] like Figure 10 、 Figure 11 As shown, the present invention further discloses a rotating track assembly 407, which is mainly used for reversing the RGV trolley 5;

[0080] The rotating track assembly 407 mainly consists of a rotating track 407-1, a slewing bearing 407-2, a pinion 407-3, a reduction gear 407-4, a motor 407-5, and a fixed plate 407-6;

[0081] 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 elevator car 404 as needed, or fixed to the tracks 401 and 402 in the parking lot;

[0082] The pinion 407 - 3 , the reduction gear 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 ;

[0083] When the RGV trolley 5 needs to change direction, it moves to the rotating track 407-1;

[0084] The two directional tracks on the same layer should be in the same plane. The charging robot can be reversed by rotating the track assembly 407 90 degrees.

[0085] The working principle and beneficial effects of the above technical solution are as follows: The charging robot moves along a track system above the target field, using a robotic arm and visual sensors to grab the charging gun from the charging pile and connect it to the target vehicle for charging. The track system is flexible and can cover multiple target locations, improving charging efficiency at the target field, saving labor costs, achieving automated charging, improving charging safety and convenience, optimizing target field space utilization, and enhancing the user experience.

[0086] Example 2:

[0087] An embodiment of the present invention provides a charging device in which a second-direction track of a track system is located between different first-direction tracks. The first-direction tracks and the second-direction tracks are located on 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 movable track and a third-direction movable track. The first-direction tracks, second-direction tracks, and third-direction tracks can be flexibly arranged according to site requirements, and any combination of the first-direction tracks, second-direction tracks, and third-direction tracks can be arranged.

[0088] The working principle and beneficial effects of the above technical solution are as follows: the charging equipment utilizes a multi-layer, multi-directional track system. The first and second directional tracks form a track layer on the same plane, enabling in-plane movement; the third directional track connects different track layers, enabling vertical movement; and the co-carrying track is responsible for the movement of the track layer and the third directional track. This allows the charging robot to flexibly reach any location in the target field for charging, significantly improving the charging robot's coverage and work efficiency, adapting to target fields with different layouts, reducing the number of charging robots, lowering costs, and improving the convenience and reliability of charging services.

[0089] Example 3:

[0090] An embodiment of the present invention provides a charging device, further comprising:

[0091] Charging module: Receives charging requests from target vehicles, locates the target position, and plans the optimal and backup paths for the charging robot based on track data.

[0092] The first maintenance module acquires track monitoring data from the track system, performs data analysis based on the relevant data to determine the track status, and maintains the optimal travel path and backup path based on the track status;

[0093] Fire module: Controls the charging robot to move to the target location and connect to the target vehicle based on the maintenance results. During the charging process, it monitors vehicle and environmental data to determine whether there is a fire and handles the fire accordingly.

[0094] Second maintenance module: Generates a post-disaster maintenance plan based on the fire handling results, and maintains the environment and the charging robot according to the post-disaster maintenance plan.

[0095] 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 the vehicle system.

[0096] 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.

[0097] 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 parking space A01.

[0098] 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 reach parking space A01 (when track 3 is unavailable).

[0099] In this embodiment, the system analyzes the vehicle charging request, determines the target location and charging equipment status, and performs dual path screening based on the track usage status, topology structure and charging robot position to generate optimal and backup paths, guiding the charging robot to efficiently complete the charging task.

[0100] In this embodiment, 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;

[0101] 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, status 1: Track 1: available, no fault, status 2: Track 2: unavailable, there is a fault, status 3: Track 3: available, but maintenance is required.

[0102] 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.

[0103] 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 determine the track status; maintenance plans for optimal paths and backup paths are formulated based on the track status, and charging robots are used to perform maintenance.

[0104] In this embodiment, the vehicle data is 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.

[0105] 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%.

[0106] In this embodiment, the system sends the target location and optimal path to the charging robot, controls its movement, and completes docking with 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.

[0107] In this embodiment, the post-disaster maintenance plan is a comprehensive maintenance plan developed 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; Plan 3: Strengthen the deployment of the fire monitoring system.

[0108] In this embodiment, the system investigates the post-disaster conditions of the environment, charging robots, and vehicles based on the fire handling results, evaluates the actual impact of the charging robot handling plan and the fire extinguishing plan, and generates an environmental maintenance plan and a charging robot maintenance plan based on the impact results.

[0109] The working principle and beneficial effects of the above technical solution are: by receiving charging requests, locating the target position and planning the optimal path and backup path of the charging robot; real-time monitoring of the track status and dynamic maintenance of the path; controlling the movement of the charging robot and connecting to the vehicle, monitoring the charging process and environment, identifying fires and handling them; generating a post-disaster maintenance plan based on the fire handling results, maintaining the environment and the charging robot, improving charging efficiency, improving fire handling capabilities, reducing the fire risk in high-density charging environments, and enhancing the safety and reliability of the system.

