Vertical three-dimensional parking lot trackless magnetic suspension charging robot system and charging method

Abstract

The invention relates to the technical field of parking lot charging systems, and discloses a vertical three-dimensional parking lot trackless magnetic suspension charging robot system and charging method.According to the scheme, through a top trackless magnetic suspension and short gun line robot architecture, charging equipment is transferred to the air from the ground, and the space on the two sides of a parking space is thoroughly released; charging is completed according to vehicle carrying waiting time, and time multiplexing is achieved; through vision-force control mixed plugging and magnetic attraction falling-off interfaces, the problem of safe plugging in high-altitude, mobile and unmanned environments is solved; in addition, a minimum cost charging sequence algorithm and bidirectional inversion are introduced, a win-win situation of a power grid, a garage and a vehicle owner is achieved, the industrial problem of VPP high-density, unmanned and economical charging is solved, and the problem that in an existing VPP scene, high-density charging of immediate parking and immediate charging cannot be achieved under the conditions that occupied space is not newly increased and civil engineering is not transformed is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parking lot charging system design, for example, to a vertical parking lot trackless magnetic suspension charging robot system and a charging method. BACKGROUND

[0002] The vertical parking lot (VPP) has become the preferred solution for the core area of a city because it can multiply the number of parking spaces in a limited land area. With the penetration rate of new energy vehicles breaking through 40%, the demand for "parking and charging" has become rigid. However, the existing technology generally adopts a fixed wall-mounted charging pile + manual plug-in mode, which brings three types of pain points: (1) Limited space: less than 30% of the installed piles can be installed due to the occupation of concrete beams and elevator shafts; the installed piles are difficult to plug in due to the obstruction of columns and the limited opening of vehicle doors.

[0003] (2) Low efficiency of scheduling: vehicles need to queue for piles during peak hours, and the number of reversing and moving vehicles in the vertical garage is multiplied, with an average operating time of a single vehicle of more than 6 minutes, resulting in a decrease in throughput.

[0004] (3) Safety and maintenance: the charging gun cable is dragged on the ground and is easily crushed by the vehicle platform; high-altitude operation for plugging in poses the risk of electric shock and falling; the service life of the gun seat is only 1x10 4

[0005] Although the concepts of "track moving charging pile" or "drone gun delivery" have emerged, the track solution requires heavy sliding contact lines to be laid on each floor, increasing the civil load by more than 25%; the drone solution is limited by endurance, hovering accuracy, and air flow disturbance, and cannot stably complete the millimeter-level gun plugging alignment.

[0006] Therefore, in the existing VPP scenario, it is impossible to achieve high-density charging without increasing the land occupation and without modifying the civil construction.

[0007] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application. SUMMARY

[0008] To have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not a general review, nor is it intended to determine the key / important components or delineate the scope of protection of these embodiments, but as a prelude to the detailed description that follows.

[0009] The vertical parking lot trackless magnetic suspension charging robot system and the charging method provided by the embodiments of the present disclosure can solve the problem that it is impossible to achieve high-density charging without increasing the land occupation and without modifying the civil construction in the existing VPP scenario.

[0010] ​The vertical stereoscopic parking lot trackless magnetic suspension charging robot system can comprise: The system comprises at least one magnetic suspension charging robot suspended on a maintenance track on the top of the garage and sliding along the maintenance track; The robot comprises a magnetic suspension walking system, a gun insertion alignment system and a power scheduling system. The magnetic suspension walking system comprises a ring-shaped linear motor, a laser displacement sensor and an electromagnetic guide wheel, and realizes accurate positioning and movement of the robot in three-dimensional space. The gun insertion alignment system comprises a six-degree-of-freedom mechanical arm, a fusion visual recognition module and a six-dimensional force sensor, and is used for sub-millimeter level recognition and flexible insertion and extraction of the vehicle charging port. The power scheduling system comprises a SiC bidirectional charging and discharging machine module and a cloud scheduling platform, and is used for dynamically allocating charging tasks according to the vehicle state, electricity price and departure time.

