Pile-line split type take-up aerial mobile charging robot system

Abstract

A pile line split type take-up aerial mobile charging robot system comprises an aerial track, a walking module, a movable charger, a gun line winding module, a charger side butt joint module, a line winding side butt joint module, a power taking module, a charging call response system and a control processing unit. The movable charger can move along the aerial track under the driving of the walking module, a winding gun line module is arranged beside each parking space, the movable charger can reach any parking space to be in electrical butt joint with the winding gun line module, and therefore the charging service can be provided for an electric automobile below the movable charger. The invention relates to the field of new energy vehicle charging, the one-to-one binding relation between a movable charger and a charging gun line is removed, the utilization rate of charging resources is greatly improved, reservation charging and queuing charging are supported, the charging gun line can be taken back after a user pulls out a gun, and the charging system is more convenient, more efficient, cleaner and safer.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle charging, and particularly to a pile-line separated retractable cable aerial mobile charging robot system. Background Art

[0002] With the development of the electric vehicle and charging pile industries, more and more drawbacks of fixed charging piles have gradually emerged, mainly including: (1) When vehicle owners look for charging piles, they often spend a lot of time searching for charging points, available charging piles, and queuing, resulting in serious charging anxiety problems. (2) The parking spaces suitable for building commercial charging piles are generally in relatively good locations, with high site costs, resulting in high comprehensive costs for station-mounted commercial charging piles. (3) A large number of charging piles will have problems of high construction costs and low utilization rates, wasting resources and increasing the power distribution pressure on the power grid. (4) The problem of fuel vehicles occupying the charging pile parking spaces cannot be solved, resulting in a situation of either wasting parking space resources or wasting charging pile resources.

[0003] The above problems are mainly caused by the mutual binding between charging parking spaces and fixed charging piles. To solve these problems, it is necessary to unbind the binding between the two. Mobile charging has been developed and improved in recent years because it can unbind the charging parking space and the charging pile. In particular, aerial mobile charging along a suspended track has become a popular research direction in mobile charging due to its many advantages. The inventor of the present invention has previously applied for an invention patent with the patent name "A Suspended Mobile Charging Pile System" and the application number "2023100936171" to the State Intellectual Property Office, as well as a utility model patent with the patent name "A Suspended Mobile Charging Pile System with Four-Wheel Independent Drive and Steering" and the application number "2023201748902". The above two patents adopt a cross-track suspended contact power-taking mobile charging solution, which can achieve full coverage of the parking area of the parking lot by charging piles without deploying a large number of charging piles. Electric vehicles within the area can be charged as they stop. No matter where the electric vehicle stops in the parking lot, it can be charged conveniently. Moreover, a large number of existing parking spaces in the parking lot are utilized, and there is no need to build a special charging station, nor does the vehicle owner need to specifically park the vehicle in a certain parking space. The number of charging piles can be flexibly deployed and increased or decreased according to the charging demand, which will neither cause a large number of charging pile resources to be idle nor can meet the charging demand to the greatest extent, having very obvious technical advantages and industry value.

[0004] The technical solutions described in the above two patents have now been transformed into actual results. During the promotion and application of related products by the enterprise under the inventor's name, it was found that although the mobile charging in the air decouples the binding relationship between the charging space and the charging pile, improves the utilization rate of charging resources, solves the problem of fuel vehicles occupying spaces, and also enhances the charging experience of users, there are still some deficiencies to be addressed. First, after an electric vehicle is fully charged, someone still needs to unplug the charging gun to provide charging services for other electric vehicles. Second, if all the mobile charging piles in the air in the current parking lot are occupied, the vehicle owner cannot charge and cannot make an appointment to queue for charging without having to come again in person and without any on-site staff. Third, if the vehicle owner wants to make an appointment to charge during the low-demand period in the late night, it cannot be achieved without any on-site staff. These deficiencies have a relatively obvious impact on aspects such as charging operation efficiency, utilization rate of charging resources, the payback period of the operator, and the charging experience of users. Once this problem is solved, the mobile charging solution in the air will have a disruptive advantage compared to traditional fixed charging stations. Therefore, a technical solution to solve this problem is urgently needed. Summary of the Invention

[0005] The object of the present invention is to provide a pile-line separated retractable cable aerial mobile charging robot system, which adopts a design of separating a movable charger from a retractable cable module. The movable charger can move along the path of an aerial track, and the aerial track can be deployed according to the layout of parking spaces in a parking lot. A number of retractable cable modules are provided and are all arranged above the sides of the parking spaces. When a charging demand is received, the movable charger can move to any parking space that can be reached by the aerial track and perform electrical connection with the retractable cable module beside the parking space. When there is a charging demand, the vehicle owner can park at any parking space, pull down the charging gun of the retractable cable module and insert it into the vehicle charging port. After scanning the code and placing an order, the nearby idle movable charger will come and automatically perform electrical connection with the retractable cable module. After the connection, the charging will be automatically started. If there is no idle movable charger currently, wait for other vehicles to finish charging. The idle movable charger will also automatically come to connect with the retractable cable module and start charging automatically. In addition, if the vehicle owner wants to reserve charging to start at a specific time period, they can also first pull down the charging gun of the retractable cable module and insert it into the vehicle, and then scan the code and place an order to reserve the charging start time. After the specific time arrives, the idle movable charger will automatically come to connect and start charging. After the charging is completed, the movable charger will automatically disconnect the electrical connection with the current retractable cable module and enter the idle callable state. In theory, this system can provide charging services for electric vehicles in the entire parking lot continuously for 24 hours, charging one vehicle after another, without the problem of gasoline vehicles occupying spaces or fully charged vehicles occupying spaces. There is no need for the vehicle owner to come and unplug the gun immediately after the vehicle is fully charged, and there is no time occupancy fee. It also supports reserved charging. To sum up, this system will greatly improve the utilization rate of charging resources and charging operation efficiency, accelerate the operator's cost recovery cycle, and at the same time improve the user's charging experience.