[0110] Example 4:

[0111] An embodiment of the present invention provides a charging device, an electric module, including:

[0112] 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 based on the target vehicle identification, and determines the target parking location of the target vehicle;

[0113] Charging equipment determination unit: obtains the 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;

[0114] Data acquisition unit: acquires track-related data from the track status monitoring system, including 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;

[0115] Path calculation unit: perform the first path screening based on the usage status data, topology data, and charging device status at the target location, and perform the 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 the backup path.

[0116] In this embodiment, parsing is the system's processing of the charging request information to extract key data. For example, the vehicle number "EV-001" and the charging requirement "fast charging" are extracted from the charging request information.

[0117] In this embodiment, the target vehicle identifier is the unique identification information of the target vehicle, used to locate the vehicle. For example, the vehicle number "EV-001" or the license plate number "Yue B12345".

[0118] In this embodiment, the target field management system is a system that manages 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 status of all target positions, such as "Parking space A01: Occupied, EV-001".

[0119] In this embodiment, the coordinate information is the specific position coordinates of the target location on the target field map. For example, the coordinates of parking space A01 are (X: 10, Y: 20).

[0120] In this embodiment, the charging device status is the status of the charging device at the target location (such as idle, occupied, or faulty). For example, the charging pile status at parking space A01 is "occupied".

[0121] In this embodiment, the usage status data of all current 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.

[0122] In this embodiment, the topology 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. [[ID=2,3]]

[0123] In this embodiment, the current location and status of the charging robot are the real-time location and operating status of the charging robot in the track system (such as idle, charging, or moving). For example, the current location of Charging robot-001 is Track 2, and the status is "idle".

[0124] In this embodiment, the first path screening is to initially screen out the feasible paths according to the track usage status and topology. For example, from the current location of Charging robot-001 to parking space A01, the screened paths are Track 2 → Track 4 → Track 5.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] Example 5:

[0130] An embodiment of the present invention provides a charging device, a path calculation unit, including:

[0131] ,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;

[0132] 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.

[0133] In this embodiment, historical risk factors refer to various potential risks in the track 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.

[0134] 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.

[0135] 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, realizing intelligent path planning based on multi-factor trade-offs, enhancing system safety, and providing a more reliable solution for high-density charging environments.

[0136] Example 6:

[0137] An embodiment of the present invention provides a charging device, a first maintenance module, including:

[0138] A selection unit: determining system requirements based on 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 the track monitoring data and related data according to the data analysis algorithm, and obtaining data analysis results;

[0139] Maintenance plan unit: determine the track status of each track segment on the optimal travel path and the backup path based on 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.

[0140] In this embodiment, system requirements are basic requirements for system operation and maintenance determined based on historical risk factors (such as track failure frequency and equipment aging). For example, requirement 1: areas with high track failure frequency require increased sensor density; requirement 2: track sections with severe equipment aging require regular maintenance.

[0141] In this embodiment, 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 a 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 meter / second.

[0142] 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, and Algorithm 3: Path optimization algorithm (such as Dijkstra algorithm), used to calculate the optimal travel path.

[0143] 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.

[0144] 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, and the equipment on track 5 has reached 90% aging and needs to be replaced immediately.

[0145] 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 on Track 2, which is expected to take 2 hours; Plan 2: Replace the equipment on Track 5, which is expected to take 1 day.

[0146] The working principle and beneficial effects of the above technical solution are: determining system requirements based on historical risks, formulating track rules and selecting data analysis algorithms; analyzing track monitoring data and related data to determine the track status; formulating maintenance plans for optimal paths and backup paths based on the track status, and using charging robots to perform maintenance, realizing dynamic management and maintenance of the track status, improving the reliability and safety of the track system, and enhancing the system's operating efficiency.

[0147] Example 7:

[0148] An embodiment of the present invention provides a charging device, a fire module, including:

[0149] Charging unit: Sends the target location information and optimal path 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 charging robot's vision system to locate the charging port of the target vehicle, controls the charging robot's mechanical arm to dock with the charging port of the target vehicle, and sends a connection success signal to the control system;

[0150] Fire situation unit: uses sensors to monitor the battery status of the target vehicle and records vehicle data during the charging process, uses environmental sensors to monitor environmental data in the charging area and records the environmental data, and combines the vehicle data and environmental data with a fire monitoring algorithm to determine the fire situation;

[0151] 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 issues a charging robot processing plan and a fire extinguishing plan to handle the fire.

[0152] 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.

