New energy automobile charging safety interlocking method and system based on AGV parking robot

Abstract

The invention belongs to the technical field of new energy automobile charging, and particularly discloses a new energy automobile charging safety interlocking method and system based on an AGV parking robot, and the method comprises the steps: carrying out the verification of man-machine interaction gun insertion and multi-dimensional connection based on flexible assistance; performing off-grid electric handshake and protocol verification based on the independent power supply module; dynamic scheduling decision making, tension coupling driving and moving carrying; environment-adaptive automatic docking and closed-loop charging management are realized; and safe departure, return carrying and intelligent cable recovery are realized. According to the charging safety interlocking method disclosed by the invention, the essential safety and the operation reliability of a man-machine cooperative charging scene are remarkably improved by constructing a physical, electrical and data fused multi-dimensional protection system.

Description

Technical Field

[0001] This invention belongs to the field of new energy vehicle charging technology, and more specifically, relates to a new energy vehicle charging safety interlocking method and system based on AGV parking robots. Background Technology

[0002] With the transformation of the global energy structure and the in-depth implementation of the "carbon neutrality" strategy, the new energy vehicle industry has experienced explosive growth. However, the construction of supporting charging infrastructure faces severe challenges, with range anxiety and refueling anxiety remaining core pain points hindering the further popularization of new energy vehicles. In modern cities where land resources are increasingly scarce, traditional surface parking lots can no longer meet the parking needs of massive numbers of vehicles. Intensive, high-efficiency automated multi-level parking garages and intelligent parking lots based on Automated Guided Vehicle (AGV) parking robots have emerged. These intelligent parking systems use AGV robots to achieve automatic vehicle transport and high-density storage, greatly improving space utilization. Against this backdrop, the deep integration of the two high-frequency scenarios of "parking" and "charging," realizing "parking as charging," has become an inevitable trend in the development of intelligent transportation. However, achieving convenient, reliable, and low-cost charging services in AGV-based automated parking scenarios faces extremely high technical barriers. Especially when vehicles are in a dynamic process of being lifted and moved by AGVs, how to ensure the absolute safety of high-power electrical energy transmission and prevent major safety accidents caused by mechanical vibration, communication delays or human error is a key technical problem that the industry urgently needs to solve.

[0003] To address the charging challenges in automated parking scenarios, existing technologies have primarily explored two approaches: The first is the "fully automated charging robot" solution. This typically involves deploying mobile charging robots equipped with visual recognition, force control sensing, and multi-axis robotic arms within the parking lot. Once the AGV (Automated Guided Vehicle) parks the vehicle, the charging robot automatically navigates to the vehicle, locates the charging port using a vision system, and uses its robotic arm to automatically insert, charge, and remove the charging gun. For example, some existing patents disclose solutions using 3D vision to guide the robotic arm to perform six-degree-of-freedom adjustments to align with the charging port, or using magnetic automatic connectors for blind insertion. These solutions aim to completely replace manual labor, achieving fully automated operation. The second approach is the "semi-automatic user charging gun insertion" solution. Considering the high cost and technical complexity of fully automated robots, some existing technologies have shifted to a "human-machine collaboration" model. This involves the user manually inserting the charging gun into the vehicle's charging port when the vehicle enters the handover area (parking lot entrance). The AGV robot then transports the "vehicle + charging equipment" as a whole, or uses a traveling cable system to provide power after the vehicle has moved to the parking space. To ensure safety, existing technologies typically incorporate physical sensors such as microswitches or proximity switches on the charging gun or socket to detect whether the charging gun is inserted correctly. Some solutions also introduce electronic locking mechanisms that lock the charging head after detecting an insertion signal to prevent it from falling out.