[0006] In order to achieve the above object of the invention, the corresponding technical solutions are as follows: A pile-line split-type retractable cable aerial mobile charging robot system, comprising an aerial track, a walking module, a movable charger, a retractable cable gun module, a charger-side docking module, a cable-reeling side docking module, a power-taking module, a communication unit, a charging call response system, and a control processing unit. The aerial track is deployed above the parking spaces in a parking lot. The movable charger can move along the aerial track driven by the walking module. A number of retractable cable gun modules are provided and are deployed beside the corresponding parking spaces according to the parking space layout. The position where the retractable cable gun module is deployed is called a charging station. The retractable cable gun module includes a rotating shaft and a charging cable gun. When the retractable cable gun module rotates forward and backward around its rotating shaft, the charging cable gun can be wound and unwound. The charger-side docking module is arranged on the movable charger, and the cable-reeling side docking module is arranged on the retractable cable gun module. When the movable charger moves to a certain charging station, the charger-side docking module can be electrically docked with the cable-reeling side docking module. When the charging task is completed, the charger-side docking module can be disconnected from the cable-reeling side docking module. The power-taking module is used to connect the movable charger to an input power supply. The communication unit is used to provide information transmission and interaction communication capabilities for the system. The charging call response system is used to respond to the user's charging demand. The control processing unit is used to provide processing and control capabilities for the system. Preferably, the call method adopted by the charging call response system is scanning code call. A charging code is set beside each parking space, and the user can call for charging by scanning the charging code through the APP or mini-program.

[0007] The present invention adopts a design in which the movable charger and the retractable cable gun module are separated. The advantages of this design are as follows: Taking the example where a retractable cable gun module is deployed at each parking space and the vehicle owner calls for charging by scanning a QR code on the mobile phone. The movable charger can shuttle back and forth between any charging stations under the drive of the walking module. When the vehicle owner needs to charge, there is no need to care about where the current movable charger is or whether there is an idle movable charger. The vehicle owner only needs to pull down the charging gun of the retractable cable gun module and plug it into the vehicle, and then scan the charging code next to the parking space with the mobile phone to place an order. As long as there is an idle movable charger, it will automatically come over, automatically dock with the retractable cable gun module, and then automatically start charging. The vehicle owner can also reserve charging at a specific time period in a similar way. A typical scenario for reserving charging at a specific time period is that when the vehicle owner drives back to the underground garage after work and finds that the vehicle needs to be charged, but the current electricity price is relatively high, while the late night period is the off-peak electricity, and the off-peak electricity price is very cheap. Then at this time, the vehicle owner can first pull down the charging gun of the retractable cable gun module next to the parking space and plug it into the vehicle, and scan the code to reserve a charging order for the late night period and then leave. When it reaches the reserved late night time period, the idle movable charger will automatically come over for docking and charging. After charging, there is no need for the vehicle owner to immediately unplug the gun. The movable charger can automatically disconnect the docking with the retractable cable gun module and prepare to charge the next vehicle. When the vehicle owner gets up the next day, the vehicle is already charged, and the charging gun can be unplugged when driving to work. The above charging method solves several major pain points in the charging industry: fuel vehicle occupying the parking space, fully charged vehicle occupying the parking space, fully charged vehicle occupying the charging gun, low utilization rate of charging piles, and inability to reserve charging at a specific time period without occupying charging resources.

[0008] Preferably, there are several movable chargers, all of which can move along the overhead track under the drive of the walking module.

[0009] Preferably, the first preferred embodiment of the traveling module and the mobile charger is that the traveling module and the mobile charger are integrally designed, and each mobile charger is equipped with a traveling module. Preferably, the track path of the aerial track includes a plurality of straight sections, a plurality of intersection sections, and zero or more turning sections. The traveling module can drive the mobile charger to travel along the aerial track and perform straight or turning operations as required by the traveling route at the intersection and turning section positions of the aerial track. The advantage of the integrated design of the traveling module and the mobile charger is that there is no need to frequently perform disassembly, docking, and handling operations between the traveling module and the mobile charger, which can greatly improve the system reliability. However, in the case of an integrated design, if multiple concurrent demands need to be responded to and the path is not blocked, the ability to change tracks is required. Therefore, the present invention also provides a track-changing scheme, and the traveling module can drive the mobile charger to travel along the aerial track and perform straight or turning operations as required by the traveling route at the intersection and turning section positions of the aerial track.

[0010] Preferably, the second preferred embodiment of the traveling module and the mobile charger is that the traveling module and the mobile charger are designed in a split form. There are a plurality of traveling modules, and the relationship between the plurality of mobile chargers and the plurality of traveling modules is set to be not pairwise bound. Each traveling module can carry different mobile chargers along the aerial track during different operations. In this embodiment, the traveling module is equivalent to a handling robot that transports the mobile charger between various parking spaces.