[0153] In this embodiment, the confirmation signal is a signal sent by the charging robot after it reaches the target location, 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.

[0154] In this embodiment, the battery status is the real-time status information of the target vehicle battery, including power level, temperature, voltage, etc., for example, battery power: 20%; battery temperature: 35°C; battery voltage: 400V.

[0155] In this embodiment, the fire monitoring algorithm is 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.

[0156] In this embodiment, the fire situation is the possibility of fire or the actual fire status obtained based on 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.

[0157] 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.

[0158] 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.

[0159] In this embodiment, the fire extinguishing solution is a fire extinguishing measure formulated by the system based on 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 extinguish the fire. Solution 2: The charging robot carries the fire extinguishing equipment and goes to the fire area along the optimal path to extinguish the fire.

[0160] 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, an alarm signal is generated and a fire extinguishing plan is executed, realizing intelligent charging and fire emergency handling, reducing fire risks, and enhancing system reliability and emergency response capabilities.

[0161] Example 8:

[0162] An embodiment of the present invention provides a charging device and a solution generating unit, including:

[0163] Situation determination subunit: Combines vehicle data with environmental data to determine the vehicle fire situation, charging robot fire situation, and environmental object fire situation;

[0164] Signal generation subunit: generates a first fire alarm signal according to the vehicle fire situation, generates a second fire alarm signal according to the charging robot fire situation, and generates a third fire alarm signal according to the environmental object fire situation;

[0165] 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.

[0166] 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.

[0167] In this embodiment, the charging robot fire situation is a fire situation caused by an electrical failure or other reasons in the charging robot. For example, the motor of the charging robot overheats, the temperature exceeds 100°C, and is accompanied by sparks, and it is determined that the charging robot is on fire.

[0168] 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, a short circuit in the charging pile cable causes sparks and ignites surrounding debris, which is determined to be an environmental object fire.

[0169] In this embodiment, the first fire alarm signal is an alarm signal generated by the system after detecting a vehicle fire, for example, the signal content is: "Vehicle fire: A01 parking space, battery temperature is too high, smoke concentration exceeds the standard."

[0170] 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, motor temperature is too high, sparks are detected."

[0171] 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."

[0172] 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, the vehicle fire location is determined to be parking space A01, and the fire level is "high". Analysis 2: based on the second fire alarm signal, the charging robot fire location is determined to be track 2, and the fire level is "medium". Analysis 3: based on the third fire alarm signal, the environmental object fire location is determined to be near parking space A01, and the fire level is "low".

[0173] In this embodiment, 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's handling plan; selects a fire extinguishing method based on the fire priority and type, deploys fire extinguishing equipment, plans a moving path, and generates a fire extinguishing handling plan.

[0174] The working principle and beneficial effects of the above technical solution are: combining vehicle data and environmental data to analyze the fire conditions of vehicles, charging robots and environmental objects, and generate 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.

[0175] Example 9:

[0176] An embodiment of the present invention provides a charging device and a processing scheme subunit, including:

[0177] Priority block: Determines the fire situation based on the signal analysis results, evaluates the priority of the alarm signal, and combines multiple alarm signals to determine whether a complex fire situation exists. If so, adjusts the priority of the alarm signal;

[0178] Charging robot processing plan 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. The evacuation path and the optimal fire extinguishing path are combined to determine the charging robot processing plan;

[0179] Fire extinguishing solution block: Determine the fire extinguishing method based on 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.

[0180] 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 fire was small in scale; situation 2: the charging robot on track 2 caught fire, and the fire was medium in scale; situation 3: the charging pile near parking space A01 caught fire, and the fire was large in scale.

[0181] In this embodiment, the priority is to sort the alarm signals according to the severity and scope of the fire and determine the order of processing. For example, priority 1: charging robot fire (directly affects system operation), priority 2: vehicle battery fire (may spread to other vehicles), priority 3: environmental fire (less impact).

[0182] 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 triggers a charging pile fire, and at the same time, a charging robot catches fire due to high temperature.

[0183] In this embodiment, being affected by the fire refers to whether the charging robot is located in a fire area or is threatened by 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.

[0184] In this embodiment, the fire type and location are the specific type of fire (such as battery fire, electrical fire) and the location of occurrence, for example, type 1: battery fire; location: parking space A01, type 2: electrical fire; location: track 2.

[0185] 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.

[0186] In this embodiment, the optimal fire extinguishing path is the optimal path for the charging robot or fire extinguishing 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.

[0187] 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.

[0188] 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.

[0189] In this embodiment, the moving path is the moving route of the fire extinguishing equipment or the charging robot to the fire area, for example, the fire extinguishing robot moves from track 1 → track 3 → track 5 to the A01 parking space.

