Automatic charging system

Abstract

The invention provides an automatic charging system, and relates to the technical field of new energy automobile charging, the automatic charging system comprises a mobile charging module, the mobile charging module comprises a mobile charging pile, a transfer robot, an air track and a charging pile parking berth arranged on the air track, the charging pile parking berth is provided with a charging gun and a charging pile butt joint part used for being connected with the mobile charging pile, and the carrying robot walks on the aerial track, carries the mobile charging pile to the charging pile parking berth and completes butt joint of the mobile charging pile and the charging pile butt joint part; and the automatic charging module comprises a mechanical arm provided with an image acquisition mechanism, one end of the mechanical arm is fixed to the transfer robot, the other end of the mechanical arm is provided with a grabbing mechanism, and the grabbing mechanism is used for grabbing the charging gun to be inserted into the charging interface of the target vehicle under the indication of the image acquisition mechanism. Through the cooperative structural design of the mobile charging module and the automatic charging module, the charging convenience and efficiency of the electric vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle charging technology, and in particular to an automatic charging system. Background Art

[0002] With the rapid popularization of new energy electric vehicles, charging convenience has become a core issue that affects user experience and restricts the development of the industry. At present, the charging process of electric vehicles still mainly relies on users to manually plug and unplug the charging gun, and its operation mode has the following significant defects: (1) Limited operational convenience: The charging gun needs to be plugged and unplugged by the user at close range. In harsh environments such as low visibility at night, rain, snow or strong wind, it is difficult to locate the interface, which can easily lead to plug-in failure or electric shock risks, significantly reducing charging efficiency and safety; (2) Insufficient environmental adaptability: Traditional manual charging requires high physical operation ability of the user, and elderly or disabled users face greater obstacles in use; (3) Dependence on user intervention: The charging process requires the user to participate in the entire process, and true "senseless charging" cannot be achieved.

[0003] Some existing technologies propose to achieve automatic plugging and unplugging of charging guns through robotic systems. However, existing solutions generally face the following technical bottlenecks: (1) High mechanical structure complexity: Most of them use mobile robots equipped with multi-degree-of-freedom robotic arms, which require multi-sensor arrays and precision servo drives, resulting in large equipment size, high cost, and difficult maintenance; (2) Strong dependence on positioning accuracy: Relying on high-precision visual recognition or lidar positioning, the tolerance for installation errors of the charging pile and vehicle interface is low. In actual scenarios, it is easily affected by lighting, occlusion, or interface wear, resulting in an increased plugging and unplugging failure rate; (3) Immature supporting design: The charging pile and charging gun lack flexible design.

[0004] Therefore, there is an urgent need for an automated charging system with a simple mechanical structure, controllable costs, and the ability to automatically plug and unplug charging guns, so as to effectively solve the drawbacks of traditional charging methods and improve the convenience and efficiency of electric vehicle charging. Summary of the Invention

[0005] The purpose of this application is to provide an automatic charging system to solve the above problems.

[0006] To achieve the above objectives, the present application proposes an automatic charging system, which includes: A mobile charging module, comprising a mobile charging pile, a transport robot, an aerial track, and a charging pile docking berth located on the aerial track, wherein the charging pile docking berth is provided with a charging gun and a charging pile docking portion for connecting to the mobile charging pile; the transport robot travels on the aerial track, transports the mobile charging pile to the charging pile docking berth, and completes docking between the mobile charging pile and the charging pile docking portion; An automatic charging module includes a robotic arm provided with an image acquisition mechanism, one end of the robotic arm is fixed to the transport robot, and the other end is provided with a grasping mechanism, and the grasping mechanism is used to grasp the charging gun and insert it into the charging port of the target vehicle under the instruction of the image acquisition mechanism.

[0007] In some embodiments, a ring mark is provided on the periphery of the charging interface, and the image acquisition mechanism locates the charging interface through the ring mark and instructs the gripping mechanism that grips the charging gun to insert the charging gun into the charging interface.

[0008] In some embodiments, the interface side wall of the charging interface is provided with an entrance chamfer, forming a first guide slope that shrinks inward from the outer edge of the interface side wall, and the gun head of the charging gun is provided with an insertion chamfer, forming a second guide slope that shrinks inward from the outer edge of the gun head, and the first guide slope is aligned with the second guide slope.

[0009] In some embodiments, the image acquisition mechanism includes a first camera and a second camera. The first camera is arranged at one end of the robotic arm fixed to the berth of the charging pile, and is used to collect vehicle information and parking position of the target vehicle. The second camera is arranged on the grasping mechanism, and is used to locate the charging interface of the target vehicle.

[0010] In some embodiments, a force feedback mechanism is provided on the gun head of the charging gun, and a gripping mechanism that grips the charging gun adjusts the insertion angle of the charging gun under the instruction of the force feedback mechanism.

[0011] In some embodiments, the aerial track includes several main roads and several branch roads, the branch roads lead to the center of each parking space, and the charging pile parking spaces are located at the end positions of the branch roads.

[0012] In some embodiments, the mobile charging pile is provided with two vertically parallel sliding rails, and the transport robot is provided with a power member and a transmission connecting member. The transmission connecting member drives the mobile charging pile to perform linear reciprocating motion along the sliding rails under the drive of the power member.

[0013] In some embodiments, the charging pile docking portion is provided with a first interface for connecting the charging gun and a second interface for connecting the power supply, and the side wall of the mobile charging pile is provided with an electrode slider. When the mobile charging pile moves to the charging pile docking portion driven by the transmission connector, the electrode slider completes the electrical connection with the first interface and the second interface.