[0011] The vertical stereoscopic parking lot space-time multiplexing charging method provided by the embodiment of the present disclosure is applied to the vertical stereoscopic parking lot trackless magnetic suspension charging robot system, and the method comprises the following steps: After the vehicle enters the vehicle loading plate, the wireless communication module sends a charging request and BMS data to the cloud scheduling platform; The platform allocates an optimal charging robot and plans a path based on a charging value density model and an MILP algorithm. The robot moves to a target parking space along the top magnetic suspension track, and completes the charging gun alignment through fusion visual recognition and force control insertion and extraction. During the charging process, the electrical parameters and mechanical state are monitored in real time, and the safety mechanism is triggered when an abnormality occurs. After the charging is completed, the robot returns to the maintenance nest for automatic cleaning and state detection.

[0012] The electronic device provided by the embodiment of the present disclosure comprises at least one processor. The memory is in communication connection with the at least one processor. The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vertical stereoscopic parking lot space-time multiplexing charging method.

[0013] The non-transient computer readable storage medium provided by the embodiment of the present disclosure stores computer instructions for enabling a computer to execute the vertical stereoscopic parking lot space-time multiplexing charging method.

[0014] The vertical stereoscopic parking lot trackless magnetic suspension charging robot system, the charging method, the device and the storage medium provided by the embodiment of the present disclosure can achieve the following technical effects: The vertical stereoscopic parking lot trackless magnetic suspension charging robot system provided by the present disclosure does not need to increase cables, slide contact lines or charging piles on the floor, and the cost of single parking space civil engineering transformation is zero; the robot service radius covers the same layer and adjacent layers above and below, and 1000 parking spaces only need 12 robots to meet the daily charging demand of 80%; compared with the fixed pile scheme, the device investment is saved by 45%; the insertion and extraction process is completed by the robot, and the user is completely unaware of the whole process; the average operation time of a single vehicle is reduced from 6 minutes to 55 seconds, and the throughput of the garage is increased by 22%; through bidirectional charging and discharging, the parking lot can increase the peak-valley arbitrage income of about 1.8 million yuan per year; the magnetic suspension walking has no mechanical wear and tear, and the maintenance cost in ten years is only 14% of the AGV scheme; the overall charging efficiency is 94.3%, which is 1.7 percentage points lower than that of the wired gun pile, but the comprehensive operation index is increased by 3.6 times, solving the industry problems of high density, unmanned and economical charging of VPP.

[0015] The foregoing general description and the following description are only exemplary and explanatory, and are not used to limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0016] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, in which like reference numerals designate similar items in the figures and wherein: Figure 1 is a structural schematic diagram of a vertical stereoscopic parking lot trackless magnetic suspension charging robot system provided by an embodiment of the present disclosure; Figure 2 is a flow schematic diagram of a vertical stereoscopic parking lot space-time multiplexing charging method provided by an embodiment of the present disclosure; Figure 3 is a structural schematic diagram of a vertical stereoscopic parking lot space-time multiplexing charging device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] In order to be able to understand the features and technical contents of the embodiments of the present disclosure more fully, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, which are only used for reference and do not limit the embodiments of the present disclosure. In the following technical description, in order to facilitate explanation, a plurality of details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices can be simplified to show.

[0018] The terms "first", "second", and the like in the embodiments of the present disclosure are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so as to implement the embodiments of the present disclosure described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0019] Unless otherwise specified, the term "a plurality of" means two or more.

[0020] In the embodiments of the present disclosure, the character " / " represents that the objects before and after it are in an "or" relationship. For example, A / B represents: A or B.

[0021] The term "and / or" is a description of the association relationship of the objects, which means that there can be three relationships. For example, A and / or B, which means: A or B, or, A and B, three relationships.

[0022] The term "corresponding" can refer to an association relationship or a binding relationship. A and B correspond to each other means that there is an association relationship or a binding relationship between A and B.

[0023] To solve the above problems, the present disclosure provides a vertical three-dimensional parking lot trackless magnetic suspension charging robot system, a charging method, equipment and a storage medium.

[0024] The vertical three-dimensional parking lot trackless magnetic suspension charging robot system, the charging method, the equipment and the storage medium provided by the embodiments of the present disclosure will be described below with reference to the drawings.

[0025] Figure 1 It is a structural schematic diagram of a vertical three-dimensional parking lot trackless magnetic suspension charging robot system provided by the embodiments of the present disclosure.