[0190] The working principle and beneficial effects of the above technical solution are: the system analyzes fire alarm signals, evaluates priorities and judges 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 response capabilities.

[0191] Example 10:

[0192] An embodiment of the present invention provides a charging device, a second maintenance module, including:

[0193] Impact determination unit: Conduct post-disaster investigations on the environment, charging robots, and vehicles involved based on the fire handling results. Based on the investigation results, determine the actual impact of the charging robot handling plan and the fire extinguishing plan on the entire target site.

[0194] 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.

[0195] In this embodiment, the post-disaster investigation is a comprehensive inspection of the environment, charging robots, and vehicles after the fire is handled to assess the damage and impact caused by the fire. For example, Investigation 1: The charging pile near parking space A01 is damaged and track 2 is partially burned. Investigation 2: Charging robot-001 is damaged due to the fire and the motor cannot work normally. Investigation 3: The battery casing of the target vehicle is damaged, but the internal structure is not affected.

[0196] 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 cost and 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.

[0197] In this embodiment, the environmental maintenance plan is a maintenance plan for the target site 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 residue and repair the burned track; Plan 3: Inspect and reinforce all charging equipment to prevent similar incidents from happening.

[0198] 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 insulation materials.

[0199] 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 based on the fire handling results, and evaluates the actual impact of the charging robot handling plan and the fire extinguishing treatment plan; generates environmental maintenance plans and charging robot maintenance plans 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 environmental and equipment safety, and enhances system sustainability.

[0200] 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 various 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. The connection device includes a connection part and an expansion part between the charging robot and the track system. The auxiliary charging device includes a first access, a second access and a robotic arm. The charging gun is provided with a second access corresponding to the first access. The robotic arm grasps the charging gun based on the connection between the first access and the second access. The connection method between the first access and the second access is plug-in. The expansion part is an expansion track. The robotic 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. The charging gun is connected to the charging piles around the target position. 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; 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; Charging module: Receives charging requests from target vehicles, locates the target position, and plans the optimal and backup paths for the charging robot based on track data. The first maintenance module acquires track monitoring data from the track system, performs data analysis based on the relevant data to determine the track status, and maintains the optimal travel path and backup path based on the track status; Fire module: Controls the charging robot to move to the target location and connect to the target vehicle based on the maintenance results. During the charging process, it monitors vehicle and environmental data to determine whether there is a fire and handles the fire accordingly. Second maintenance module: generates a post-disaster maintenance plan based on the fire handling results, and maintains the environment and charging robot according to the post-disaster maintenance plan; 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 based on the target vehicle identification, and determines the target parking location of the target vehicle; Charging equipment determination unit: obtains the coordinate information of the target location, marks the location of the target location on the target site map, and confirms the status of the charging equipment at the target location; Data acquisition unit: acquires track-related data from the track status monitoring system, including 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 based on the usage status data, topology 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.

2. A charging device according to claim 1, characterized in that: 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.

3. A charging device according to claim 2, characterized in that: The first maintenance module includes: A selection unit: determining system requirements based on 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 the 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 based on 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.

4. A charging device according to claim 1, characterized in that: Fire module, including: Charging unit: Sends the target location information and optimal path 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 charging robot's vision system to locate the charging port of the target vehicle, controls the charging robot's mechanical arm to dock with the charging port 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 vehicle data during the charging process, uses environmental sensors to monitor environmental data in the charging area and records the environmental data, and combines the vehicle data and environmental data with a fire monitoring algorithm to determine the fire situation; 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 issues a charging robot processing plan and a fire extinguishing plan to handle the fire.

5. A charging device according to claim 4, characterized in that: Solution generation unit, including: Situation determination subunit: Combines vehicle data with environmental data to determine the vehicle fire situation, charging robot fire situation, and environmental object fire situation; Signal generation subunit: generates a first fire alarm signal according to the vehicle fire situation, generates a second fire alarm signal according to the charging robot fire situation, and generates a third fire alarm signal according to the environmental object fire situation; 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.

6. A charging device according to claim 5, characterized in that: Treatment plan subunit, including: Priority block: Determines the fire situation based on the signal analysis results, evaluates the priority of the alarm signal, and combines multiple alarm signals to determine whether a complex fire situation exists. If so, adjusts the priority of the alarm signal; Charging robot processing plan 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. The evacuation path and the optimal fire extinguishing path are combined to determine the charging robot processing plan; Fire extinguishing solution block: Determine the fire extinguishing method based on 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.

7. The charging device according to claim 1, 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. Based on the investigation results, determine the actual impact of the charging robot handling plan and the fire extinguishing plan on the entire target site. 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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