[0014] In some embodiments, the charging pile docking berth includes: The support frame includes a first accommodating space and a second accommodating space, wherein the first accommodating space is provided with a charging pile docking portion for docking with a mobile charging pile, and the second accommodating space includes an upper accommodating space and a lower accommodating space, wherein the upper accommodating space and the lower accommodating space are separated by a partition, and the partition is provided with a through hole for inserting a charging gun; A cable retracting mechanism provided in the upper accommodating space is used to retract the charging cable of the charging gun; A charging gun hanging arm provided in the lower accommodating space; A charging gun, wherein the charging cable of the charging gun is wound around the cable retracting mechanism, and the gun head of the charging gun is inserted into one end of the charging gun hanging arm; Wherein, a rotating shaft is provided at the other end of the charging gun hanging arm, and the charging gun hanging arm can drive the gun head of the charging gun to rotate around the rotating shaft.

[0015] In some embodiments, the automatic charging system further includes a charging management module, wherein the charging management module is configured to: After detecting that a target vehicle has parked in a target parking space, a wireless communication connection request is sent to the target vehicle through a target charging pile parking space associated with the target parking space, wherein the wireless communication connection request includes a parking lot identifier and a target charging pile parking space identifier, and is used to instruct the target vehicle to query whether the parking lot identifier belongs to a preset credit list, and to query whether the target charging pile parking space identifier belongs to a parking lot credit domain corresponding to the parking lot identifier; receiving a response result of the target vehicle to the wireless communication connection request; When the response result indicates that the parking lot identifier belongs to the preset trust list, and the target charging pile parking space identifier belongs to the parking lot trust domain corresponding to the parking lot identifier, establishing a trust connection with the target vehicle through wireless communication; The charging information of the target vehicle is obtained through the target charging pile docking berth, the transport robot is called to transport the mobile charging pile to the target parking space, and the charging gun is grabbed by the automatic charging module and inserted into the charging interface of the target vehicle to charge the target vehicle according to the charging information.

[0016] Compared with the prior art, the advantages of this application include: First, the present application realizes the automation of the charging process through the synergy of the mobile charging module and the automatic charging module. The automatic charging module can automatically complete the plugging and unplugging operations of the charging gun without the need for manual operation by the user, especially at night or in bad weather conditions, avoiding the difficulty and safety risks of plugging and unplugging caused by environmental factors for the user, greatly improving the convenience of charging and user experience. Second, compared with existing automatic charging technologies, the structural design of the mobile charging module and the automatic charging module adopted in this application simplifies the complexity of the mechanical structure, thereby enhancing the reliability and stability of the entire automatic charging system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope of the present application.

[0018] Figure 1 is a schematic diagram of the overall architecture of an automatic charging system according to an embodiment of the present application; Figure 2 This is a schematic diagram of the overall structure of a mobile charging module according to an embodiment of the present application; Figure 3 This is a schematic diagram of a structure including a transport robot and a mobile charging pile according to an embodiment of the present application; Figure 4 1 is an exploded diagram of a transport robot and a mobile charging station according to an embodiment of the present application; Figure 5 This is a structural diagram of a mobile charging pile according to an embodiment of the present application; Figure 6 This is a schematic diagram of a ring mark on a charging port according to an embodiment of the present application; Figure 7 This is a schematic diagram of the coordination between a mobile charging pile and a charging interface according to an embodiment of the present application; Figure 8 This is a schematic diagram of an exploded structure of an automatic charging pile docking station according to another embodiment of the present application; Figure 9 This is a schematic diagram of a portion of the structure of an automatic charging pile docking station from a first perspective according to another embodiment of the present application; Figure 10 is a schematic cross-sectional structural diagram of a cable retracting mechanism according to another embodiment of the present application; Figure 11 This is a schematic diagram of a portion of the structure of an automatic charging pile docking station according to another embodiment of the present application from a second perspective; Figure 12It is a flowchart of the charging management module during execution according to another embodiment of the present application.

[0019] Among them, the above-mentioned drawings include the following figure marks: 100, charging pile docking space; 10, support frame; 11, support top plate; 12, support enclosure; 13, support bottom plate; 131, docking hole; 14, charging pile docking part; 141, through hole; 15, partition; 20, cable retraction mechanism; 21, retractable motor; 22, driving wheel; 23, driven wheel; 30, charging gun hanging arm; 31, rotating shaft; 40, charging cable; 41, gun head; 411, insertion chamfer; 50, first accommodating space; 51, second accommodating space; 200, handling robot; 300, mobile charging pile; 301, sliding guide rail; 302, electrode slider; 303, inspection cover; 304, locking device; 400, aerial track; 500, charging interface; 501, entrance chamfer; 600, robotic arm. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0023] In the description of this application, it should be noted that the terms "center," "upper," "lower," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended solely to facilitate the description of this application and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0025] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0026] As mentioned above, at present, the charging process of electric vehicles still mainly relies on users to manually plug and unplug the charging gun, and its operation mode has the following significant defects: (1) Limited operation convenience: the user needs to operate the charging gun at close range. In harsh environments such as low visibility at night, rain, snow or strong wind, it is difficult to locate the interface, which can easily lead to plug-in failure or electric shock risks, significantly reducing charging efficiency and safety; (2) Insufficient environmental adaptability: Traditional manual charging requires high physical operation ability of users, and elderly or disabled users face greater obstacles in use; (3) Dependence on user intervention: The charging process requires users to participate in the entire process, and true "senseless charging" cannot be achieved. Some existing technologies propose to realize automatic plug-in and plug-out of charging guns through robotic systems. However, existing solutions generally face the following technical bottlenecks: (1) High mechanical structure complexity: They are mostly completed by mobile robots equipped with multi-degree-of-freedom robotic arms, which require multi-sensor arrays and precision servo drives, resulting in large equipment size, high cost and difficult maintenance; (2) Strong dependence on positioning accuracy: They rely on high-precision visual recognition or lidar positioning, have low tolerance for installation errors between charging piles and vehicle interfaces, and are easily affected by lighting, occlusion or interface wear in actual scenarios, resulting in an increased plug-in failure rate; (3) Immature supporting design: The charging piles and charging guns lack flexible design for retraction and extension.