[0011] Preferably, when the coiling gun wire module rotates around its rotating shaft, the wire coiling side docking module rotates together. The movable charger further includes a docking angle recognition module and a docking rotation drive module. When the charger side docking module and the wire coiling side docking module need to be docked, the docking angle recognition module first recognizes the relative angle difference between the wire coiling side docking module and the charger side docking module, and then the docking rotation drive module drives the charger side docking module to rotate by a corresponding angle according to the relative angle difference, so that the charger side docking module is aligned with the wire coiling side docking module. Preferably, the docking angle recognition module is a vision recognition module. When the coiling gun wire module rotates around its rotating shaft, the advantage of the setting that the wire coiling side docking module rotates together is that the wire coiling side docking module can be directly connected to the cable of the charging gun, and there is no need to connect them through a rotating conductive mechanism. A common rotating conductive mechanism is a slip ring, and the cost of a large current multi-wire harness slip ring is relatively high. If each coiling gun wire module is equipped with a slip ring, the economy and practicability will be very poor. However, the rotation of the wire coiling side docking module will also bring another problem. Since in actual use, the charging gun on the coiling gun wire module is pulled down by the user, each user operation may make the wire coiling side docking module at a different angle. To enable the charger side docking module to be docked with the wire coiling side docking module, the alignment operation between the two must be performed. The settings of the docking angle recognition module and the docking rotation drive module are used to solve this alignment problem.

[0012] Preferably, after the charger side docking module is aligned with the wire coiling side docking module, the walking module drives the charger side docking module and the wire coiling side docking module to achieve docking.

[0013] Preferably, the first preferred embodiment of the wire winding solution provided by the present invention is: after the charger side docking module is docked with the wire coiling side docking module, when the docking rotation drive module rotates, the coiling gun wire module will rotate together. In this embodiment, there is no need to add an additional drive device, and only the docking rotation drive module is needed to drive the coiling gun wire module to rotate, so as to realize automatic wire winding after the user pulls out the gun.

[0014] The wire retraction solution provided by the present invention is to solve the problem of wire retraction after the user removes the charging gun. Since the movable charger described in the present invention will not wait for the user to remove the gun after charging a certain vehicle, but can automatically disconnect from the coiling-side docking module and prepare to move to other parking spaces to charge the next vehicle. Therefore, when the user removes the gun, it is very likely that the movable charger has already left. At this time, if the charging gun wire cannot be automatically retracted, it may be scattered on the ground or crushed by the vehicle, which is not beautiful and tidy, and is also prone to damage to the charging gun wire or other dangers. Therefore, it is necessary to retract the charging gun wire after the user removes the gun. Taking the first preferred embodiment of the wire retraction solution as an example, a typical scenario of automatic wire retraction after the user removes the gun is cited: when the user removes the gun, the nearest idle movable charger comes and docks with the coiling-side docking module through the charger-side docking module, and then drives the coiling gun wire module to rotate through the docking rotation drive module to achieve wire retraction. The advantage of the first preferred embodiment of the wire retraction solution is that the control logic is relatively simple and the drive mechanism is also less. The disadvantage is that during the wire retraction process, the charger-side docking module needs to rotate continuously, and multiple continuous rotations necessarily require a rotating conductive mechanism, that is, the conductive slip ring described above. However, in this solution, the conductive slip ring is set in the movable charger and the number used is not much, so it is also economical and practical.

[0015] Preferably, the second preferred embodiment of the wire retraction solution provided by the present invention is: the movable charger further includes an electrical docking telescopic module, a coiling rotation drive module, a charger-side rotation docking mechanism, and the coiling gun wire module includes a coiling-side rotation docking mechanism. When the movable charger and the coiling gun wire module are in the docking position and the charger-side docking module and the coiling-side docking module are already aligned, the electrical docking telescopic module can drive the charger-side docking module and the coiling-side docking module to achieve electrical docking and disconnect the electrical docking; the charger-side rotation docking mechanism can achieve mechanical docking with the coiling-side rotation docking mechanism. When the charger-side docking module and the coiling-side docking module disconnect the electrical docking, the coiling rotation drive module can drive the coiling gun wire module to rotate around its rotation axis through the mechanical docking between the charger-side rotation docking mechanism and the coiling-side rotation docking mechanism. Compared with the first preferred embodiment of the wire retraction solution, the second preferred embodiment of the wire retraction solution is characterized by having four additional modules: the electrical docking telescopic module, the coiling rotation drive module, the charger-side rotation docking mechanism, and the coiling-side rotation docking mechanism, and the structure is relatively more complex, but it does not require the use of expensive conductive slip rings.

[0016] Preferably, the third preferred embodiment of the wire-winding scheme provided by the present invention is: the reelable gun line module also includes a winding drive module, and the winding drive module can drive the reelable gun line module to rotate around its rotation axis. The third preferred embodiment of the wire-winding scheme directly places the wire-winding drive mechanism on the side of the reelable gun line module. Compared with the first preferred embodiment and the second preferred embodiment, the structure and implementation logic of the third preferred embodiment are simpler, but the winding drive module needs to be deployed for each reelable gun line module. If the number of parking spaces in a parking lot is very large, the cost will increase rapidly, and the increase in driving components will also put pressure on the reliability and robustness of the system.

[0017] Preferably, the input power is provided by a power supply cable deployed along the aerial track, and the power supply module draws power from the power supply cable by means of contact power supply.

