Deployment, communication and control method of straight rail type aerial mobile charging robot

Abstract

According to the deployment, communication and control method of the straight rail type aerial mobile charging robot, the charging robot runs on a straight rail in a suspended mode, a plurality of charging stations are arranged along the straight rail, and the charging robot can move back and forth along the straight rail and provide mobile charging service for vehicles parked below the charging stations. When the number of the charging robots hung on the same straight rail is larger than one, each charging robot is only responsible for the charging station in a certain section on the straight rail, and all the charging stations in the section are bound with the charging robot; the invention relates to the field of new energy vehicle charging, adopts a very simple system architecture and a communication control scheme, realizes aerial mobile charging and unbinding of a binding relationship between a parking space and a charging pile at very low cost and in a very simple manner, changes a mode of finding a pile by a vehicle into a mode of finding a vehicle by a pile, and improves the utilization efficiency of charging resources and the charging experience of a user.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle charging, and in particular to a method for deploying, communicating and controlling a straight-track aerial mobile charging robot. Background Art

[0002] The current problems faced by the new energy electric vehicle charging and charging pile industry include: (1) When looking for charging piles, car owners often need to spend a lot of time looking for charging points, looking for available charging piles, and queuing, which leads to serious charging anxiety. (2) Parking spaces suitable for building commercial charging piles are generally located in relatively good locations, and the site costs are high, resulting in high overall costs for commercial charging piles. (3) The construction of a large number of charging piles will lead to high construction costs and low utilization rates, which not only wastes resources but also increases the power distribution pressure of the power grid. (4) The problem of charging pile parking spaces being occupied by fuel vehicles cannot be solved, resulting in a situation where either parking space resources or charging pile resources are wasted. Therefore, it is necessary to develop an intensive electric vehicle charging solution that does not require the construction of charging piles for each parking space, and car owners do not need to specifically look for charging points. As long as the car is parked in the service coverage area where the intensive electric vehicle charging solution is deployed, convenient and fast charging can be achieved.

[0003] In the previously filed Chinese patent applications for "A Suspended Mobile Charging Pile System with Four-Wheel Independent Drive and Steering" (Application No.: 2023201748902) and "A Suspended Track Four-Wheel Independent Steering and Travel System" (Application No.: 2023214703187), the inventor proposed a variable-track aerial mobile charging solution. This solution can provide on-the-go mobile charging services for electric vehicles parked in any parking space below the intersecting track. This solution unbinds the binding relationship between parking spaces and charging piles, changing the process from car-to-pile search to pile-to-car search, completely solving the problem of gasoline vehicles occupying parking spaces and improving the efficiency of charging resource utilization and the user charging experience. However, due to the use of cross-track in-situ four-way active track change and automatic power supply technology, the overall technical complexity is relatively high, resulting in a significantly higher hardware cost per device compared to traditional charging piles. Although the overall operational efficiency, payback period, and overall cost-effectiveness are better than those of traditional charging piles, the higher hardware cost per device still raises the investment threshold. The inventors discovered that if the track change system is removed and replaced with a straight track that does not require track change, and the power supply method of the suspended charging pile is optimized, the total hardware cost of the mobile charging solution can be greatly reduced. Of course, since the track cannot be changed, congestion and operational efficiency issues will also become prominent. So, given these shortcomings, if the straight-track aerial mobile charging solution is to have a higher overall benefit, it is necessary to achieve extreme system simplicity and extreme cost advantages. The solution provided by the present invention is precisely a straight-track aerial mobile charging solution with extremely optimized cost and extremely simple system. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for deploying, communicating and controlling a straight-track aerial mobile charging robot. By adopting an extremely concise system architecture and communication control scheme, the method realizes aerial mobile charging at a very low cost and in a very simple manner, unbinding the binding relationship between parking spaces and charging piles, and changing the process from car looking for piles to piles looking for car, thereby improving the efficiency of charging resource utilization and the user charging experience.