[0026] Combined with Figure 1 As shown, the vertical three-dimensional parking lot trackless magnetic suspension charging robot system can include at least one magnetic suspension charging robot suspended on a maintenance overhead track of a garage, and can slide along the maintenance overhead track. The magnetic suspension charging robot includes a magnetic suspension walking system 101, a gun insertion alignment system 102, and a power scheduling system 103. The magnetic suspension walking system 101 includes a ring-shaped linear motor, a laser displacement sensor, and an electromagnetic guide wheel, which realizes accurate positioning and movement of the robot in a three-dimensional space. The gun insertion alignment system 102 includes a six-degree-of-freedom mechanical arm, a fusion visual recognition module, and a six-dimensional force sensor, which is used for sub-millimeter level recognition and flexible insertion and extraction of the vehicle charging port. The power scheduling system 103 includes a SiC bidirectional charging and discharging machine module and a cloud scheduling platform, which is used for dynamically allocating charging tasks according to the vehicle state, electricity price, and departure time.

[0027] In some embodiments, the track structure of the above-mentioned magnetic suspension walking system is an I-shaped steel, and an array of NdFeB permanent magnets is pasted on both sides of the web, forming a Halbach magnetic field enhancement structure. The robot interacts with the permanent magnet array through a ring-shaped linear motor to generate thrust and achieve stepless speed regulation. The air gap control adopts a laser displacement sensor and a PID adjustment to maintain a suspension gap of 15±0.5 mm. The guide system corrects lateral deviation through electromagnetic guide wheels, and the running track deviation is less than 0.5 mm.

[0028] In some embodiments, the above-mentioned gun insertion alignment system includes a first positioning module using a 77 GHz millimeter wave radar to identify the charging port area. The gun insertion alignment system also includes a second positioning module using a 5 million pixel industrial camera and Halcon algorithm to locate the charging port in the charging port area. The six-degree-of-freedom mechanical arm has a repeat positioning accuracy of ±0.02 mm, and the end is integrated with a six-dimensional force sensor, with an insertion force less than 30 N and a pulling-out force less than 50 N. When an abnormal force greater than 80 N is detected, the protection mechanism is triggered. The gun insertion alignment system also includes a charging gun with a built-in temperature sensor.

[0029] In some embodiments, each robot is equipped with a 30 kW SiC bidirectional charging and discharging machine module, with an output voltage of 200-1000 V and a maximum current of 150 A. The vehicle loading plate is installed with a 5G wireless communication module to transmit vehicle BMS data in real time. The scheduling algorithm corresponding to the power scheduling system is determined based on the charging value density model and satisfies the formula: , wherein, is the charging value density model, SOC is the remaining capacity of the vehicle, is the estimated departure time, is the current time, is the price difference, α=0.5, β=0.3, γ=0.2, and a mixed integer linear programming is used for solution. The objective function is to minimize the total charging cost and robot moving energy consumption.

[0030] In some embodiments, the above-mentioned robot also includes a safety system and a maintenance system. The safety system includes a magnetic attraction and falling interface, an insulation monitor, a parachute, and a fireproof airbag for electrical and mechanical safety protection. The maintenance system comprises an automatic cleaning module, a state monitoring module and a life prediction module, and is used for self-maintenance and health management of the robot.

[0031] In some embodiments, when the insulation resistance is less than 500 MΩ or the leakage current is greater than 30 mA, the magnetic interface is powered off and falls off; The insulation monitor detects the insulation state of the DC bus to ground in real time, and automatically cuts off the contactor in case of failure; The parachute is triggered when the free-fall acceleration of the vehicle is greater than 9.5 m / s 2 , and the opening time is less than 3 s; The fireproof airbag inflates and expands within 0.5 s of the fire, forming a 0.3 m 3 isolated area.

[0032] In some specific examples, the magnetic suspension charging robot in the vertical three-dimensional parking lot trackless magnetic suspension charging robot system described above can specifically include: 1. Magnetic suspension walking system Track structure: use the existing maintenance overhead rail (I-beam, flange width 120 mm) on the top of the garage, and paste NdFeB permanent magnet array (N52 grade, residual magnetism 1.4 T, pole distance 30 mm) on both sides of the rail waist to form a Halbach magnetic field enhancement structure.

[0033] Robot body: Use a ring-shaped linear motor (primary winding fixed on the top of the robot, secondary permanent magnet on the track), rated thrust 200 N, peak thrust 600 N, and can realize stepless speed regulation of 0-2 m / s.

[0034] Air gap control: real-time detection of air gap height by laser displacement sensor (Keyence IL-1000, accuracy ±5 μm), PID adjustment of electromagnet current, and maintenance of 15±0.5 mm suspension gap.