[0018] Beneficial effects of the present invention: The present invention removes the one-to-one binding relationship between the mobile charger and the charging gun line. When the user has a charging demand, he can park in any parking space, pull down the charging gun of the reelable gun line module and insert it into the vehicle charging port. After calling and placing an order, the idle mobile charger nearby will come and automatically connect with the reelable gun line module electrically, and charging will start automatically after docking. If there is no idle mobile charger at present, wait for other vehicles to be charged, and the idle mobile charger will automatically come to connect with the reelable gun line module and automatically start charging. In addition, if the user wants to make an appointment to start charging at a specific time period, he can also first pull down the charging gun of the reelable gun line module and insert it into the car, and then scan the code to place an order to make an appointment for the start time of charging. After the specific time, the idle mobile charger will automatically come to dock and start charging. After charging is completed, the mobile charger will automatically release the electrical docking with the current reelable gun line module and enter an idle callable state. Theoretically, this system can provide charging services for electric vehicles in the entire parking lot 24 hours a day, charging one car after the next. There is no problem of gas cars occupying spaces or fully charged cars occupying spaces. When the car is fully charged, the owner does not need to come and unload the charging gun immediately, and there will be no time fee. It also supports appointment charging, which solves the major pain points in the charging industry: gas cars occupying spaces, fully charged cars occupying spaces, fully charged cars occupying charging guns, low utilization rate of charging piles, and inability to make appointments for charging at specific time periods without occupying charging resources.

[0019] From the user's perspective, the present invention liberates the user from the charging process. Especially after the battery is fully charged, it not only eliminates the trouble for the user to come back and unplug the charging gun, but also avoids the problem that the mobile charger is in an occupied state due to the unpluggled gun and cannot provide charging services for electric vehicles in other parking spaces. Thus, there is no occupancy fee, which greatly improves the user's charging experience. In addition, queuing charging and reservation charging can be realized. The advantage of queuing charging is that even if all current mobile chargers are occupied, as long as a mobile charger becomes available, it can automatically charge the users in the queuing order; the advantage of reservation charging is that in cities with time-of-use electricity prices, users can reserve to charge during late-night hours when the electricity cost is relatively low, which will greatly reduce the user's charging cost and vehicle use cost.

[0020] For charging operators, the present invention theoretically supports providing charging services to vehicles in the entire parking lot 24 hours a day, charging one vehicle after another, and supports reservation for late-night charging, greatly improving the utilization rate of charging resources and charging operation efficiency, and accelerating the operator's cost recovery cycle and profit speed.

[0021] For the power grid, it can achieve peak shaving and valley filling, improve the utilization rate of distribution network resources, and reduce the power grid pressure.

[0022] In addition, the cable retraction solution provided by the present invention can also retract the charging gun cable after the user unplugs the gun. The charging gun cable will not be scattered on the ground. While being beautiful and tidy, it also avoids the charging gun cable being run over by vehicles or tripping pedestrians due to being scattered on the ground, and it is not easy for the charging gun cable to be damaged or other dangers to occur.

[0023] In summary, the present invention has very obvious advantages and very remarkable technical effects compared with the existing charging solutions.

[0024] It should be noted that the beneficial effects of the present invention are not limited to the above description. The beneficial effects can be understood in combination with specific technical solutions and preferred implementation manners, and the technical effects and beneficial effects of a certain specific technical solution or preferred implementation manner are also interspersed in the invention content and the following implementation manners of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Shows a schematic diagram of the mobile charger according to the present invention hanging on the aerial track and about to be electrically docked with the retractable gun cable module. In the figure, the charging gun cable of the retractable gun cable module is in a retracted state.

[0026] Figure 2 is Figure 1 Another perspective three-dimensional schematic diagram.

[0027] Figure 3It is a three-dimensional schematic diagram of the coiling gun line module described in the present invention.

[0028] Figure 4 It shows a three-dimensional schematic diagram in which the movable charger has achieved electrical docking with the coiling gun line module, and the charging gun of the coiling gun line module has been pulled down and inserted into the vehicle, and the system is charging the electric vehicle.

[0029] Figure 5 It shows a three-dimensional schematic diagram in which the charging gun of the coiling gun line module has been pulled down by the user and inserted into the vehicle, and is waiting for the idle movable charger to come and charge the electric vehicle.

[0030] Figure 6 It shows a three-dimensional schematic diagram of the charger-side docking module.

[0031] Figure 7 It shows a three-dimensional schematic diagram of the coiling-side docking module.

[0032] Figure 8 It shows a schematic diagram of the integrated one-piece design of the walking module and the movable charger. Detailed implementation manners

[0033] Next, the present invention will be further described in detail in combination with the embodiments, implementation manners and drawings of the present invention. It should be noted that the described embodiments or implementation manners are only a part of the embodiments or implementation manners of the present invention, rather than all of them, and the drawings are only a schematic diagram for convenience of explanation, rather than a complete limitation of the implementation manners of the present invention. Based on the embodiments or implementation manners in the present invention, all other embodiments or implementation manners obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0034] The following description of the embodiments or implementation manners of the present invention is actually only illustrative and in no way limits the present invention and its application or use.