[0005] In order to achieve the above-mentioned invention objectives, the corresponding technical solutions are as follows: A method for deploying, communicating, and controlling a straight-rail aerial mobile charging robot, wherein the charging robot is suspended and operated on the straight rail, and the number of charging robots suspended on the same straight rail is greater than or equal to one; a plurality of charging stations are arranged along the straight rail, and the charging robot can move back and forth along the straight rail and provide mobile charging services for vehicles parked below the charging stations; when the number of charging robots suspended on the same straight rail is greater than one, the movable range of each charging robot is set to not overlap with other charging robots, i.e., segmented coverage, and each charging robot is only responsible for the charging stations within a certain segment on the straight rail, and all charging stations within the segment are bound to the charging robot; the operation and scheduling of the charging robot are managed by a cloud-based backend system, which also stores The relationship data of which charging stations each charging robot is bound to, the charging robot communicates with the cloud-based backend system through the mobile communication network, each charging station is provided with a position feedback mark and a charging code and is bound accordingly, and the binding relationship is also stored in the cloud-based backend system, the charging robot is provided with a position mark reading device, and the charging robot can obtain its current position on the straight track by reading the position feedback mark through the position mark reading device; when the user scans the charging code at a charging station through a mobile terminal, the cloud-based backend system sends a control instruction to the charging robot through the mobile communication network according to which charging robot the charging station is bound to, so that the robot moves to the charging station scanned by the user and provides charging service.

[0006] The movable range of each charging robot is set to not overlap with other charging robots. The advantage of using segmented coverage is that it can greatly simplify the scheduling architecture and deployment plan. In addition, with this segmented coverage, drag chain cables can be used for power supply, eliminating the need for expensive contact power supply solutions.

[0007] The setting that each charging robot is only responsible for the charging stations within a certain section on the straight track, and all charging stations within the section are bound to the charging robot, also greatly simplifies the scheduling architecture and communication method. When the cloud-based backend system receives a charging call request from the user, it can directly determine which charging robot will respond to the call, and can send response control instructions to the charging robot through direct communication. There is no need for additional scheduling management hardware facilities and scheduling software. The overall architecture is very simple, efficient, stable and reliable. The additional scheduling management hardware facilities usually include an on-site central controller, which has a high hardware cost and requires an additional central control communication module. However, the present invention does not require the installation of additional scheduling management hardware facilities, so the cost is very low.

[0008] Preferably, the position feedback mark is a discrete position feedback mark.

[0009] Preferably, the first preferred embodiment of the position feedback mark is an electronic tag, and the position mark reading device is an electronic tag reader. When the charging robot moves to a certain charging station, the electronic tag reader on the charging robot can read the information in the electronic tag set on the charging station. Compared with the QR code positioning navigation and magnetic nail positioning navigation commonly used in the AGV field, the advantage of using electronic tags and electronic tag readers as a positioning solution in the present invention is that the cost is much lower and it is not easy to lose codes. Although the positioning accuracy is relatively low, in the application scenario of the present invention, the positioning accuracy does not affect the user's use, because the charging robot can draw power through the drag chain cable, and the docking position a little forward or a little backward will not affect the actual use of the user.

[0010] Preferably, the second preferred embodiment of the position feedback mark is a position QR code, and the position mark reading device is a QR code reader. When the charging robot moves to a certain charging station, the QR code reader on the charging robot can read the information of the position QR code set on the charging station.

[0011] Preferably, the charging robot further includes a control unit and a charging gun line retraction and extension system, and the user scanning the code to charge includes the following steps: S1: The user scans the charging code at a charging station with a mobile terminal, and the mobile terminal sends the scanned code charging request to the cloud backend system through the mobile communication network; S2: After receiving the scan code charging request, the cloud backend system determines the charging station bound to the charging code based on the charging code scanned by the user, which is called the target charging station, and then determines the charging robot bound to the target charging station; S3: The cloud backend system sends a control instruction to the charging robot determined in step S2 via the mobile communication network, instructing it to move to the charging station where the user scans the code; S4: The control unit of the charging robot determines the moving direction from the current position to the target charging station according to the received control instruction, and then controls the charging robot to move in the direction; S5: As the charging robot moves toward the target charging station, its position mark reading device reads each position feedback mark it passes through in real time. When it reads the position feedback mark of the target charging station, the charging robot stops and lowers the charging gun through the charging gun cable retraction system; S6: After the user inserts the charging gun into the vehicle charging port, the user can send a start charging instruction to the cloud background system through the mobile terminal. The cloud background system then sends a start charging command to the control unit of the charging robot to start charging; S7: After the user completes charging and unplugs the charging gun, the charging gun wire retraction system automatically retracts the charging gun.