[0027] Therefore, there is an urgent need for an automated charging system with a simple mechanical structure, controllable costs, and the ability to automatically plug and unplug charging guns, thereby effectively solving the drawbacks of traditional charging methods and improving the convenience and efficiency of electric vehicle charging. To this end, this application proposes an automatic charging system that, through the collaborative structural design of a mobile charging module and an automatic charging module, can automate the charging process and improve the convenience and efficiency of electric vehicle charging.

[0028] The present application provides an automatic charging system, comprising: a mobile charging module and an automatic charging module.

[0029] The mobile charging module in this embodiment, such as Figure 1 and Figure 2 As shown, the system includes a mobile charging pile 300, a transport robot 200, an aerial track 400, and a charging pile docking berth 100 located on the aerial track 400. The charging pile docking berth 100 is equipped with a charging gun and a charging pile docking unit 14 for connecting to the mobile charging pile 300. The transport robot 200 travels on the aerial track 400, transports the mobile charging pile 300 to the charging pile docking berth 100, and completes the docking between the mobile charging pile 300 and the charging pile docking unit 14.

[0030] In some embodiments, the aerial track 400 includes several main roads and several branch roads, the branch roads lead to various parking spaces, and the charging pile parking spaces 100 are located at the end positions of the branch roads.

[0031] Taking an indoor parking lot as an example, the aerial track 400 can be suspended from the parking lot's ceiling. The main road is the primary transport channel for the aerial track 400 and the backbone of the aerial track 400 system. It connects various branch roads and trunk roads, forming the main framework of the charging network. Branch roads are branch tracks connecting the main road to each pre-set parking space. The transport robot 200 can follow the configured driving path, passing through several main roads and / or branch roads, to reach the charging pile docking station berth 100 corresponding to each parking space.

[0032] As a preferred embodiment, the branch road leads to the center of each parking space, so that the charging pile docking berth 100 located at the end of the branch road corresponds to the center of the parking space. Since the transport robot 200 needs to carry the mobile charging pile 300 to the target charging pile docking berth 100, the design of the location of the charging pile docking berth 100 can provide a more optimal initial position for the robotic arm 600 fixed to the transport robot 200, allowing it to insert the charging gun in a more direct and optimized path. The robotic arm 600 can be more easily adjusted to the appropriate angle and position to dock with the vehicle's charging port 500. Taking the side of the vehicle as an example, if the charging pile docking berth 100 is located in the center of the parking space, the robotic arm 600 can approach the vehicle's charging port 500 vertically or at a smaller angle, reducing the difficulty of insertion or wear on the charging port 500 caused by excessive angles. In addition, the position and height of the charging port 500 may vary depending on the vehicle model. Placing the charging pile docking berth 100 at the center of the parking space can better accommodate various types of vehicles. The robotic arm 600 can flexibly adjust the height and extension length near the center position according to the specific circumstances of different vehicles, so as to achieve precise plugging and unplugging of charging interfaces 500 in different positions, improve the adaptability and compatibility of the system, and reduce the risk of plugging and unplugging failure due to vehicle differences. In addition, the problem of limited movement of the robotic arm 600 due to insufficient space at the edge of the parking space can be reduced. For example, in some narrow parking spaces, if the charging pile docking berth 100 is located at the edge, the robotic arm 600 may need to perform a large lateral extension or twisting movement to contact the charging interface 500 of the vehicle, which increases the difficulty and complexity of the operation. The design of the center position allows the robotic arm 600 to operate in a relatively open space, improving the flexibility and convenience of the movement.

[0033] In some embodiments, as Figure 3 and Figure 4 As shown, the mobile charging pile 300 is provided with two sliding guide rails 301 parallel in the vertical direction, and the handling robot 200 is provided with a power part and a transmission connecting part. The transmission connecting part drives the mobile charging pile 300 to perform linear reciprocating motion along the sliding guide rails 301 under the drive of the power part. Among them, the power part is a device that provides power to the handling robot 200, usually a motor or other driving device, which can provide precise control and sufficient power. The transmission connecting part is a mechanical component that connects the power part and the mobile charging pile 300, which is used to transmit power and drive the mobile charging pile 300 to move along the sliding guide rails 301. The transmission connecting part can be a gear, a rack, a belt or a chain, etc., which cooperates with the sliding guide rails 301 to convert the rotational motion of the power part into the linear motion of the mobile charging pile 300.

[0034] In some embodiments, as Figure 5As shown, the charging pile docking portion 14 is provided with a first interface (not shown) for connecting to a charging gun and a second interface (not shown) for connecting to a power source. An electrode slider 302 is provided on the sidewall of the mobile charging pile 300. When the mobile charging pile 300 is driven by the transmission connector to move to the charging pile docking portion 14, the electrode slider 302 completes the electrical connection with the first interface and the second interface. The electrode slider 302 is a conductive component mounted on the sidewall of the mobile charging pile 300 and can be made of a metal material with good electrical conductivity. It is used to electrically connect to the interface of the charging pile docking portion 14.