[0004] Although the aforementioned existing technologies have achieved the combination of automated parking and charging functions to a certain extent, in-depth analysis reveals that they still have significant shortcomings in practical applications and cannot effectively resolve the contradiction between high safety, low cost, and high reliability. Specifically, these shortcomings are manifested in the following aspects: The fully automated charging robot integrates high-precision vision sensors, complex force feedback control systems, and expensive robotic arm structures, resulting in high initial construction costs and subsequent maintenance costs, making it difficult to popularize in large-scale commercial parking lots. Furthermore, underground parking lots are typically dimly lit and dusty, and the location and shape of vehicle charging ports vary greatly, easily leading to visual recognition failures or mechanical connection jams. The overall reliability of the system is heavily constrained by environmental factors. Secondly, semi-automatic solutions have serious safety blind spots in the "user inserts charging gun - AGV transport" scenario. Existing technologies often rely on simple physical switches to determine whether the charging gun is inserted, but physical contact does not equate to a reliable electrical connection. The user may not have pushed the charging gun all the way in, triggering a microswitch, but the contact area of ​​the internal main circuit terminals is insufficient. If the system starts high-power charging at this time, excessive contact resistance will instantly generate a high-temperature arc, causing the charging port to burn out or even start a fire. Moreover, existing charging control systems and AGV scheduling systems are often two independent "islands." The AGV system does not monitor the charging circuit's energization status in real time, and the charging system does not understand the AGV's movement intentions. In some usage scenarios, if the AGV forcibly moves the vehicle before the charging circuit is completely de-energized, or starts transporting without properly storing the charging cable, it is very easy for the cable to be pulled apart or the insulation layer to be damaged, leading to short circuits or electric shock accidents. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a new energy vehicle charging safety interlocking method and system based on AGV parking robots. By constructing a multi-dimensional protection system that integrates physical, electrical, and data aspects, it significantly improves the inherent safety and operational reliability of human-machine collaborative charging scenarios.

[0006] To achieve the above objectives, the first aspect of the present invention provides a new energy vehicle charging safety interlock method based on an AGV parking robot, comprising the following steps:

[0007] S1. Based on the user's parking and / or charging needs, the AGV parking robot carrying the power connection components travels to the area under the new energy vehicle and guides the user to insert the charging gun into the new energy vehicle through the human-machine interface; after verifying that the charging gun and the new energy vehicle have completed physical connection and locking is qualified, the first valid signal is output.

[0008] S2. After the charging gun is inserted, the communication handshake status between the control pilot signal detection module and the vehicle is monitored, and a second valid signal is generated after confirming that the vehicle is ready.

[0009] S3. Based on the first valid signal and the second valid signal, release the AGV parking robot's movement lock, and the AGV parking robot transports the vehicle to the optimal charging position;

[0010] S4. When the AGV parking robot arrives at the optimal charging parking space, and the charging cable connector corresponding to the charging gun on it is coupled with the charging interface on the parking space side, the charging circuit is turned on to charge the vehicle.

[0011] S5. After charging is completed and power is cut off, the AGV parking robot will transport the vehicle back to the user handover area based on the user's vehicle needs; after confirming that the high-voltage circuit is disconnected and the mechanical lock is released, it will prompt the user to unplug the charging gun and return it so that other operations can continue.

[0012] Furthermore, the power connection assembly includes a first power connector and a second power connector that are mirror-symmetrically arranged on both sides of the AGV parking robot; the first power connector includes: a storage box, a charging cable, a charging gun, and a charging cable connector; the storage box is detachably disposed on one side of the AGV parking robot; the charging cable is housed in the storage box via a reel; a first end of the charging cable extends from the front of the storage box and is connected to the charging gun, and a second end extends from the rear of the storage box and is connected to the charging cable connector.

[0013] Further, in step S1, the generation of the first valid signal includes the following steps:

[0014] S11. The mechanical latch status is detected by a mechanical micro switch integrated on the charging gun;

[0015] S12. Real-time spatial attitude data of the gun head is collected by an inertial measurement unit integrated inside the charging gun, wherein the attitude data includes at least the pitch angle;

[0016] S13. The control unit compares the real-time spatial attitude data with the preset vehicle standard plug-in angle model;

[0017] S14. When the mechanical micro switch is triggered and the deviation between the real-time spatial attitude data and the standard plug-in angle model is within the preset tolerance range, the physical connection is determined to be valid, and the first valid signal is generated.

[0018] Furthermore, in step S13, the control unit is integrated into the storage box and communicates with the AGV parking robot through a corresponding wireless communication module.

[0019] Furthermore, in step S2, the control pilot signal detection module is integrated inside the storage box and is powered by an independent power supply module located inside the storage box.

[0020] When detecting whether the control pilot signal handshake between the control unit and the vehicle is successful, based on the first valid signal, the control unit wakes up the independent power module and independently performs signal injection and detection tasks in the off-grid state where the AGV parking robot is not electrically connected to the charging interface on the parking space side.