[0012] Beneficial effects of the present invention: (1) The present invention adopts an extremely simple system architecture and communication control scheme, realizing mobile charging in the air at a very low cost and in a very simple way, unbinding the binding relationship between parking spaces and charging piles, changing the process from car looking for piles to piles looking for cars, thereby improving the efficiency of charging resource utilization and the user charging experience; (2) The movable range of each charging robot is set to not overlap with other charging robots. The advantage of using segmented coverage is that it can greatly simplify the scheduling architecture and deployment plan. In addition, under this segmented coverage, drag chain cables can be used for power supply, eliminating the need for expensive contact power supply solutions. (3) Each charging robot is only responsible for the charging stations within a certain section on the straight track, and all charging stations within the section are bound to the charging robot. This greatly simplifies the scheduling architecture and communication methods. When the cloud-based backend system receives a user's charging call request, it can directly determine which charging robot will respond to the call and send a response control instruction to the charging robot through direct communication. There is no need for additional scheduling management hardware facilities and scheduling software. The overall architecture is very simple, efficient, stable and reliable. (4) Compared with the QR code positioning and navigation and magnetic nail positioning and navigation commonly used in the AGV field, the advantages of the present invention in using electronic tags and electronic tag readers as positioning solutions are that the cost is much lower and it is not easy to lose the code. Although the positioning accuracy is relatively low, in the application scenario of the present invention, the positioning accuracy does not affect the user's use, because the charging robot can draw power through the drag chain, and the docking position is a little forward or a little backward. It will not affect the actual use of the user.

[0013] The above beneficial effects have been verified during actual implementation during the product development process. It should also be noted that the beneficial effects of the present invention are not limited to the above description and can be understood in conjunction with specific technical solutions and preferred embodiments. In addition, the description of the technical effects and beneficial effects of a specific technical solution or preferred embodiment is also interspersed in the invention content of the present invention and the embodiments below. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional schematic diagram of a straight-track aerial mobile charging robot system of the present invention, which shows a schematic diagram of the charging robot after being pulled out from the track.

[0015] Figure 2 is a three-dimensional schematic diagram of the charging robot suspended in the track.

[0016] Figure 3 It is a bottom-up schematic diagram of a straight-track aerial mobile charging robot system of the present invention.

[0017] Figure 4 is a three-dimensional schematic diagram of the charging robot.

[0018] Figure 5 Schematic diagram of the charging robot when it is in the rightmost position under the length limitation of the drag chain cable.

[0019] Figure 6 Schematic diagram of the charging robot when it is in the leftmost position due to the length limitation of the drag chain cable. DETAILED DESCRIPTION

[0020] The present invention will be further described and explained in detail below in conjunction with the embodiments, implementation methods and drawings of the present invention. It should be noted that the described embodiments or implementation methods are only part of the embodiments or implementation methods of the present invention, rather than all of the embodiments or implementation methods. The drawings are only schematic diagrams for convenience of explanation, rather than complete limitations of the implementation methods of the present invention. Based on the embodiments or implementation methods of the present invention, all other embodiments or implementation methods obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0021] The following description of the embodiments or implementations of the present invention is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0022] like Figure 1-6As shown, a method for deploying, communicating and controlling a straight-rail aerial mobile charging robot is provided, wherein the charging robot is suspended and operated on a straight rail 1, and the number of charging robots suspended on the same straight rail is greater than or equal to one; a plurality of charging stations are provided along the straight rail 1, and the charging robot can move back and forth along the straight rail 1 and provide mobile charging services for vehicles parked below the charging stations; when the number of charging robots suspended on the same straight rail 1 is greater than one, the movable range of each charging robot is set to not overlap with other charging robots, i.e., segmented coverage, and each charging robot is only responsible for the charging stations within a certain segment on the straight rail 1, and all charging stations within the segment are bound to the charging robot; the operation and scheduling of the charging robot are managed by a cloud-based backend system, and the cloud-based backend system The system also stores data on the relationship between each charging robot and the charging stations it is bound to. The charging robot communicates with the cloud-based backend system via a mobile communication network. Each charging station is provided with a position feedback mark and a charging code, which are bound accordingly. The binding relationship is also stored in the cloud-based backend system. The charging robot is provided with a position mark reading device, which can read the position feedback mark to obtain its current position on the straight track 1. When a user scans the charging code at a charging station through a mobile terminal, the cloud-based backend system sends a control instruction to the charging robot via the mobile communication network based on which charging robot the charging station is bound to, causing it to move to the charging station scanned by the user and provide charging services. Preferably, the charging code is a QR code.