[0035] As Figure 1-7As shown in the figure, a pile-line split-type retractable cable aerial mobile charging robot system includes an aerial track, a walking module, a movable charger 1, a retractable cable gun module, a charger-side docking module 2, a cable-winding side docking module 10, a power-taking module, a communication unit, a charging call response system, and a control processing unit. The aerial track is deployed above the parking spaces in the parking lot. The movable charger 1 can move along the aerial track under the drive of the walking module. A number of retractable cable gun modules are provided and are deployed beside the corresponding parking spaces according to the layout of the parking spaces. The position where the retractable cable gun module is deployed is called a charging station. The retractable cable gun module includes a rotating shaft and a charging cable gun. The charging cable gun includes a charging gun 4 and a charging cable 12. When the retractable cable gun module rotates forward and backward around its rotating shaft, the winding and unwinding of the charging cable gun can be realized. The charger-side docking module 2 is arranged on the movable charger 1, and the cable-winding side docking module 10 is arranged on the retractable cable gun module. When the movable charger 1 moves to a certain charging station, the charger-side docking module 2 can be electrically docked with the cable-winding side docking module 10. When the charging task is completed, the charger-side docking module 2 can be disconnected from the cable-winding side docking module 10. The power-taking module is used to connect the movable charger 1 to the input power supply. The communication unit is used to provide information transmission and interaction communication capabilities for the system. The charging call response system is used to respond to the user's charging demand. The control processing unit is used to provide processing and control capabilities for the system. Preferably, the call method adopted by the charging call response system is scanning code call. A charging code is set beside each parking space. The user can call for charging by scanning the charging code through the APP or mini-program.

[0036] The present invention adopts a design in which the movable charger 1 and the retractable cable gun module are separated. The advantages of this design are as follows: Taking the example where each parking space is equipped with a retractable cable gun module and the car owner calls for charging by scanning the code with the mobile phone, as Figure 1-5 shown, the movable charger 1 can shuttle back and forth between any charging stations under the drive of the walking module. When the car owner needs to charge, there is no need to care about where the current movable charger is and whether there is an idle movable charger. Just pull down the charging gun 4 of the retractable cable gun module and plug it into the electric vehicle 14, and then place an order by scanning the charging code beside the parking space with the mobile phone. As long as there is an idle movable charger 1, it will automatically come over, automatically dock with the retractable cable gun module, and then automatically start charging. The car owner can also reserve charging at a specific time period in a similar way.

[0037] 〈Implementation manner of the aerial track〉 As Figure 1-5As shown, the aerial track is arranged in a suspended manner, and is used to provide a traveling track and a suspension supporting force for the walking module. Preferably, the arrangement of the aerial track corresponds one-to-one with the parking space layout. Preferably, the aerial track includes a track supporting surface and a track through groove, and the track path of the aerial track includes a plurality of straight sections, a plurality of intersection sections 13, and zero or more turning sections. It should be noted that the straight section does not require to be a completely straight track section, but refers to a track section without bifurcation and large-scale turning. The intersection section 13 can be a cross intersection section perpendicular to each other, or a "T" intersection. The turning section refers to a track section that requires large-scale turning but has no bifurcation. Preferably, the aerial track adopts a layout method of a main road plus branch roads, such as Figure 1 As shown, the aerial track includes a main road track section 6, a branch road track section 7, an intersection section 13, and a hanging member 8. The main road track section 6 is used for passing, the branch road track section 7 is a charging and docking track, and the hanging member 8 is used to hang the aerial track. The retractable gun line module is arranged at the end of the branch road track section 7 and is installed on the branch road track section 7 through a bracket flange 501 on the bracket 5. The position where the retractable gun line module is set is called a charging station.

[0038] Preferably, the specific dimensions, cross-section, material, etc. of the aerial track are set according to actual load-bearing and strength requirements.

[0039] Preferably, the aerial track can be fixed by the ceiling, load-bearing columns, walls, etc. of the erection site, so that the aerial track has load-bearing capacity.

[0040] When there is no ceiling, wall or load-bearing column in the erection site, preferably, the aerial track can be suspended and fixed by a column bracket, etc. The number, position, structure and material of the column bracket are set according to actual load-bearing and construction requirements.

[0041] 〈Embodiment of the walking module〉 Such as Figure 8An embodiment is shown in which the walking module and the movable charger adopt an integrated design. In this embodiment, the walking module can drive the movable charger to go straight or turn as required by the traveling route at the intersection section 13 and the turning section of the aerial track. Preferably, the aerial track includes a track supporting surface, and the walking module includes a driving wheel independent in-situ steering module. The driving wheel independent in-situ steering module is used to enable the movable charger to turn at the intersection section 13 or the turning section of the aerial track, and after turning, it can move along the turned aerial track path under the drive of the walking module. Preferably, the driving wheel independent in-situ steering module includes four independent steering drive wheel modules, which are arranged at the four corners of a square in the horizontal direction. Each independent steering drive wheel module includes a steering motor 19, a power motor, a rotating frame, and a wheel 20. The tread of the wheel 20 contacts the track supporting surface during movement. The power motor is installed on the rotating frame, and the rotating frame is fixedly connected to the rotating shaft of the steering motor 19. The wheel 20 is provided with rotational power by the power motor. The rotating shaft of the steering motor 19 is in the vertical direction, and the rotating shaft of the power motor is in the horizontal direction. The axis line of the rotating shaft of the steering motor 19 intersects the axis line of the rotating shaft of the power motor. The axis line of the rotating shaft of the steering motor 19 passes through the center point where the tread of the wheel 20 contacts the track supporting surface. Under the drive of the steering motor 19, each wheel 20 can independently rotate in-situ around the center point where its tread contacts the track supporting surface. Under the drive of the power motor, each wheel 20 can independently rotate forward and backward around its wheel axis line.