[0021] Further, in step S2, the control pilot signal detection module uses the independent power module to generate a standard DC reference voltage via a boost circuit, and injects the DC reference voltage into the control pilot pin of the charging cable to simulate a handshake request from an external charging device; the control pilot signal detection module monitors the voltage transition state on the control pilot pin; only when the voltage is detected to sequentially transition from the initial reference value to a first voltage value representing vehicle connection and a second voltage value representing vehicle readiness, and the voltage state is maintained for a time that meets a preset standard, is the electrical protocol handshake considered successful, and the control unit in the storage box generates the second valid signal.

[0022] Further, in step S2, the handshake tolerance parameters based on the historical charging feature profile of the vehicle fed back by the cloud server are used; the control pilot signal detection module dynamically adjusts the voltage tolerance range or state maintenance time threshold for determining the success of the electrical protocol handshake according to the handshake tolerance parameters; if the monitored voltage state conforms to the adjusted determination logic, the second valid signal is generated.

[0023] Furthermore, the globally optimal charging parking space is obtained based on a multi-objective optimization function, and its calculation method is as follows:

[0024]

[0025] In the formula, S opt Ω is the unique ID of the globally optimal charging parking space calculated; avail Let C be the set of available charging spots in the parking lot that are vacant and not reserved; let i be the i-th candidate charging spot in the set; path p represents the path-time cost; curr This refers to the current real-time coordinates of the AGV parking robot; p i Let Γ(p) be the physical coordinates of the i-th candidate charging space. curr ,p i L is the set of path segments traversed by the planned path from the current point to the target point i; e v is the physical length of path segment e; agvρ(e,t) is the standard cruising speed of the AGV parking robot; ρ(e,t) is the dynamic congestion density coefficient of path segment e at the current time t; μ is the congestion penalty factor; E load The cost of grid load balancing; P req The rated charging power requested by the vehicle's battery management system; T k The power distribution cabinet in area k supplies power to the i-th charging parking space; P load (k,t) represents the current real-time heavy load of the k-th distribution cabinet at the current time t; P max (k) represents the rated maximum capacity of the kth distribution cabinet; λ is the load sensitivity index, and its value is not less than 2.

[0026] Furthermore, the storage box integrates an intelligent servo reel unit, which includes a servo motor, a reducer, a high-precision dynamic torque sensor, and an absolute encoder. The control unit is communicatively connected to the intelligent servo reel unit and executes differentiated tension control strategies according to different working conditions to achieve precise management of the charging cable winding and unwinding.

[0027] Furthermore, in step S1, by setting a tension wake-up threshold, when the tension detected by the torque sensor is greater than the tension wake-up threshold and the duration exceeds a preset time period, the control unit activates the assist mode and controls the reel motor to output an auxiliary torque in the same direction as the pulling based on the impedance control algorithm; when the detected tension approaches zero, the control unit automatically switches to the position holding mode and controls the reel motor to apply a reverse holding torque to counteract the cable's own weight and keep the cable taut and suspended.

[0028] The impedance control algorithm is as follows:

[0029] T cmd_S1 =G assist ·(F meas -F dead )·RB vir ·ω reel +Tcomp(θ);

[0030] In the formula, T cmd_s1 For output torque command to the servo motor; F meas This is the real-time tensile force measurement value; F dead The dead zone threshold for pull-force wake-up; G assist The gain factor is used to assist; R is the current effective radius of the reel; B vir ω is the virtual damping coefficient. reel θ is the angular velocity of the reel; Tcomp(θ) is the basic compensation torque.

[0031] Further, in step S2, after confirming mechanical locking, the control unit drives the servo motor to perform a micro-tightening action, maintaining the cable tension at a preset lifting threshold to apply a slight upward lifting force to the charging gun, correcting the drooping of the charging head caused by the cable's own weight, wherein:

[0032] And T cmd_S2 ≤T safety_limit ;

[0033] In the formula, T cmd_S2 This refers to the static pretension torque; T bias The offset torque is the gravity compensation torque; e(k) is the tension deviation value; K p K is the proportional gain coefficient; i Δt is the integral gain coefficient; Δt is the control period; T safety_limit The safe torque threshold for fusing is used.