[0035] For example, copper electrode sliders 302 are mounted on the sidewalls of the mobile charging pile 300. When the mobile charging pile 300 is transported to the charging pile docking station 100 by the transport robot 200, the transport robot 200 uses a transmission connector to lift the mobile charging pile 300 upward along the sliding guide rails 301. The lifted electrode sliders 302 on the sidewalls of the mobile charging pile 300 align with the first and second interfaces of the charging pile docking unit 14 and insert into the mobile charging pile. The close contact between the electrode sliders 302 and the interfaces ensures stable transmission of electrical energy, enabling the mobile charging pile 300 to function properly and provide charging services for electric vehicles.

[0036] In some embodiments, a maintenance cover 303 is provided on the side wall of the mobile charging pile 300 . The maintenance cover 303 is fixed to the side wall of the mobile charging pile 300 via a locking device 304 . The electrode slider 302 is protruded from the maintenance cover.

[0037] The automatic charging module in this embodiment is used to automatically insert and remove the charging gun. It includes a robotic arm 600 equipped with an image acquisition mechanism. One end of the robotic arm 600 is fixed to the handling robot 200, and the other end is equipped with a gripping mechanism for grabbing the charging gun and inserting it into the charging port 500 of the target vehicle. The gripping mechanism can include a claw gripping mechanism or an electromagnetic suction device.

[0038] It should be noted that, in this application, by fixing one end of the robotic arm 600 to the transport robot 200, only a few sets of robotic arms 600 that move with the transport robot 200 are needed to circulate and serve all parking spaces in the entire parking lot. Thus, while ensuring the automatic plug-in and unplug function, the large amount of equipment purchase, civil engineering support and wiring costs required to separately install a fixed robotic arm in each parking space are eliminated, thereby significantly reducing the system cost and operation and maintenance costs.

[0039] In some embodiments, the end of the robotic arm 600 is a claw joint, which is equipped with a gripping mechanism for grasping the charging gun. It should be noted that the end of the robotic arm 600 can also be free of a claw joint. In this case, the robotic arm 600 has five degrees of freedom. While grasping in six-dimensional space will lack one spatial dimension, it is sufficient for grasping that only requires five spatial dimensions.

[0040] Among them, the claw grasping mechanism is a device that grasps and releases the charging gun through the opening and closing action of the claw. The claw can be a mechanical finger or other similar structure. By precisely controlling the opening and closing of the claw, the charging gun can be grasped and released. It is suitable for charging guns of various shapes and sizes and can firmly clamp the charging gun.

[0041] An electromagnetic pickup device uses an electromagnet to generate a magnetic field to attract the charging gun. It primarily consists of an electromagnet and control circuitry. When the electromagnet is powered, it generates a magnetic field that attracts the charging gun. When the power is off, the magnetic field disappears, releasing the charging gun. Suitable for charging guns embedded in metal, this device offers fast pickup and release speeds, simple operation, and contactless gripping, preventing scratches or other damage to the gun's surface.

[0042] In some embodiments, as Figure 6 As shown, the central gray area is the cover of the charging interface 500. A ring-shaped mark is provided on the periphery of the charging interface 500. The image acquisition mechanism locates the charging interface 500 through the ring-shaped mark and instructs the grasping mechanism with the charging gun to insert the charging gun into the charging interface 500.

[0043] The ring mark is a visual marker located on the periphery of the charging port 500 to assist the image acquisition mechanism in quickly and accurately identifying and locating the charging port 500. It can be composed of a specific pattern, color, or structure, such as a two-ring structure with black as the outer ring and white as the inner ring, with four white blocks on the black ring and four black blocks on the corresponding positions on the white ring; or a three-ring structure with black three times the width of white, with three white blocks on each ring.

[0044] During specific identification, the image acquisition mechanism can very easily identify the approximate position of the charging interface 500, thereby calculating the center position of the charging gun, which facilitates path planning for the robotic arm to grab the charging gun and insert it into the charging interface 500. When the robotic arm grabs the charging gun and inserts it into the charging interface 500, it is necessary to accurately calculate the position of the charging interface 500. The existing technology often obtains the position of the charging interface 500 through analysis of the entire vehicle model. However, calculating the specific position of the charging interface 500 based on the position information of the vehicle body is very inaccurate. This is because the matching tolerance between the charging gun and the charging interface 500 is currently very small, making it very difficult for the robotic arm to insert the charging gun.

[0045] In this embodiment, the black and white rings accurately identify the center of the charging port 500. Furthermore, the black and white blocks on the rings provide precise positioning guidance as the robotic arm approaches the charging port 500. Compared to simple black and white rings, the black and white blocks provide a more accurate regional center solution. The intersection of the lines connecting the centers of the multiple blocks represents the center of the charging port 500. Furthermore, when a vehicle enters a parking space, uneven road surfaces or variations in tire pressure often result in the vehicle being unevenly level, and the charging port 500 may rotate relative to its ideal position. This embodiment uses the line connecting the centers of the black and white blocks on the rings to accurately reflect the vehicle's horizontal or tilt errors, guiding the robotic arm to more accurately insert the charging gun into the charging port 500.

[0046] For example, when the automatic charging system is started, the image acquisition mechanism captures the ring-shaped mark, identifies and determines the precise position of the charging interface 500 through the image processing algorithm, and adjusts the gripping mechanism that grips the charging gun, so that the charging gun can be accurately inserted into the charging interface 500.

[0047] The ring-shaped marking in this embodiment provides a clear visual reference for the image acquisition mechanism, greatly improving the speed and accuracy of locating the charging port 500. Even in complex backgrounds or lighting conditions, the camera can quickly capture the ring-shaped marking and thus determine the location of the charging port 500.