[0035] Guiding system: install electromagnetic guide wheels (diameter 50 mm, surface coated with polyurethane) on both sides of the robot, and when the lateral deviation is greater than 1 mm, automatically apply a correction force (maximum 50 N) to ensure that the running track deviation is less than 0.5 mm.

[0036] 2. Plug-in alignment system Visual identification: Coarse positioning: 77GHz millimeter wave radar (Continental ARS548), generates point cloud data within 1-10m range, and identifies vehicle charging port area (error <2 cm).

[0037] Fine positioning: 500-megapixel industrial camera (Basler acA2500-60uc) with ring-shaped LED light source (color temperature 5600K, adjustable brightness), shooting the charging port image at a distance of 30 cm, extracting contour features through Halcon algorithm, calculating the center coordinates (accuracy ±0.1 mm).

[0038] Mechanical arm: Six degrees of freedom design (joint 1: rotation ±180, joint 2: pitch ±90°, joint 3: rotation ±180°, joint 4: pitch ±90°, joint 5: rotation ±360°, joint 6: pitch ±90°), repeat positioning accuracy ±0.02 mm.

[0039] Integrated six-axis force sensor at the end (ATI Mini45), force control threshold during plugging process: insertion force <30 N, extraction force <50 N, trigger protection mechanism when abnormal force (>80 N) is detected.

[0040] Customized short gun line (0.4 m, cross-sectional area 6 mm 2 , withstand voltage 1000 V) is used for charging gun, gun head meets GB / T20234.3-2015 standard, built-in temperature sensor (NTC 10 kΩ), automatically reduces power to 50% when contact temperature >80℃.

[0041] 3. Power scheduling system Hardware configuration: Each robot is equipped with a 30 kW SiC bidirectional charging and discharging module (efficiency ≥97%), DC output voltage 200-1000 V, maximum current 150A.

[0042] The vehicle plate is installed with a wireless communication module (5G NR-U, delay <10 ms), which transmits vehicle BMS data (SOC, voltage, current, temperature) in real time.

[0043] Scheduling algorithm: Establish a "charging value density" model: , where α=0.5, β=0.3, γ=0.2 (trained through 100,000 historical data).

[0044] Solve using mixed integer linear programming (MILP), objective function: min(total charging cost + robot movement energy consumption), constraints: number of robots ≤12, charging power ≤30 kW per robot, grid capacity ≤800 kVA.

[0045] Example: A vehicle with SOC=30% is expected to leave in 2 hours, the current electricity price is 0.3 yuan / kWh, the peak electricity price is 1.2 yuan / kWh, the system allocates the robot to charge at a power of 25 kW for 1.5 hours, and the remaining 0.5 hours to reverse discharge 10 kWh, the net income of the vehicle owner = 10 × (1.2-0.3) = 9 yuan.

[0046] 4. Safety mechanism Electrical safety: A magnetic interface (attractive force 100 N) is provided between the gun head and the mechanical arm. When the insulation resistance is detected to be <500 MΩ or the leakage current is >30 mA, the power is cut off and the mechanical arm is detached within 0.1 s.

[0047] The robot body is equipped with an insulation monitor (Bender IRDH275) to detect the insulation state of the DC bus to ground in real time. When a fault occurs, the contactor (Schaltbau S800) is automatically cut off (off time <5 ms).

[0048] Mechanical safety: Parachute system: a 2 m 2 parachute (opening time <3 s) is built into the top cavity of the robot. When the free-fall acceleration is detected to be >9.5 m / s 2 , the parachute is automatically triggered, and the robot can land with a load of 50 kg at a speed of <3 m / s.

[0049] Fireproof airbag: a compressed nitrogen airbag (capacity 5 L) is installed at the bottom of the robot. When a fire occurs, the airbag inflates and expands within 0.5 s to form a 0.3 m 3 isolated area, protecting the robot body.

[0050] 5. Maintenance strategy Automatic cleaning: After the robot returns to the maintenance nest (located in the corner of the top layer, 1.5 m×1 m×0.5 m), the mechanical arm inserts the gun head into the cleaning module (built-in anhydrous ethanol spray + ultrasonic vibrator, frequency 40 kHz), and the cleaning time is 30 s, which can remove 99% of dust and metal particles.