[0034] Further, in step S3, the control unit calculates the theoretical cable laying speed based on the AGV parking robot chassis speed and turning radius, serving as the feedforward command for the speed loop; the control unit calculates the corrected rotation speed using a PID algorithm based on the deviation between the set target tension and the actual feedback tension, serving as the feedback command for the torque loop; when the AGV accelerates, the control unit controls the servo motor to superimpose positive acceleration to reduce the tension peak; when the AGV decelerates or turns, causing an increase in cable slack, the control unit controls the servo motor to decelerate or reverse to retract the cable; simultaneously, a dynamic tension safety window is set, and when the actual tension exceeds the range of this window, an emergency stop protection is immediately triggered; wherein:

[0035]

[0036] In the formula, n cmd_S3 V represents the real-time target speed of the motor. agv φ is the real-time linear velocity of the AGV parking robot; φ is the outgoing line yaw angle; r curr The current effective radius of the reel; i is the reduction ratio; K ff e is the feedforward gain coefficient; t (k) represents the real-time tension deviation; K p K d These are the proportional and differential gains, respectively.

[0037] Further, in step S4, the static tension value is periodically detected; if the tension is detected to be less than the preset holding value due to thermal expansion and contraction of the cable or material creep, the servo motor performs a micro-step retraction action until the tension is restored, so as to maintain the catenary shape of the cable and adapt to the height changes of the vehicle suspension system; wherein:

[0038] θ cmd_S4 (k)=θ cmd(k-1)+λ step ·sgn(ΔT(k))·H(|ΔT(k)|-δ dead );

[0039] ΔT(k)=T hold_ref -T meas (k);

[0040] In the formula, θ cmd_s4 (k) represents the target position angle at the current moment; θ cmd_s4 (k-1) represents the position angle at the previous moment; λ step The step resolution is ΔT(k); the static tension deviation is ΔT(k); T hold_ref The optimal suspension tension when the vehicle is parked; T meas (k) represents the sampled value of the torque sensor in a stationary state; δ dead To control the dead zone threshold.

[0041] Furthermore, the control unit dynamically switches the output torque based on the relative distance between the charging gun and the storage box and the user's operating status, so that the charging gun accurately returns to its position on the storage box, wherein:

[0042]

[0043] In the formula, T cmd_S5 For the recovery stage torque; S mech This is the state of a mechanical microswitch, where 1 indicates insertion and 0 indicates removal; T float For flexible suspension recovery torque; d rem d represents the remaining repositioning distance. suc T is the magnetic attraction trigger threshold; mag T is the magnetic attraction torque; pulse(t) is the pulse hold function; T brake To maintain the torque of the brake; S dock This is to reset the sensor status.

[0044] The second aspect of this invention provides a new energy vehicle charging safety interlocking system based on an AGV parking robot, applied to the charging safety interlocking method described above, comprising: an AGV parking robot for carrying vehicle movement; a power connection component disposed on the AGV parking robot, including a storage box, an intelligent servo reel system, a charging cable, a charging gun, and a charging cable connector; a plug-in status detection module for detecting the physical connection status and spatial attitude between the charging gun and the vehicle charging port, and generating a first valid signal; and a control pilot signal detection module for actively simulating charging equipment signals and detecting the electrical protocol handshake status between the AGV parking robot and the vehicle in an off-grid state where the AGV parking robot is not connected to a ground power source, and generating a second valid signal. Two valid signals; an electronic locking device, mounted on the charging gun, for locking the charging gun to the vehicle charging port; and a control unit, communicatively connected to the AGV parking robot, the intelligent servo reel system, the plug-in status detection module, the control pilot signal detection module, and the electronic locking device. The control unit is configured to execute the following safety interlocking logic: only when both the first and second valid signals are received simultaneously, the control unit controls the electronic locking device to perform forced locking and releases the software and hardware locks on the AGV parking robot drive system, authorizing it to carry the vehicle and move; if either the first or second valid signal is missing, the control unit locks the AGV parking robot to remain stationary.

[0045] A third aspect of the present invention provides a computer-readable storage medium comprising a stored computer program, wherein the computer program, when executed by a processor, controls the device containing the storage medium to perform the charging safety interlocking method as described above.

[0046] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0047] 1. The charging safety interlocking method of the present invention significantly improves the inherent safety and operational reliability of human-machine collaborative charging scenarios by constructing a multi-dimensional protection system that integrates physical, electrical and data aspects.