[0048] The black and white two-color ring in this embodiment can provide the maximum contrast between black and white, guiding the path planning of the robotic arm to insert the charging gun. At the same time, during the process of inserting the charging gun, it can also provide the precise rotation and tilt error of the charging interface 500, so that the robotic arm can be accurately guided during the process of inserting the charging gun.

[0049] In some embodiments, as Figure 7 As shown, the interface side wall of the charging interface 500 is provided with an entrance chamfer 501, forming a first guide slope that shrinks inward from the outer edge of the interface side wall, and the gun head 41 of the charging gun is provided with an insertion chamfer 411, forming a second guide slope that shrinks inward from the outer edge of the gun head 41, and the first guide slope is aligned with the second guide slope.

[0050] The entrance chamfer 501 is a sloped structure designed at the entrance of the charging port 500, forming an inward-contracting guide surface to guide the insertion of the charging gun and reduce the need for precise alignment. The insertion chamfer 411 is a sloped structure designed on the charging gun head 41, forming an inward-contracting guide surface that mates with the entrance chamfer 501 of the charging port 500.

[0051] In this embodiment, the entrance chamfer 501 and the first guiding bevel reduce the insertion accuracy requirements for the charging gun. Even if there is a certain positional deviation between the charging gun and the charging interface 500, the first guiding bevel can guide the charging gun smoothly into the charging interface 500. The insertion chamfer 411 and the second guiding bevel, combined with the entrance chamfer 501 of the charging interface 500, further reduce the insertion accuracy requirements, while also reducing friction and wear during the insertion process, thereby extending the service life of the charging interface 500 and the charging gun.

[0052] In some embodiments, the image acquisition mechanism includes a first camera and a second camera. The first camera is arranged at one end of the robotic arm 600 fixed to the charging pile docking berth 100, and is used to collect vehicle information and parking position of the target vehicle. The second camera is arranged on the grasping mechanism, and is used to locate the charging interface 500 of the target vehicle.

[0053] The first camera is connected to the automatic charging system's control unit via a high-speed data interface (such as USB or Ethernet), transmitting image data in real time. An image processing algorithm analyzes the captured images, extracting vehicle information and determining the vehicle's position within the parking space.

[0054] The vehicle information may include various identification and positioning data about the vehicle obtained through the first camera, including the license plate number, vehicle model, body size, and appearance outline of the vehicle, etc., which is used to determine the setting position of the charging interface 500 to improve the targetedness and efficiency of the charging operation.

[0055] As an optional implementation for acquiring vehicle information, after the first camera captures a vehicle image, the system's image recognition algorithm analyzes the vehicle image to extract the overall outline and dimensions of the target vehicle. Based on a pre-stored database of appearance features, vehicle models, and the location of the charging port 500, the system determines the location of the charging port 500 within the target vehicle. For example, for most sedans, the charging port 500 is typically located on either side of the rear of the vehicle or in the center of the rear end. However, for SUVs, the charging port 500 may be located on either side of the rear or on the side of the vehicle near the rear wheels.

[0056] As another optional implementation for obtaining vehicle information, the vehicle VIN code of the target vehicle is directly read through image recognition, and the location information of the charging port 500 corresponding to the vehicle VIN code of the target vehicle is obtained from a VIN code (Vehicle Identification Number) database.

[0057] For example, suppose a certain brand of pure electric sedan enters a parking lot. The first camera captures the vehicle image and determines that the charging port 500 for this model is located near the left rear side skirt. Robotic arm 600 then maneuvers to the vicinity of the vehicle's left rear. The second camera then conducts precise search and positioning within this area, quickly locating charging port 500 and paving the way for subsequent charging plug insertion and removal operations.

[0058] The parking position refers to the specific parking position and posture of the target vehicle in the parking space, including information such as the vehicle's lateral position, longitudinal position, and heading angle in the parking space. It reflects the vehicle's geometric relationship with the parking space and the surrounding environment. The vehicle body coordinate system constructed based on the parking position provides a unified reference framework for subsequent positioning of the charging port 500 and plugging and unplugging of the robotic arm 600. Based on this coordinate system, the robotic arm 600 and camera can accurately determine their relative positional relationship with the vehicle's charging port 500, thereby achieving precise motion planning and operational control, ensuring that the charging gun can be accurately inserted into the charging port 500.

[0059] As an optional implementation for determining parking position, after the first camera captures a vehicle image, the system's image recognition algorithm analyzes features of the vehicle image, such as parking space markings, the space number, and the vehicle's relative position to the edge of the parking space, to determine the vehicle's parking position. For example, by detecting the distance between the target vehicle and the front, rear, left, and right edges of the parking space, as well as the vehicle's lateral and longitudinal offsets, combined with the target vehicle's heading angle (determined by identifying features such as the vehicle's front and rear directions), the system can determine the vehicle's precise coordinate position within the parking space.

[0060] For example, when a target vehicle parks in a parking space, the first camera captures an image of the vehicle and the parking space. Using an image processing algorithm, the first camera analyzes the distance between the target vehicle and the edge of the parking space and the vehicle's orientation angle to determine the vehicle's parking position and construct a vehicle body coordinate system. Assuming the target vehicle is slightly offset to the right in the parking space, with the front of the vehicle facing directly in front of the space, the robotic arm 600 and the second camera, based on this coordinate system, approach the charging port 500 from the right side of the vehicle at an appropriate angle and position, ensuring that the charging plug is inserted along the correct path, avoiding insertion and removal failures or collision risks caused by vehicle offset.