[0051] State monitoring: An infrared temperature measurement (FLIR Lepton 3.5, resolution 160×120) is performed once a day to detect the temperature distribution of the gun head contacts. When the temperature difference is >15℃, an early warning is triggered.

[0052] Air tightness test is performed once a month: the gun head is immersed in water, 50 kPa air pressure is applied, and the pressure is maintained for 5 min. The leakage rate is <1 mL / min.

[0053] Life prediction: Establish a mechanical arm joint wear model: through current fluctuation (±5%) and vibration spectrum (0.1-10 kHz) analysis, predict the remaining life, and replace the reducer (Harmonic Drive CSF-14-100-GH) in advance when the predicted value is <1000 times of plugging.

[0054] 6. Example data Test environment: 30-story vertical parking lot, 1000 parking spaces, 12 robots.

[0055] Test results: continuous operation for 30 days, complete 21500 times of charging tasks, average single charging time 4.2 minutes (including movement, alignment, plugging), success rate 99.7%.

[0056] Robot average failure-free time (MTBF) = 8760 hours, maintenance cycle = 3 months.

[0057] Peak arbitrage income: average daily income per robot = 480 yuan in summer high-temperature months (July-September), annual income = 12x480x365 = 2.1 million yuan.

[0058] Space saving: compared with the fixed pile scheme (which needs to occupy 500 m 2 wall surface), this scheme saves space and can increase 20 parking spaces, annual income = 20x200x12 = 4.8 million yuan.

[0059] The vertical parking lot trackless magnetic levitation charging robot system provided by the present disclosure utilizes the existing maintenance overhead rail on the roof of the garage as a magnetic levitation guide surface, and the suspended robot can slide frictionlessly in three-dimensional space; the robot end integrates a foldable six-degree-of-freedom mechanical arm and a visible light-millimeter wave fusion vision, which can identify and plug the charging port of the vehicle body at a sub-millimeter level; the mechanical arm is built-in with a 30 kW SiC bidirectional charging and discharging machine module, the gun wire length is only 0.4 m, and the charging loss is ≤2.8%; the system completes the whole process of reservation, alignment, charging, settlement, and homing through the "parking space-robot-power grid" cloud scheduling platform during the vehicle is being transported by the loading plate, and realizes the three-dimensional charging mode of "vehicle not moving, robot moving".

[0060] In summary, the vertical stereoscopic parking lot trackless magnetic suspension charging robot system provided by the present disclosure does not need to increase cables, slide contact lines or charging piles on the floor, the cost of civil construction for single parking space is zero; the robot service radius covers the same layer and adjacent layers above and below, and 1000 parking spaces only need 12 robots to meet the daily charging demand of 80%, saving 45% of equipment investment compared with the fixed pile scheme; the insertion and extraction process is completed by the robot, and the user is completely unaware of the whole process, the average operation time of a single vehicle is reduced from 6 minutes to 55 seconds, and the throughput of the garage is increased by 22%; through bidirectional charging and discharging, the parking lot can increase the peak-valley arbitrage income of about 1.8 million yuan per year; the magnetic suspension walking has no mechanical wear and tear, and the maintenance cost in ten years is only 14% of the AGV scheme; the overall charging efficiency is 94.3%, which is 1.7 percentage points lower than that of the wired gun pile, but the comprehensive operation index is increased by 3.6 times, solving the industry problems of high density, unmanned and economical charging of VPP.

[0061] The key point of the system described in the present disclosure is the "top trackless magnetic suspension + short gun line robot" architecture, which transfers the charging equipment from the ground to the air and completely releases the space on both sides of the parking space; the charging is completed by using the vehicle handling waiting time to realize "time multiplexing"; the visual-force control hybrid insertion and extraction and magnetic attraction and falling interface solve the safe insertion and extraction problem in the high-altitude, mobile and unmanned environment; the minimum cost charging sequence algorithm and bidirectional inversion are introduced to realize the win-win of the power grid, the garage and the vehicle owner.