[0048] 2. The charging safety interlocking method of the present invention strictly implements safety logic, and only releases the lock on the AGV parking robot drive system after the charging gun completes mechanical locking and the control pilot signal detection circuit confirms successful electrical protocol handshake. This fundamentally eliminates the risk of transporting defective vehicles due to user misconnection or incomplete vehicle battery management system, and completely eliminates the safety hazard of the AGV parking robot pulling on live cables or causing electric arcs during movement.

[0049] 3. The charging safety interlocking method of the present invention provides a zero-gravity flexible plug-and-play experience during the user operation stage by integrating an intelligent servo reel unit into the power connection component. In the dynamic process of the AGV parking robot transporting the vehicle, it realizes dual closed-loop follow-up control based on speed feedforward and tension feedback, effectively avoiding damage to the vehicle charging port due to excessive tension of the charging cable or its getting caught in the wheel due to slack, thus ensuring mechanical safety during the movement process. Attached Figure Description

[0050] Figure 1 This is a schematic flowchart of the charging safety interlocking method according to an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the process for generating the first valid signal according to an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the power connection component assembled into the AGV parking robot according to an embodiment of the present invention.

[0053] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-AGV parking robot, 2-power connection assembly, 21-first power connector, 21a-storage box, 21b-charging cable, 21c-charging gun, 21d-charging cable connector, 22-second power connector. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0055] Example 1

[0056] Please refer to Figures 1 to 3 This invention provides a new energy vehicle charging safety interlock method based on an AGV parking robot, comprising the following steps:

[0057] S1. Verification of charging gun insertion and multi-dimensional connection based on flexible assistance human-machine interaction: According to the user's parking and / or charging needs, the AGV parking robot 1 carries the power connection component 2 to the new energy vehicle and guides the user to insert the charging gun 21c into the new energy vehicle through the human-machine interaction interface; after verifying that the charging gun 21c and the new energy vehicle have completed physical connection and locking is qualified, the first valid signal is output.

[0058] S2. Off-grid electrical handshake and protocol verification based on independent power supply module: After the charging gun 21c is inserted, the communication handshake status between the control pilot signal detection module and the vehicle is monitored, and a second valid signal is generated after confirming that the vehicle is ready.

[0059] S3. Dynamic scheduling decision, tension coupling drive and mobile transport: Based on the first valid signal and the second valid signal, the AGV parking robot 1 releases the mobile lock and the AGV parking robot 1 transports the vehicle to the optimal charging position;

[0060] S4. Environmentally Adaptive Automatic Docking and Closed-Loop Charging Management: When the AGV parking robot 1 arrives at the optimal charging position, and the charging cable connector 21d corresponding to the charging gun 21c on it is coupled with the charging interface on the parking position side, the charging circuit is connected to charge the vehicle.

[0061] S5. Safe departure, return and intelligent cable recycling: After charging is completed and power is cut off, the AGV parking robot 1 will transport the vehicle back to the user handover area based on the user's vehicle needs; after confirming that the high voltage circuit is disconnected and the mechanical lock is released, the user will be prompted to unplug the charging gun and return it so that other operations can continue.

[0062] Specifically, in step S1, the user can select charging and / or parking services through a mobile APP, enter vehicle information, and the parking management system can allocate the target charging parking space and AGV parking robot 1, so that AGV parking robot 1 can quickly respond to the user's parking and / or charging needs.

[0063] Furthermore, the power connection assembly 2 includes a first power connector 21 and a second power connector 22 arranged in mirror image symmetrically on both sides of the AGV parking robot 1; the first power connector 21 includes: a storage box 21a, a charging cable 21b, a charging gun 21c, and a charging cable connector 21d; the storage box 21a is detachably disposed on one side of the AGV parking robot 1; the charging cable 21b is housed in the storage box 21a by means of a reel; the first end of the charging cable 21b is led out from the front side of the storage box 21a and connected to the charging gun 21c, and the second end is led out from the rear side of the storage box 21a and connected to the charging cable connector 21d.