[0061] The second camera may have a narrow field of view but high precision, and can accurately capture details of the charging port 500. The second camera is used in conjunction with the ring-shaped mark to identify the ring-shaped mark through an image processing algorithm to determine the precise position and posture of the charging port 500.

[0062] Additionally, auxiliary lighting or a laser pointer can be added within the field of view of the second camera to improve recognition capabilities in low-light conditions.

[0063] In some embodiments, the charging gun head 41 is equipped with a force feedback mechanism. A gripping mechanism that grasps the charging gun adjusts the insertion angle of the charging gun under the guidance of the force feedback mechanism. The force feedback mechanism is a device that monitors and provides real-time feedback on the force applied to the charging gun during insertion, accurately measuring both the magnitude and direction of the force.

[0064] When the charging gun is inserted into the charging port 500, the force feedback mechanism monitors the contact force during insertion in real time. If it detects excessive insertion resistance, the force feedback mechanism transmits a signal to the automatic charging system's control unit. Based on this force feedback, the control unit adjusts the angle and position of the robotic arm 600 to ensure the charging gun is inserted into the charging port 500 at a more appropriate angle, ensuring a smooth insertion process.

[0065] The force feedback mechanism in this embodiment provides real-time force feedback information for the automatic charging system, helping the system to determine the contact status between the charging gun and the charging interface 500, and automatically adjust the insertion angle and position according to the force feedback to ensure a smooth and stable insertion process.

[0066] The automatic charging system proposed in the embodiment of the present application, on the one hand, realizes the automation of the charging process through the synergy of the mobile charging module and the automatic charging module. The automatic charging module can automatically complete the plugging and unplugging operations of the charging gun without the need for manual operation by the user, especially at night or in bad weather conditions, avoiding the difficulty and safety risks of plugging and unplugging caused by environmental factors for the user, greatly improving the convenience of charging and user experience. On the other hand, compared with the existing automatic charging technology, the structural design of the mobile charging module and the automatic charging module adopted in the present application simplifies the complexity of the mechanical structure, thereby enhancing the reliability and stability of the entire automatic charging system.

[0067] In one embodiment, Figures 8 to 11 As shown, the automatic charging pile docking station 100 of this embodiment is primarily used to solve the problems of docking a mobile charging pile, managing the charging cable 40, and conveniently using the charging gun during electric vehicle charging. It includes: a support frame 10, a cable retracting mechanism 20, a charging gun hanging arm 30, and a charging gun.

[0068] Among them, the support frame 10 is the basic supporting structure of the automatic charging pile docking berth 100, which is used to support and accommodate other components and can be fixed on the aerial track by welding, bolt connection, etc. The interior of the support frame 10 includes a first accommodating space 50 and a second accommodating space 51, and the first accommodating space 50 and the second accommodating space 51 are separated by a vertically arranged partition fence. The first accommodating space 50 is provided with a charging pile docking portion 14 for docking the mobile charging pile 3. The second accommodating space 51 includes an upper accommodating space 511 and a lower accommodating space 512. The upper accommodating space 511 and the lower accommodating space 512 are separated by a partition 15, and the partition 15 is provided with a through hole 141 for passing the charging gun.

[0069] In some embodiments, the support frame 10 includes a support top plate 11, a support enclosure 12, and a support bottom plate 13. The support top plate 11, the support enclosure 12, and the support bottom plate 13 together form a first accommodating space 50 and a second accommodating space 51. In some embodiments, the support bottom plate 13 is provided with a docking hole 131, through which the mobile charging pile 3 is inserted into the charging pile docking portion 14.

[0070] The cable retracting mechanism 20 is installed in the upper accommodating space 511 and is used to automatically retract the charging cable 40 to ensure orderly management of the cable and prevent entanglement.

[0071] In some embodiments, as Figure 10 As shown, the cable retraction mechanism 20 includes a retracting motor 21, a driving wheel 22, and a driven wheel 23 that is sleeved around the driving wheel 22. Driven by the retracting motor 21, the driving wheel 22 rotates the driven wheel 23. The driven wheel 23 is wrapped around the charging cable 40 and allows the charging cable 40 to be retracted and extended during rotation. This embodiment enables automatic retraction and extension of the charging cable 40, improving the efficiency and convenience of cable management.

[0072] The charging gun hanging arm 30 in this embodiment is installed in the lower accommodating space 512 and is used to suspend and support the charging gun to facilitate the removal and return of the charging gun.

[0073] The charging gun in this embodiment is used to provide charging services for electric vehicles. It has a charging cable 40 at one end and a gun head 41 at the other. The charging cable 40 is wrapped around the cable retraction mechanism 20, and the gun head 41 is inserted into one end of a hanging arm. The charging gun hanging arm 30 has one end for inserting the gun head 41, and the other end has a rotating shaft 31, which drives the gun head 41 to rotate around the rotating shaft 31, allowing the charging gun to be stored and accessed.

[0074] In some embodiments, the charging gun hanging arm 30 is connected to the control unit of the automatic charging system. When receiving the charging trigger instruction from the control unit, the charging gun hanging arm 30 drives the gun head 41 to rotate to a state perpendicular to the ground.

[0075] In some embodiments, a sensor unit is provided at one end of the charging gun hanging arm 30 for inserting the gun head 41, which is used to detect whether the gun head 41 is inserted and returned to its position. When it is detected that the gun head 41 is inserted and returned after being taken out, the charging gun hanging arm 30 drives the gun head 41 to rotate from a state perpendicular to the ground to a state parallel to the ground.