[0023] The movable range of each charging robot is set to not overlap with other charging robots. The advantage of using segmented coverage is that it can greatly simplify the scheduling architecture and deployment plan. In this case of segmented coverage, a drag chain cable 4 can be used for power supply without the need for expensive contact power supply solutions.

[0024] The setting that each charging robot is only responsible for the charging stations within a certain section on the straight track, and all charging stations within the section are bound to the charging robot, also greatly simplifies the scheduling architecture and communication method. When the cloud-based backend system receives a charging call request from the user, it can directly determine which charging robot will respond to the call, and can send response control instructions to the charging robot through direct communication. There is no need for additional scheduling management hardware facilities and scheduling software. The overall architecture is very simple, efficient, stable and reliable. The additional scheduling management hardware facilities usually include an on-site central controller, which has a high hardware cost and requires an additional central control communication module. However, the present invention does not require the installation of additional scheduling management hardware facilities, so the cost is very low.

[0025] Preferably, the position feedback mark is a discrete position feedback mark.

[0026] Preferably, the first preferred embodiment of the position feedback marker is an electronic tag 8, and the position marker reading device is an electronic tag reader 10. When the charging robot moves to a charging station, the electronic tag reader 10 on the charging robot can read the information in the electronic tag 8 set at the charging station. Compared to the QR code positioning and navigation and magnetic nail positioning and navigation commonly used in the AGV field, the advantages of using the electronic tag 8 and electronic tag reader 10 as a positioning solution in the present invention are that the cost is much lower and the code is not easily lost. Although the positioning accuracy is relatively low, in the application scenario of the present invention, the positioning accuracy does not affect the user's use, because the charging robot can draw power via the drag chain cable, and whether the docking position is a little forward or a little backward will not affect the actual use of the user.

[0027] Preferably, the charging robot further includes a control unit and a charging gun line retraction and extension system, and the user scanning the code to charge includes the following steps: S1: The user scans the charging code at a charging station with a mobile terminal, and the mobile terminal sends the scanned code charging request to the cloud backend system through the mobile communication network; S2: After receiving the scan code charging request, the cloud backend system determines the charging station bound to the charging code based on the charging code scanned by the user, which is called the target charging station, and then determines the charging robot bound to the target charging station; S3: The cloud backend system sends a control instruction to the charging robot determined in step S2 via the mobile communication network, instructing it to move to the charging station where the user scans the code; S4: The control unit of the charging robot determines the moving direction from the current position to the target charging station according to the received control instruction, and then controls the charging robot to move in the direction; S5: As the charging robot moves toward the target charging station, its position mark reading device reads each position feedback mark it passes through in real time. When it reads the position feedback mark of the target charging station, the charging robot stops and lowers the charging gun through the charging gun cable retraction system; S6: After the user inserts the charging gun into the vehicle charging port, the user can send a start charging instruction to the cloud background system through the mobile terminal. The cloud background system then sends a start charging command to the control unit of the charging robot to start charging; S7: After the user completes charging and unplugs the charging gun, the charging gun wire retraction system automatically retracts the charging gun.

[0028] The specific implementation of the charging robot is described below: like Figure 1-6As shown, preferably, the charging robot includes a walking module, a charging pile body 2, a charging gun line retracting and releasing system, a charging gun line, and an electronic tag reader 10. The charging gun line includes a charging gun 3. The walking module is used to drive the charging robot to move along the straight track 1. One end of the drag chain cable 4 is connected to the input power supply, and the other end is connected to the charging robot. The end connected to the input power supply is called the drag chain input end 401, and the end connected to the charging robot is called the drag chain output end 402; an electronic tag 8 and a charging code are deployed at the corresponding track position above each charging station. The tag 8 corresponds one-to-one to the charging station, and the charging code also corresponds one-to-one to the charging station. When the charging robot moves to a charging station, the electronic tag reader 10 can read the information of the electronic tag 8; when the user scans the charging code on a charging station, the cloud background system allocates and dispatches the charging robot according to the charging call request, so that it moves to the charging station to provide charging services; the charging gun line retraction system is used to realize the retraction and extension of the charging gun line, the control unit is used to realize the control of the charging robot, and the communication unit is used to realize the information transmission and interactive communication of the system.