[0064] Understandably, through the above design, the power connection component 2 adopts a mirror-symmetrical layout of the first power connector 21 and the second power connector 22, which significantly improves the system's adaptability to different vehicle models and parking positions. Specifically, the first power connector 21 includes a detachable storage box 21a located on the left side of the AGV parking robot 1, with an integrated reel structure inside for orderly storage and retraction of the charging cable 21b. Its two ends are led out from the front and rear sides respectively. One end is connected to the charging gun 21c for the user to manually plug into the vehicle charging port, and the other end is coupled to the external power supply path via the charging cable connector 21d. The charging interface 4 on the parking space side is located on the ground of the charging parking space and achieves a standardized electrical connection with the charging cable 21b. In addition, the detachable design of the storage box 21a facilitates modular replacement and maintenance, and the reel mechanism effectively prevents cable tangling and wear. The overall solution significantly improves the practicality and scalability of charging operations in intelligent parking lots while ensuring environmental adaptability.

[0065] It should be noted that the first power connector 21 and the second power connector 22 are mirror images of each other. The following description will mainly focus on the first connector 21 to explain the structure of the two and their related connection relationships.

[0066] It should be noted that, to improve compatibility with the charging port layouts of various types of new energy vehicles, especially for different models where the charging port is located on the front or rear of the vehicle, the power connectors of this system can not only be arranged on the left and right sides of the AGV parking robot 1, but can also be extended to the front and rear sides. Correspondingly, the position of the charging interface on the parking space side is also adaptively adjusted according to the distribution of the power connectors, ensuring that regardless of the vehicle's orientation, convenient charging connection can be achieved through the nearest power connector without hindering the loading and unloading operations of the AGV parking robot 1. This significantly enhances the system's adaptability to different vehicle models and the flexibility of parking direction, avoiding the problem of incompatibility due to differences in the location of the vehicle's charging port. Users do not need to adjust the vehicle's orientation or rely on high-precision attitude adjustment mechanisms. Thus, without increasing mechanical complexity, it effectively covers the charging interface configurations of mainstream new energy vehicles, improving the service universality and user experience of intelligent parking lots.

[0067] In an optional embodiment, in step S1, the human-machine interface, used to guide the user to perform interactive operations and provide status information, includes: a gun head status indicator light, a display screen integrated on the AGV parking robot 1, a speaker, and a breathing light strip around the robot body. Furthermore, in an optional embodiment, the human-machine interface also includes an App or mini-program on the user's mobile phone for remote prompting.

[0068] It is understood that the information sent by the human-machine interface includes: connection abnormality alarm information, lock confirmation and status information, and safety warning information, which are used to ensure that users can accurately perceive the vehicle status even under complex working conditions through the combination of light, sound and images.

[0069] In an optional embodiment, step S1, generating the first valid signal includes the following steps:

[0070] S11. The mechanical latching status is detected by a mechanical micro switch integrated on the charging gun 21c;

[0071] S12. Real-time spatial attitude data of the gun head is collected by an inertial measurement unit integrated inside the charging gun 21c, wherein the attitude data includes at least the pitch angle;

[0072] S13. The control unit compares the real-time spatial attitude data with the preset vehicle standard plug-in angle model;

[0073] S14. When the mechanical micro switch is triggered and the deviation between the real-time spatial attitude data and the standard plug-in angle model is within the preset tolerance range, the physical connection is determined to be valid, and the first valid signal is generated.

[0074] In an optional embodiment, in step S13, the control unit is integrated into the storage box 21a and communicates with the AGV parking robot 1 through a corresponding wireless communication module to ensure a direct and real-time communication connection, avoid network delays or network outages, and meet the highest safety level requirements such as immediate emergency stop or absolute prohibition of movement.

[0075] In an optional embodiment, step S1 further includes: after determining that the physical connection is valid, the control unit immediately drives the electronic locking tongue set on the charging gun 21c to pop out and lock the charging gun 21c into the vehicle charging port; if the real-time spatial attitude data exceeds the preset tolerance range, even if the mechanical micro switch is triggered, the control unit refuses to generate the first valid signal and controls the human-machine interface to issue a connection abnormality alarm.

[0076] Specifically, in step S2, the control pilot signal detection module is integrated inside the storage box 21a and powered by an independent power supply module located within the storage box 21a. When detecting whether the control pilot signal handshake with the vehicle is successful, based on the first valid signal, the control unit wakes up the independent power supply module to independently perform signal injection and detection tasks in the off-grid state where the AGV parking robot 1 is not electrically connected to the charging interface on the parking space side. It can be understood that through the above design, the storage box 21a becomes an independent intelligent diagnostic black box. Even if the AGV parking robot host malfunctions or loses power, this module can still independently maintain monitoring of the gun head connection status, preventing accidental unlocking.