[0076] In the automatic charging system proposed in the embodiment of the present application, on the one hand, the layered layout of the support frame 10 of the present application places the cable retraction mechanism 20 and the charging gun hanging arm 30 in different accommodating spaces, respectively, making full use of the space and reducing the overall area occupied by the equipment. On the other hand, the cable retraction mechanism 20 of the present application can automatically complete the retraction and release operation of the charging cable 40, reduce manual intervention, and improve charging efficiency. On the third hand, the rotating design of the charging gun hanging arm 30 increases the flexibility of storing and taking the charging gun. On the fourth hand, through reasonable cable management and a stable support structure, the safety hazards caused by cable problems can be reduced, and the safety and reliability of the charging process can be guaranteed.

[0077] In one embodiment, Figure 12 As shown, the automatic charging system further includes a charging management module, which is used to: Step S10, after detecting that the target vehicle is parked in the target parking space, a wireless communication connection request is sent to the target vehicle through the target charging pile docking space associated with the target parking space, and the wireless communication connection request includes a parking lot identifier and a target charging pile docking space identifier, which is used to instruct the target vehicle to query whether the parking lot identifier belongs to a preset credit list, and to query whether the target charging pile docking space identifier belongs to the parking lot credit domain corresponding to the parking lot identifier.

[0078] In this embodiment, the target parking space refers to a specific parking space where the target vehicle is parked. The target charging pile docking space is arranged above the target parking space, is used to place and fix the charging pile, and is equipped with a communication module. The communication module can use wireless communication technologies such as WiFi, Bluetooth, 4G / 5G, etc. to ensure the stability and security of communication. A wireless communication connection request refers to a signal used to establish a communication connection between the target charging pile docking space and the target vehicle, and contains necessary identification information, such as a parking lot identifier and a target charging pile docking space identifier. Among them, the parking lot identifier refers to a code or name used to uniquely identify a parking lot. The target charging pile docking space identifier refers to a code or name used to identify the target charging pile docking space. The preset trust list refers to a list of authorized parking lots pre-stored in the target vehicle, which is used to quickly verify the credibility of the parking lot. The parking lot trust domain refers to a set of trusted charging pile docking spaces associated with the parking lot identifier. In some embodiments, the wireless communication connection request is used to instruct the target vehicle to query whether the parking lot identifier belongs to a preset credit list, and if so, to query whether the target charging pile parking space identifier belongs to the parking lot credit domain corresponding to the parking lot identifier.

[0079] For example, the target charging pile docking station initiates a wireless communication connection request through the WIFI module configured in the communication module. The request message format (JSON over UDP) is: { "parking_id": "001", "slot_id": "A12", "charger_id": "CHG-001-05", "timestamp": "2025-03-20T14:30:00Z", "signature": "ECDSA(parking_id + slot_id + timestamp)"} "parking_id" is the unique identifier of the parking lot, here "001", used to distinguish different parking lots. "slot_id" is the parking space number, and "A12" can represent the target parking space number. "charger_id" is the unique identifier of the charging station to be called. "CHG-001-05" is used to identify a specific charging station, which may indicate that the charging station is associated with parking lot number "001". "05" may be the sequence number of the charging station within the parking lot. "timestamp" is a timestamp formatted according to the ISO 8601 standard. "2025-03-20T14:30:00Z" represents 14:30:00 on March 20, 2025, with "Z" indicating that this is Coordinated Universal Time (UTC). "Signature" refers to the signature information. Here, "parking_id," "slot_id," and "timestamp" are signed using ECDSA (Elliptic Curve Digital Signature Algorithm). This verifies the integrity and authenticity of the data and prevents tampering or forgery. After receiving the wireless communication connection request, the target vehicle checks whether "001" is in the preset trusted list. If so, it then checks whether "CHG-001-05" belongs to the parking lot trusted domain corresponding to "001."

[0080] Step S20: receiving a response result of the target vehicle to the wireless communication connection request.

[0081] In this embodiment, the response result is the verification feedback of the target vehicle on the identification information in the wireless communication connection request, indicating whether the parking lot identifier belongs to the preset trust list and whether the target charging pile parking space belongs to the parking lot trust domain corresponding to the parking lot identifier.

[0082] Step S30: When the response result indicates that the parking lot identifier belongs to the preset trust list and the target charging pile parking space identifier belongs to the parking lot trust domain corresponding to the parking lot identifier, a trust connection is established with the target vehicle through wireless communication.

[0083] In this embodiment, the trusted connection is a secure communication connection established based on the vehicle's verification of a received identifier. If the target vehicle sends a response indicating that the parking lot identifier belongs to the preset trusted list and the target charging station docking space identifier belongs to the parking lot trusted domain corresponding to the parking lot identifier, the target charging station docking space and the target vehicle establish a secure communication channel via a wireless communication protocol. This communication channel will be used for all subsequent data exchange and charging control.

[0084] Step S40: acquiring charging information of the target vehicle through the target charging pile docking space, calling a transport robot to transport the mobile charging pile to the target parking space, and charging the target vehicle according to the charging information.

[0085] In this embodiment, charging information refers to data provided by the target vehicle's battery management system (BMS) regarding the vehicle's battery status and charging requirements, including current charge level (SOC), battery state of health (SOH), required charge level, expected charging time, and expected charging duration. A transport robot refers to automated equipment that transports mobile charging piles to the target charging pile docking station via a rail system.