[0029] Preferably, the walking module includes a driving motor, a driving wheel 5 and a mounting frame 6. Preferably, the driving motor and the driving wheel 5 are both mounted on the mounting frame 6.

[0030] like Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 As shown, the function of the drag chain cable 4 is to power the charging robot. The advantage of using the drag chain cable 4 as a power supply method is that it does not require power from a busbar or a fixed-point power supply mechanism, so the structure is simple, stable, reliable and low-cost. The electronic tag 8 and the electronic tag reader 10 are used to locate the position of the charging robot on the track 1. Compared with the QR code positioning navigation and magnetic nail positioning navigation commonly used in the AGV field, the electronic tag reader 10 is much cheaper when paired with the electronic tag 8, and is not prone to code loss. Although the positioning accuracy is relatively low, in the application scenario of the present invention, the positioning accuracy does not affect the user's use, because the charging robot draws power through the drag chain cable 4, and whether the docking position is a little forward or a little backward will not affect the actual use of the user.

[0031] Preferably, under the length limit of the drag chain cable 4, all charging stations that a certain charging robot can reach are bound to the charging robot, and when the user scans any charging code on these charging stations, the cloud-based backend system assigns the charging call request to the charging robot and sends a control instruction to it to move to the charging station to provide charging services. The advantage of the setting that all charging stations that the charging robot can reach are bound to the charging robot is that when the cloud-based backend system receives the user's scan code call request, it can directly determine which charging robot will respond to the call, and directly control the charging robot to respond through the communication unit, without the need for additional scheduling management hardware facilities and scheduling software. The overall architecture is very simple, efficient, stable and reliable. The additional scheduling management hardware facilities usually include an on-site central controller, which has a high hardware cost and needs to be equipped with an additional central control communication module. The present invention does not require the setting of additional scheduling management hardware facilities, so the cost is very low.

[0032] The distance between the beginning and the end of all charging stations that a single charging robot needs to cover is called the required coverage distance. Preferably, the connection position of the drag chain cable 4 and the input power supply is located in the middle of the required coverage distance. Figure 5 、 Figure 6 The drag chain inlet end 401 is located in the middle of the required coverage stroke. The advantage of this setting is that the length of the drag chain cable 4 can be minimized while achieving full coverage of the charging stations within the same distance range. Because under this setting, with the connection position of the drag chain cable 4 and the input power supply, that is, the drag chain inlet end 401 as the starting point, the hanging charging robot can move to the left or to the right, and the maximum distance it moves to the left or right is almost the length of the drag chain cable 4. Figure 5 、 Figure 6 Therefore, only about half the length of the drag chain cable 4 can be used to cover the charging stations on the left and right sides. That is, the length of the drag chain cable 4 can be minimized, which greatly reduces the amount of the drag chain cable 4 and greatly saves deployment costs.

[0033] Preferably, the charging gun wire retracting and releasing system is a winding wire retracting and releasing mechanism. Figure 4As shown, the first preferred embodiment of the winding form of the winding-type reel-and-wind mechanism is a spiral wire, and the winding-type reel-and-wind mechanism includes a spiral wire reel 9. Preferably, the straight rail 1 is a hollow rail, and the hollow rail includes a rail through groove 103. The walking module is located in the first rail cavity 101 of the straight rail 1, and the charging pile body 2 is connected to the walking module through a hanging connector 7. Preferably, the drag chain cable 4 is located in the second rail cavity 102 of the straight rail 1. Preferably, a portion of the spiral wire reel 9 extends upward over the rail through groove 103 and is located in the hollow rail. The advantage of this setting is that a portion of the height of the spiral wire reel 9 can be hidden in the hollow rail, thereby reducing the height space occupied by the charging robot, which is very important for underground parking lots with low clearance. In addition, this setting can also reduce the shell height of the charging robot, so that the charging robot looks flatter and more beautiful.

[0034] Preferably, a second preferred embodiment of the winding form of the winding-type retractable wire mechanism is a spiral wire, and the winding-type retractable wire mechanism includes a spiral winding drum.