[0077] It should be noted that when the mechanical locking in step S1 is completed, and the inertial measurement unit triggers the control unit to generate the first valid signal, the control unit immediately wakes up the independent power supply module in low-power sleep mode, starts to supply power to the control pilot signal detection module, injects the corresponding circuit into the charging cable 21b, sends a connection confirmation request to the vehicle battery management system, and simulates the existence of the charging pile. At this time, the control pilot signal detection module starts to monitor the voltage change on the CP line in real time, realizes the secondary verification of the electrical protocol ready state, and ensures charging safety.

[0078] In an optional embodiment, the storage box 21a is electrically connected to the AGV parking robot 1 to further ensure that the storage box 21a receives a stable and reliable power supply, which not only ensures the normal operation of its internal electronic components, but also supports the collaborative control logic with the AGV parking robot 1, thereby improving the safety and automation level of the overall system.

[0079] In an optional embodiment, in step S2, the control pilot signal detection module uses the independent power module to generate a standard DC reference voltage via a boost circuit, and injects this DC reference voltage into the control pilot pin of the charging cable 21b to simulate a handshake request from an external charging device. The control pilot signal detection module monitors the voltage transition state on the control pilot pin. Only when the voltage sequentially transitions from the initial reference value to a first voltage value representing vehicle connection and a second voltage value representing vehicle readiness, and the voltage state is maintained for a preset time, is the electrical protocol handshake considered successful, and the control unit inside the storage box 21a generates the second valid signal. It is understood that by completing the electrical protocol-level verification before handling, the second valid signal is only generated by the storage box 21a when the vehicle is fully in a rechargeable, safe-ready state, fundamentally eliminating the risk of handling defective vehicles and significantly improving the operational safety redundancy throughout the process.

[0080] In an optional embodiment, in step S2, the handshake tolerance parameters based on the vehicle's historical charging feature profile fed back by the cloud server are used. The control pilot signal detection module dynamically adjusts the voltage tolerance range or state maintenance time threshold for determining successful electrical protocol handshakes according to the handshake tolerance parameters. If the monitored voltage state conforms to the adjusted judgment logic, the second valid signal is generated. It is understood that through the above design, by utilizing the handshake tolerance parameters fed back by the cloud server, the control pilot signal detection module can overcome the limitations of traditional fixed thresholds. For different vehicle models or vehicles with parameter drift due to aging, it adaptively optimizes the voltage tolerance range and state maintenance time threshold, thereby effectively solving the false alarm problem caused by overly rigid judgment standards in existing technologies, achieving precise handshake verification for each vehicle. Furthermore, while ensuring the rigor of the second valid signal generation, it significantly reduces the connection failure rate caused by individual vehicle differences, while significantly improving the accuracy and compatibility of handshake recognition, enhancing the system robustness and security in human-machine collaborative charging scenarios, and providing technical support for building a data-driven intelligent charging management closed loop.

[0081] Specifically, in step S3, the control unit performs real-time logical operations and determines that the safety interlocking condition is met when the first valid signal and the second valid signal are generated simultaneously; the control unit sends a release braking command to the AGV parking robot 1 and simultaneously sends a forced locking command to the electronic lock set on the charging gun 21c; if either the first valid signal or the second valid signal is missing, or the electronic lock locking status confirmation fails, the control unit locks the AGV parking robot 1 drive system and prohibits the execution of any movement commands.

[0082] Furthermore, before the AGV parking robot 1 moves, the control unit sends a scheduling request containing the vehicle ID and the required power to the cloud scheduling center; the cloud scheduling center calculates the globally optimal charging position based on the real-time power grid load balancing strategy of the charging piles in the parking lot and the spatial and temporal occupancy status of the parking spaces, and plans the shortest safe path from the current position to the target charging position; the control unit receives the shortest safe path and the target charging position number, and uses them as the navigation basis for the movement of the AGV parking robot 1.