[0062] With Figure 1 Corresponding to the structural schematic diagram of the vertical stereoscopic parking lot trackless magnetic suspension charging robot system in the vertical stereoscopic parking lot, the present disclosure further provides a vertical stereoscopic parking lot space-time multiplexing charging method, as shown in Figure 2 The vertical stereoscopic parking lot space-time multiplexing charging method can include the following steps: S201, after the vehicle enters the vehicle carrying plate, the charging request and BMS data are sent to the cloud scheduling platform through the wireless communication module; S202, the platform allocates the optimal charging robot and plans the path based on the charging value density model and the MILP algorithm; S203, the robot moves to the target parking space along the top magnetic suspension track, and the charging gun is connected through the fusion of visual recognition and force control insertion and extraction; S204, the electrical parameters and mechanical state are monitored in real time during the charging process, and the safety mechanism is triggered when an abnormality occurs; S205, after the charging is completed, the robot returns to the maintenance nest for automatic cleaning and state detection.

[0063] In some embodiments, the above method further includes: The charging robot supports bidirectional charging and discharging, so as to adjust the charging and discharging of the vehicle battery according to the electricity price strategy.

[0064] In combination with Figure 3As shown, the embodiment of the present disclosure further provides a vertical stereoscopic parking space time-space multiplexing charging device 300, which comprises a processor 304 and a memory 301. Optionally, the system can further comprise a communication interface 302 and a bus 303. The processor 304, the communication interface 302 and the memory 301 can communicate with each other through the bus 303. The communication interface 302 can be used for information transmission. The processor 304 can call the logical instructions in the memory 301 to execute the vertical stereoscopic parking space time-space multiplexing charging method in the above-mentioned embodiment.

[0065] In addition, the logical instructions in the memory 301 described above can be realized in the form of a software functional unit and sold or used as an independent product when used, and can be stored in a computer readable storage medium.

[0066] The memory 301 as a computer readable storage medium can be used to store software programs, computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 304 executes the program instructions / modules stored in the memory 301, thereby performing functional applications and data processing, i.e. realizing the vertical stereoscopic parking space time-space multiplexing charging method in the above-mentioned embodiment.

[0067] The memory 301 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory 301 can include a high-speed random access memory, and can further include a non-volatile memory.

[0068] The embodiment of the present disclosure provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are set as the vertical stereoscopic parking space time-space multiplexing charging method.

[0069] The computer readable storage medium described above can be a transitory computer readable storage medium or a non-transitory computer readable storage medium.

[0070] The technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of the embodiments of the present disclosure. The aforementioned storage medium can be a non-transitory storage medium, including: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes, or can be a transitory storage medium.

[0071] The above description and drawings sufficiently illustrate the embodiments of the present disclosure to enable one skilled in the art to practice them. Other embodiments can include structural, logical, electrical, process, and other changes. The embodiments represent only a few of the possible variations. Individual components and functions are optional unless explicitly required, and the order of operations can be changed. Parts and features of some embodiments can be included in or replace parts and features of other embodiments. As used in the description of the embodiments, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, as used in this application, the term "and / or" refers to any and all possible combinations of one or more associated listed items. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or comprises" and the like mean the presence of stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, or device that includes the element. In this document, each embodiment focuses on the differences from other embodiments, and the same or similar parts between various embodiments can be referred to each other. For the method, product, etc. disclosed by the embodiments, if it corresponds to the method part disclosed by the embodiments, the relevant part can be referred to the description of the method part.

[0072] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software manner can depend on specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of the present disclosure. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0073] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the above-described device embodiments are merely illustrative, for example, the division of units can be merely a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms. The units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to implement the embodiments. In addition, the functional units in the embodiments of the present disclosure can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0074] The computer program instructions can also be loaded onto a computer or other programmable apparatus to cause a series of operations to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0075] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), a custom integrated circuit (ASIC), a special-purpose standard product (ASSP), a system-on-a-chip system (SOC), a loadable programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0076] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general or special purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, implements the functions / acts specified in the flowchart and / or block diagram block or blocks. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0077] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0078] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0079] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0080] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server can arise by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0081] It should be understood that the various forms of flow shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, which are not limited herein.

[0082] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vertical stereoscopic parking lot trackless magnetic suspension charging robot system, characterized in that, The system comprises at least one magnetic suspension charging robot suspended on a maintenance overhead track of a garage and sliding along the maintenance overhead track; The robot comprises a magnetic suspension walking system, a gun insertion alignment system and a power scheduling system; The magnetic suspension walking system comprises a ring linear motor, a laser displacement sensor and an electromagnetic guide wheel, which realizes accurate positioning and movement of the robot in three-dimensional space; The gun insertion alignment system comprises a six-degree-of-freedom mechanical arm, a fusion visual recognition module and a six-dimensional force sensor, which is used for sub-millimeter level recognition and compliant insertion and extraction of the vehicle charging port; The power scheduling system comprises a SiC bidirectional charging and discharging machine module and a cloud scheduling platform, which is used for dynamically allocating charging tasks according to the vehicle state, electricity price and departure time.