[0035] Preferably, the communication unit is a 4G mobile communication network module. 4G communication modules are widely used in various industries and are in large quantities. Therefore, compared with other communication modules, they also have very significant reliability and cost advantages.

[0036] Preferably, the control unit should at least have the ability to analyze, process and control data. It can be a general-purpose chip, such as a central processing unit (CPU), a microprocessor (MCU), etc., or a dedicated processing and control chip, or a circuit board module with the above chip as the main control chip. The control unit is usually loaded with a program or software that implements the corresponding function. The control unit can be a single integrated control processor or can be composed of multiple control processors. Preferably, the communication unit, cloud background system, walking module, charging gun line retraction system, and electronic tag reader 10 are all connected to the control unit directly or indirectly.

Claims

1. A method for deploying, communicating and controlling a straight-track aerial mobile charging robot, characterized in that: The charging robot is suspended and runs on a straight rail, and the number of charging robots suspended on the same straight rail is greater than or equal to one; Several charging stations are set up along the straight track. The charging robots can move back and forth along the straight track and provide mobile charging services for vehicles parked below the charging stations. When there are more than one charging robots suspended on the same straight track, the movable range of each charging robot is set to not overlap with other charging robots, that is, segmented coverage. Each charging robot is only responsible for the charging stations within a certain segment on the straight track, and all charging stations within the segment are bound to the charging robot; The operation and scheduling of the charging robots are managed by a cloud-based backend system, which also stores data on which charging stations each charging robot is bound to. The charging robots communicate with the cloud-based backend system via a mobile communication network. Each charging station is provided with a position feedback mark and a charging code and the corresponding binding relationship is also stored in the cloud backend system. The charging robot is provided with a position mark reading device, and the charging robot can read the position feedback mark through the position mark reading device to obtain its current position on the straight rail; When a user scans the charging code at a charging station through a mobile terminal, the cloud-based backend system sends a control instruction to the charging robot through the mobile communication network based on which charging robot is bound to the charging station, so that the robot moves to the charging station where the user scans the code and provides charging services.

2. The method for deploying, communicating and controlling a straight-track aerial mobile charging robot according to claim 1, characterized in that: The position feedback mark is a discrete position feedback mark.

3. The method for deploying, communicating and controlling a straight-track aerial mobile charging robot according to claim 2, characterized in that: The position feedback mark is an electronic tag, and the position mark reading device is an electronic tag reader. When the charging robot moves to a certain charging station, the electronic tag reader on the charging robot can read the information in the electronic tag set on the charging station.

4. The method for deploying, communicating and controlling a straight-track aerial mobile charging robot according to claim 2, characterized in that: The position feedback mark is a position QR code, and the position mark reading device is a QR code reader. When the charging robot moves to a certain charging station, the QR code reader on the charging robot can read the information of the position QR code set on the charging station.

5. The method for deploying, communicating and controlling a straight-track aerial mobile charging robot according to claim 1, characterized in that: The charging robot also includes a control unit and a charging gun line retraction system. The implementation of user scanning code charging includes the following steps: S1: The user scans the charging code at a charging station with a mobile terminal, and the mobile terminal sends the scanned code charging request to the cloud backend system through the mobile communication network; S2: After receiving the scan code charging request, the cloud backend system determines the charging station bound to the charging code based on the charging code scanned by the user, which is called the target charging station, and then determines the charging robot bound to the target charging station; S3: The cloud backend system sends a control instruction to the charging robot determined in step S2 via the mobile communication network, instructing it to move to the charging station where the user scans the code; S4: The control unit of the charging robot determines the moving direction from the current position to the target charging station according to the received control instruction, and then controls the charging robot to move in the direction; S5: As the charging robot moves toward the target charging station, its position mark reading device reads each position feedback mark it passes through in real time. When it reads the position feedback mark of the target charging station, the charging robot stops and lowers the charging gun through the charging gun cable retraction system; S6: After the user inserts the charging gun into the vehicle charging port, the user can send a start charging instruction to the cloud background system through the mobile terminal. The cloud background system then sends a start charging command to the control unit of the charging robot to start charging; S7: After the user completes charging and unplugs the charging gun, the charging gun wire retraction system automatically retracts the charging gun.

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