[0086] In the automatic charging system proposed in the embodiment of the present application, firstly, after detecting that the vehicle to be charged has parked in the target parking space, the charging pile docking station automatically sends a wireless communication connection request to the vehicle, and establishes a trusted connection through a series of verifications, without the need for manual operation by the user, thereby improving the convenience of charging. Secondly, compared with the existing technology that requires separate authorization for each charging pile, requires reconfiguration of new equipment, and has complex trust management, the present application uses a preset trust list and parking lot trust domain to quickly establish a trusted connection by simply verifying whether the parking lot identifier and the target charging pile docking station identifier fall within the corresponding trust range, thereby simplifying the trust management process.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

[0088] Furthermore, those skilled in the art will appreciate that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is intended to be within the scope of this application and to form different embodiments. For example, any of the above claimed embodiments or implementations may be used in any combination. The information disclosed in this background section is intended solely to enhance understanding of the overall background technology of this application and should not be construed as an admission or any form of implication that such information constitutes prior art known to those skilled in the art.

Claims

1. An automatic charging system, characterized in that: The automatic charging system comprises: A mobile charging module, comprising a mobile charging pile, a transport robot, an aerial track, and a charging pile docking berth located on the aerial track, wherein the charging pile docking berth is provided with a charging gun and a charging pile docking portion for connecting to the mobile charging pile; the transport robot travels on the aerial track, transports the mobile charging pile to the charging pile docking berth, and completes docking between the mobile charging pile and the charging pile docking portion; An automatic charging module includes a robotic arm provided with an image acquisition mechanism, one end of the robotic arm is fixed to the transport robot, and the other end is provided with a grasping mechanism, and the grasping mechanism is used to grasp the charging gun and insert it into the charging port of the target vehicle under the instruction of the image acquisition mechanism.

2. The automatic charging system according to claim 1, characterized in that: A ring mark is provided on the periphery of the charging interface. The image acquisition mechanism locates the charging interface through the ring mark and instructs the grasping mechanism that grasps the charging gun to insert the charging gun into the charging interface.

3. The automatic charging system according to claim 1, characterized in that: The interface side wall of the charging interface is provided with an entrance chamfer, forming a first guide slope that shrinks inward from the outer edge of the interface side wall. The gun head of the charging gun is provided with an insertion chamfer, forming a second guide slope that shrinks inward from the outer edge of the gun head. The first guide slope is aligned with the second guide slope.

4. The automatic charging system according to claim 1, characterized in that: The image acquisition mechanism includes a first camera and a second camera. The first camera is arranged at one end of the robotic arm fixed to the berth of the charging pile, and is used to collect vehicle information and parking position of the target vehicle. The second camera is arranged on the grasping mechanism, and is used to locate the charging interface of the target vehicle.

5. The automatic charging system according to claim 1, characterized in that: The gun head of the charging gun is provided with a force feedback mechanism, and the grasping mechanism grasping the charging gun adjusts the insertion angle of the charging gun under the instruction of the force feedback mechanism.

6. The automatic charging system according to claim 1, characterized in that: The aerial track includes several main roads and several branch roads, the branch roads lead to the center of each parking space, and the charging pile parking berth is located at the end position of the branch road.

7. The automatic charging system according to claim 1, characterized in that: The mobile charging pile is provided with two sliding guide rails parallel in the vertical direction, and the transport robot is provided with a power part and a transmission connecting part. The transmission connecting part drives the mobile charging pile to perform linear reciprocating motion along the sliding guide rails under the drive of the power part.

8. The automatic charging system according to claim 7, characterized in that: The charging pile docking part is provided with a first interface for connecting the charging gun and a second interface for connecting the power supply. The side wall of the mobile charging pile is provided with an electrode slider. When the mobile charging pile moves to the charging pile docking part driven by the transmission connecting member, the electrode slider completes the electrical connection with the first interface and the second interface.

9. The automatic charging system according to claim 1, characterized in that: The charging pile berths include: The support frame includes a first accommodating space and a second accommodating space, wherein the first accommodating space is provided with a charging pile docking portion for docking with a mobile charging pile, and the second accommodating space includes an upper accommodating space and a lower accommodating space, wherein the upper accommodating space and the lower accommodating space are separated by a partition, and the partition is provided with a through hole for inserting a charging gun; A cable retracting mechanism provided in the upper accommodating space is used to retract the charging cable of the charging gun; A charging gun hanging arm provided in the lower accommodating space; A charging gun, wherein the charging cable of the charging gun is wound around the cable retracting mechanism, and the gun head of the charging gun is inserted into one end of the charging gun hanging arm; Wherein, a rotating shaft is provided at the other end of the charging gun hanging arm, and the charging gun hanging arm can drive the gun head of the charging gun to rotate around the rotating shaft.

10. The automatic charging system according to claim 1, characterized in that: The automatic charging system further includes a charging management module, which is configured to: After detecting that a target vehicle has parked in a target parking space, a wireless communication connection request is sent to the target vehicle through a target charging pile parking space associated with the target parking space, wherein the wireless communication connection request includes a parking lot identifier and a target charging pile parking space identifier, and is used to instruct the target vehicle to query whether the parking lot identifier belongs to a preset credit list, and to query whether the target charging pile parking space identifier belongs to a parking lot credit domain corresponding to the parking lot identifier; receiving a response result of the target vehicle to the wireless communication connection request; When the response result indicates that the parking lot identifier belongs to the preset trust list, and the target charging pile parking space identifier belongs to the parking lot trust domain corresponding to the parking lot identifier, establishing a trust connection with the target vehicle through wireless communication; The charging information of the target vehicle is obtained through the target charging pile docking berth, the transport robot is called to transport the mobile charging pile to the target parking space, and the charging gun is grabbed by the automatic charging module and inserted into the charging interface of the target vehicle to charge the target vehicle according to the charging information.

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