[0042] 〈Embodiment of the power taking module〉 Preferably, Figure 8 A schematic diagram of the power taking module 18 is also shown. When the movable charger needs to take power, the power taking module 18 rises and is connected to the power supply terminal installed at the end of the branch track section 7. The power supply terminal is installed at the terminal installation position 11 of the branch track section 7. Preferably, the power supply terminal is connected to the power supply cable. When the movable charger does not need to take power, the power taking module 18 is disconnected from the power supply terminal. Preferably, the power taking method of the power taking module can be plug-in power receiving, fixed-point contact power receiving, or sliding contact power receiving and other common conductor-to-conductor contact conduction power taking methods. These power receiving contact methods are relatively common power taking methods in the fields of electricity and electrical engineering, and will not be elaborated in detail here.

[0043] 〈Embodiment of the movable charger and the retractable gun line module〉 As Figure 1-5As shown, preferably, there are several movable chargers 1, all of which can move along the aerial track under the drive of the walking module. Preferably, the basic components and functions of the movable charger 1 are basically the same as those of an ordinary electric vehicle charging pile.

[0044] Preferably, as Figure 8 shown, the first preferred embodiment of the walking module and the movable charger 1 is: the walking module and the movable charger 1 are integrally designed, and each movable charger 1 is equipped with a walking module. The advantage of the integrated design of the walking module and the movable charger 1 is that there is no need to frequently perform operations such as separation, docking, and handling between the walking module and the movable charger 1, which can greatly improve the system reliability. However, in the case of an integrated design, if it is necessary to respond to multiple concurrent demands and the path is not blocked, the ability to change tracks is required. Therefore, the present invention also provides a track-changing scheme. The walking module can drive the movable charger 1 to travel along the aerial track and perform straight or turning operations as required by the travel route at the intersection section 13 and the turning section of the aerial track.

[0045] Preferably, the second preferred embodiment of the walking module and the movable charger 1 is: the walking module and the movable charger are designed in a split manner. There are several walking modules, and the relationship between the several movable chargers 1 and the several walking modules is set to be not pairwise bound. Each walking module can carry different movable chargers 1 along the aerial track during different operations. In this embodiment, the walking module is equivalent to a handling robot that transports the movable charger 1 between each parking space.

[0046] As Figure 1-8 shown, preferably, the retractable cable gun module further includes a cable reel 3. Preferably, when the cable reel 3 of the retractable cable gun module rotates around its rotating shaft, the cable-reeling side docking module 10 rotates together. The movable charger 1 further includes a docking angle recognition module and a docking rotation drive module. When the charger side docking module 2 and the cable-reeling side docking module 10 need to be docked, the docking angle recognition module first recognizes the relative angle difference between the cable-reeling side docking module 10 and the charger side docking module 2, and then the docking rotation drive module drives the charger side docking module 2 to rotate by a corresponding angle according to the relative angle difference, so that the charger side docking module 2 is aligned with the cable-reeling side docking module 10. Preferably, the docking angle recognition module is a visual recognition module. Preferably, the visual recognition module is installed as Figure 6In the visual module mounting holes 203 shown. When the wire reel 3 of the retractable gun wire module rotates around its rotation axis, the advantage of the setting that the wire winding side docking module 10 rotates together is that the wire winding side docking module 10 can be directly connected to the charging cable 12, and there is no need to connect them through a rotary conductive mechanism. A common rotary conductive mechanism is a slip ring, and the cost of a large current multi-wire harness slip ring is relatively high. If each retractable gun wire module is equipped with a slip ring, the economy and practicality will be very poor. However, the rotation of the wire winding side docking module 10 will also bring another problem. Since in actual use, the charging gun 4 on the retractable gun wire module is pulled down by the user, each user operation may make the wire winding side docking module 10 at a different angle. To enable the charger side docking module 2 to dock with the wire winding side docking module 10, it is necessary to perform an alignment operation between them. The settings of the docking angle recognition module and the docking rotation drive module are exactly used to solve this alignment problem.

[0047] Preferably, as Figure 1 shown, when the charger side docking module 2 is aligned with the wire winding side docking module 10, the walking module drives the charger side docking module 2 to the end of the branch track section, and then it can be docked with the wire winding side docking module 10.

[0048] Preferably, the first preferred embodiment of the wire retraction solution provided by the present invention is: after the charger side docking module 2 is docked with the wire winding side docking module 10, when the docking rotation drive module rotates, the retractable gun wire module will rotate together. In this embodiment, there is no need to add an additional drive device. Only by using the docking rotation drive module can the retractable gun wire module be driven to rotate, so as to realize automatic wire retraction after the user pulls out the gun. Preferably, as Figure 6 、 Figure 7As shown in the figure, the charger-side docking module 2 includes a plurality of large-current male terminals 201, a plurality of male signal terminals 202, and a mechanical bolt 15. The coiled-cable-side docking module 10 includes a plurality of large-current female terminals 1001, a plurality of female signal terminals 1002, and a mechanical bolt hole 16. When the charger-side docking module 2 and the coiled-cable-side docking module 10 are in a docking state, the electrical connection is achieved by the mutual docking of the large-current male terminals 201, large-current female terminals 1001, male signal terminals 202, and female signal terminals 1002. The mechanical bolt 15 and the mechanical bolt hole 16 can complete the mechanical connection between the charger-side docking module 2 and the coiled-cable-side docking module 10. The advantage of setting the mechanical connection is that when the docking rotation drive module drives the coiled gun cable module to rotate together, the terminals of the electrical connection do not need to bear a large rotational torque, and this rotational torque is mainly borne by the mechanical connection, which can better protect the terminals of the electrical connection and improve the service life and reliability.