2. The system of claim 1, wherein, The track structure of the magnetic suspension walking system is an I-shaped steel, and NdFeB permanent magnet arrays are pasted on both sides of the web, forming a Halbach magnetic field enhancement structure; The robot generates thrust through the interaction between the ring linear motor and the permanent magnet array, realizing stepless speed regulation; The air gap control adopts laser displacement sensor and PID regulation, maintaining the suspension gap at 15±0.5 mm; The guide system corrects the lateral deviation through the electromagnetic guide wheel, and the running track deviation is less than 0.5 mm.

3. The system of claim 1, wherein, The gun insertion alignment system comprises a first positioning module using a 77 GHz millimeter wave radar, which is used to identify the charging port area; The gun insertion alignment system further comprises a second positioning module using a 5 million pixel industrial camera and a Halcon algorithm, which is used to locate the charging port in the charging port area; The six-degree-of-freedom mechanical arm has a repeat positioning accuracy of ±0.02 mm, and the end is integrated with a six-dimensional force sensor, the insertion force is less than 30 N, the extraction force is less than 50 N, and the protection mechanism is triggered when an abnormal force greater than 80 N is detected; The gun insertion alignment system further comprises a charging gun with a built-in temperature sensor.

4. The system of claim 1, wherein, Each robot is equipped with a 30 kW SiC bidirectional charging and discharging machine module, with an output voltage of 200-1000 V and a maximum current of 150 A; The vehicle loading plate is installed with a 5G wireless communication module to transmit vehicle BMS data in real time; The scheduling algorithm corresponding to the power scheduling system is determined based on the charging value density model, and satisfies the formula: ， wherein, is the charging value density model, SOC is the remaining battery level of the vehicle, is the estimated departure time, is the current time, is the price difference, a = 0.5, b = 0.3, g = 0.2, solved by mixed integer linear programming, the objective function is to minimize the total charging cost and robot moving energy consumption.

5. The system of claim 1, wherein, The robot further comprises a safety system and a maintenance system; The safety system comprises a magnetic attraction and falling interface, an insulation monitor, a parachute and a fireproof airbag, which is used for electrical and mechanical safety protection; The maintenance system comprises an automatic cleaning module, a state monitoring module and a life prediction module, which is used for self-maintenance and health management of the robot.

6. The system of claim 5, wherein, When the insulation resistance is less than 500 MΩ or the leakage current is greater than 30 mA, the magnetic attraction interface is powered off and falls off; The insulation monitor detects the insulation state of the DC bus to ground in real time, and automatically cuts off the contactor when a fault occurs. The parachute is triggered when the vehicle free fall acceleration is detected to be greater than 9.5 m / s 2 and the opening time is less than 3 s. The fireproof airbag is inflated and unfolded within 0.5 s of the fire occurring, forming a 0.3 m 3 Isolation zone.

7. A vertical stereoscopic parking space-time multiplexing charging method applied to the system of any one of claims 1-6, characterized in that, The method comprises: After the vehicle enters the vehicle loading plate, the charging request and BMS data are sent to the cloud scheduling platform through the wireless communication module; The platform allocates the optimal charging robot and plans the path based on the charging value density model and the MILP algorithm; The robot moves to the target parking space along the overhead magnetic suspension track, and completes the charging gun alignment through the fusion visual recognition and force control insertion and extraction. Real-time monitoring of electrical parameters and mechanical state during charging, triggering safety mechanisms when abnormal; After charging is completed, the robot returns to the maintenance nest for automatic cleaning and state detection.

8. The method of claim 7, wherein, The method further comprises: The charging robot supports bidirectional charging and discharging for adjusting charging and discharging of the battery of the vehicle according to a power price strategy.

9. An electronic device, comprising: Comprise: At least one processor; And a memory connected in communication with the at least one processor; The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of claim 7 or 8. 10.A non-transitory computer-readable storage medium storing computer instructions, wherein The computer instructions are used to enable the computer to perform the method of claim 7 or 8.

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