[0049] The cable retraction solution provided by the present invention is to solve the problem of cable retraction after the user removes the charging gun. Since the movable charger 1 of the present invention does not wait for the user to remove the charging gun after charging a certain vehicle, but can automatically disconnect from the coiled-cable-side docking module 10 and prepare to go to other parking spaces to charge the next vehicle. Therefore, when the user removes the charging gun, it is very likely that the movable charger 1 has already left. At this time, if the charging gun 4 and the charging cable 12 cannot be automatically retracted, they may be scattered on the ground or may be run over by a vehicle, which is not beautiful and tidy, and at the same time, it is easy to cause damage to the charging gun cable or other dangers. Therefore, after the user removes the charging gun, it is necessary to retract the charging gun cable. Taking the first preferred embodiment of the cable retraction solution as an example, a typical scenario of automatic cable retraction after the user removes the charging gun is given: when the user removes the charging gun, a nearby idle movable charger 1 comes and docks with the coiled-cable-side docking module 10 through the charger-side docking module 2, and then drives the coiled gun cable module to rotate through the docking rotation drive module to achieve cable retraction. The advantage of the first preferred embodiment of the cable retraction solution is that the control logic is relatively simple and the driving mechanism is also less. The disadvantage is that during the cable retraction process, the charger-side docking module 2 needs to rotate continuously, and continuous multi-turn rotation necessarily requires a rotating conductive mechanism, that is, the conductive slip ring described above. However, in this solution, the conductive slip ring is arranged in the movable charger 1 and the number used is not much, so it is also economical and practical.

[0050] Preferably, the second preferred embodiment of the cable retraction solution provided by the present invention is: the movable charger 1 further includes an electrical docking telescopic module, a coiled cable rotation drive module, a charger-side rotation docking mechanism, and the coiled gun cable module includes a coiled-cable-side rotation docking mechanism. Figure 6 、 Figure 7The mechanical bolt 15 and the mechanical socket 16 therein can be used as the charging station side rotary docking mechanism and the coiled wire side rotary docking mechanism respectively. However, the design needs to be changed, that is, the mechanical bolt 15 cannot rotate together with the charging station side docking module 2, and the rotation between the two should be independent. Preferably, the mechanical bolt 15 and the charging station side docking module 2 share the same rotation axis. When the movable charging station 1 and the coiled wire gun module are in the docking position and the charging station side docking module 2 and the coiled wire side docking module 10 are already aligned, the electrical docking telescopic module can drive the charging station side docking module 2 and the coiled wire side docking module 10 to achieve electrical docking and disconnect the electrical docking; the charging station side rotary docking mechanism can achieve mechanical docking with the coiled wire side rotary docking mechanism. When the charging station side docking module and the coiled wire side docking module disconnect the electrical docking, the coiled wire rotation drive module can drive the coiled wire gun module to rotate around its rotation axis through the mechanical docking between the charging station side rotary docking mechanism and the coiled wire side rotary docking mechanism. Compared with the first preferred embodiment of the wire winding scheme, the second preferred embodiment of the wire winding scheme is characterized by having four additional modules: the electrical docking telescopic module, the coiled wire rotation drive module, the charging station side rotary docking mechanism, and the coiled wire side rotary docking mechanism. The structure is relatively more complex, but it does not require the use of expensive conductive slip rings.

[0051] Preferably, the third preferred embodiment of the wire winding scheme provided by the present invention is: the coiled wire gun module further includes a winding drive module, and the winding drive module can drive the coiled wire gun module to rotate around its rotation axis. The third preferred embodiment of the wire winding scheme directly places the wire winding drive mechanism on the coiled wire gun module side. Compared with the first and second preferred embodiments, the structure and implementation logic of the third preferred embodiment are simpler. However, it is necessary to deploy the winding drive module for each coiled wire gun module. If the number of parking spaces in a parking lot is very large, it will lead to a rapid increase in cost, and the increase in drive components will also bring pressure to the reliability and robustness of the system.

[0052] 〈Implementation Modes of Control Processing Unit〉 The control processing unit should at least have the capabilities of data analysis processing and control. It can be a general-purpose chip, such as a central processing unit CPU, a microcontroller MCU, etc., or a dedicated processing and control chip, or a circuit board module with the above chips as the main control chip. Programs or software for implementing corresponding functions are usually loaded on the control processing unit. The control processing unit can be an integrated controller or composed of multiple controllers. Preferably, controllers with control processing capabilities are provided on both the movable charging station 1 and the coiled wire gun module.

[0053] 〈Implementation Modes of Charging Call Response System〉 Preferably, the call method adopted by the charging call response system is code scanning call. A charging code, usually a two-dimensional code, is set beside each parking space. Users can call for charging by scanning this charging code through the APP or mini-program.

[0054] Furthermore, the charging call response system further includes a charging scheduling system. A charging two-dimensional code is set for each charging station, and each charging station corresponds to the charging two-dimensional code set thereon. Users can achieve charging call by scanning the charging two-dimensional code through the mobile APP or WeChat mini-program. The charging scheduling system realizes the scheduling and path planning of the movable charger 1, as well as functions such as reservation charging management and queuing sequence management.

[0055] In addition, the walking, movement, docking, wire retraction and function realization of the movable charger of the present invention require the participation of some feedback sensors, such as limit sensors, position sensors, contact sensors, microswitches, etc., which are used to feedback the position or state of a certain action execution device or component of the movable charger 1 and the retractable gun line module under certain working conditions. The setting of the feedback sensors belongs to the routine operation in the field of automatic control. Usually, it is set as required. Wherever a corresponding feedback signal is needed, the corresponding feedback sensor is set. Therefore, the specific setting details of the feedback sensors are not elaborated herein. Preferably, the feedback sensors are connected to the control processing unit directly or indirectly. The position feedback of the movable charger 1 on the overhead track can be realized by an industrial code reader and a position two-dimensional code. This technology is a routine technology in the field of AGV and robots and will not be elaborated herein.

[0056] 〈Embodiment of Communication Unit〉 The communication unit is used to provide the system with the ability of communication information transmission and interaction. In terms of the selection of communication methods, if a wireless communication method is adopted, common mobile communication networks can be used for long-distance and large-scale communication, such as 5G communication, 4G communication, 3G communication, etc., and communication methods such as Wifi, Bluetooth, ZigBee, and transparent transmission can be used for short-distance and small-scale communication. And the wired communication method usually adopts network cable. Preferably, the communication between the movable charger 1 and the charging call response system can adopt the communication method of Wifi or mobile communication network, and the communication between the retractable gun line module and the charging call response system can also adopt the communication method of Wifi or mobile communication network. Preferably, communication can also be realized between the movable charger 1 and the retractable gun line module, and the communication method is preferably Wifi or Bluetooth communication.

Claims

1. A pile-line split-type retractable aerial mobile charging robot system, characterized in that, It includes an overhead track, a walking module, a movable charger, a retractable charging cable module, a charger-side docking module, a cable-side docking module, a power-taking module, a communication unit, a charging call response system, and a control processing unit. The overhead track is deployed above the parking spaces in the parking lot. The movable charger can move along the overhead track under the drive of the walking module. A number of retractable charging cable modules are provided and are deployed beside the corresponding parking spaces according to the parking space layout. The position where the retractable charging cable module is deployed is called a charging station. The retractable charging cable module includes a rotating shaft and a charging cable. When the retractable charging cable module rotates forward and backward around its rotating shaft, the winding and unwinding of the charging cable can be realized. The charger-side docking module is arranged on the movable charger, and the cable-side docking module is arranged on the retractable charging cable module. When the movable charger moves to a certain charging station, the charger-side docking module can be electrically docked with the cable-side docking module. When the charging task is completed, the charger-side docking module can be disconnected from the cable-side docking module. The power-taking module is used to connect the movable charger to the input power supply. The communication unit is used to provide information transmission and interaction communication capabilities for the system. The charging call response system is used to respond to the charging needs of users. The control processing unit is used to provide processing and control capabilities for the system.

2. The pile-line split type retractable wire aerial mobile charging robot system according to claim 1, wherein There are a number of movable chargers, all of which can move along the overhead track under the drive of the walking module.

3. The pile-line split type retractable wire aerial mobile charging robot system according to claim 2, wherein The walking module and the movable charger are of an integrated design, and each movable charger is equipped with a walking module.

4. The cable pile split type retractable cable aerial mobile charging robot system according to claim 2, characterized in that, The walking module and the movable charger adopt a split design. There are a number of walking modules, and the relationship between the number of movable chargers and the number of walking modules is set to be not pairwise bound. Each walking module can carry different movable chargers to move along the overhead track in different operations.

5. The pile-line split type retractable wire aerial mobile charging robot system according to claim 1, characterized in that When the retractable charging cable module rotates around its rotating shaft, the cable-side docking module rotates together. The movable charger further includes a docking angle recognition module and a docking rotation drive module. When the charger-side docking module and the cable-side docking module need to be docked, the docking angle recognition module first recognizes the relative angle difference between the cable-side docking module and the charger-side docking module, and then the docking rotation drive module drives the charger-side docking module to rotate by a corresponding angle according to the relative angle difference, so that the charger-side docking module and the cable-side docking module are aligned.

6. The cable-separated retractable cable aerial mobile charging robot system according to claim 5, characterized in that, After the charger-side docking module and the cable-side docking module are aligned, the walking module drives the charger-side docking module and the cable-side docking module to be docked.

7. The pile-line split type retractable wire aerial mobile charging robot system according to claim 5, characterized in that, After the charger-side docking module and the cable-side docking module are docked, when the docking rotation drive module rotates, the retractable charging cable module will rotate together.

8. The cable-stake separable retractable cable aerial mobile charging robot system according to claim 5, characterized in that, The movable charger further includes an electrical docking telescopic module, a wire winding rotation driving module, and a charger-side rotation docking mechanism. The wire winding gun line module includes a wire winding-side rotation docking mechanism. When the movable charger and the wire winding gun line module are in the docking position and the charger-side docking module and the wire winding-side docking module are already aligned, the electrical docking telescopic module can drive the charger-side docking module and the wire winding-side docking module to achieve electrical docking and disconnect the electrical docking; the charger-side rotation docking mechanism can be mechanically docked with the wire winding-side rotation docking mechanism. When the charger-side docking module and the wire winding-side docking module disconnect the electrical docking, the wire winding rotation driving module can drive the wire winding gun line module to rotate around its rotation axis through the mechanical docking between the charger-side rotation docking mechanism and the wire winding-side rotation docking mechanism.

9. The pile-line split type retractable wire aerial mobile charging robot system according to claim 5, characterized in that, The wire winding gun line module further includes a winding driving module, and the winding driving module can drive the wire winding gun line module to rotate around its rotation axis.

10. The split pile and wire retractable aerial mobile charging robot system according to claim 3, characterized in that, The track path of the aerial track includes a plurality of straight sections, a plurality of intersection sections, and zero or more turning sections. The walking module can drive the movable charger to travel along the aerial track and perform straight running or steering at the intersection and turning section positions of the aerial track according to the needs of the traveling route.

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