[0083] In an optional embodiment, the globally optimal charging parking space is obtained based on a multi-objective optimization function, and the calculation method is as follows:

[0084]

[0085] In the formula, S opt Ω is the unique ID of the globally optimal charging parking space calculated; availLet C be the set of available charging spots in the parking lot that are vacant and not reserved; let i be the i-th candidate charging spot in the set; path p represents the path-time cost; curr This refers to the current real-time coordinates of the AGV parking robot; p i Let Γ(p) be the physical coordinates of the i-th candidate charging space. curr ,p i L is the set of path segments traversed by the planned path from the current point to the target point i; e v is the physical length of path segment e; agv ρ(e,t) is the standard cruising speed of the AGV parking robot; ρ(e,t) is the dynamic congestion density coefficient of path segment e at the current time t; μ is the congestion penalty factor; E load The cost of grid load balancing; P req The rated charging power requested by the vehicle's battery management system; T k The power distribution cabinet in area k supplies power to the i-th charging parking space; P load (k,t) represents the current real-time heavy load of the k-th distribution cabinet at the current time t; P max (k) represents the rated maximum capacity of the kth distribution cabinet; λ is the load sensitivity index, and its value is not less than 2.

[0086] Understandably, employing a global objective function that incorporates path time-space costs and grid load balancing costs to calculate optimal charging spaces significantly improves the intelligence level of parking lot resource scheduling. Specifically, the parking lot topology map is discretized into a weighted directed graph, where path costs depend not only on physical distance but also on congestion delays caused by real-time dynamic obstacles, thus generating a navigation strategy closer to the actual operating environment. Simultaneously, to avoid the risk of local grid overload, a nonlinear function is introduced to impose an exponential penalty on high-load transformers, automatically avoiding their assigned charging spaces during optimization, effectively reducing the probability of transformer tripping. This ensures both user parking and retrieval efficiency while achieving a balanced distribution of power load, enhancing the system's safety, stability, and scalability, making it particularly suitable for smart parking lot scenarios with high-density centralized charging of new energy vehicles.

[0087] Specifically, in step S4, the AGV parking robot 1 uses the fusion perception data of the vision sensor and lidar installed on it, in conjunction with the flexible floating mechanism of the charging cable connector 21d, to complete the mechanical coupling with the charging interface on the parking space side, and confirms the physical connection status through the bidirectional signal of the Hall sensor and the position switch; before connecting the high-voltage circuit, it reads the ambient temperature and humidity data and performs strategy correction: if the ambient humidity is higher than the preset threshold, the detection level of the insulation monitoring device is increased; the actual contact resistance is measured using the low-voltage detection current and compared with the standard contact resistance reference value at the current temperature fed back from the cloud; if the actual contact resistance exceeds the preset multiple of the reference value, the control unit limits the maximum charging current or refuses to connect the high voltage.

[0088] In an optional embodiment, during the charging process, the control unit collects the temperature of the charging gun head on the vehicle and the temperature of the ground docking point in real time, calculates the temperature rise rate in real time, and dynamically fits and compares the temperature rise rate with the normal temperature rise curve of the vehicle model stored in the cloud. If the temperature rise rate deviates from the normal curve by more than a preset range, the control unit executes a first-level response, linearly reducing the charging current by a preset step size until the temperature rise rate returns to the normal range. If the absolute temperature exceeds the safety threshold or an arc feature is detected, the control unit executes a second-level response, immediately cutting off the high-voltage circuit and sending relevant instructions to the human-machine interface.

[0089] In an optional embodiment, in step S4, after the AGV parking robot 1 moves to the designated charging parking space, the corresponding storage box 21a is unloaded and left in the charging parking space; after confirming that the charging cable connector 21d is coupled to the charging interface on the parking space side, the AGV parking robot 1 separates from the storage box 21a and drives away from the charging parking space to perform other tasks. This is to achieve efficient reuse of the AGV parking robot 1, avoid it from occupying charging resources for a long time during the charging process, significantly improve equipment turnover rate and overall parking lot operating efficiency. At the same time, this separate design decouples the charging process from the handling task, which is convenient for subsequent maintenance and modular upgrades, enhances the flexibility and reliability of the system, and is suitable for high-frequency, multi-task parallel smart parking scenarios.

[0090] Specifically, in step S5, after receiving the charging end command, the control unit cuts off the high-voltage circuit and executes the residual voltage discharge procedure; only when the charging circuit voltage is detected to drop below the preset safe voltage threshold is the control unit controlled to mechanically decouple and retract the charging cable connector 21d from the parking space side charging interface; during the process of the AGV parking robot 1 carrying the vehicle and power connection components 2 to the user waiting area, the control unit controls the electronic lock set on the charging gun 21c to remain in a forced locking state.

[0091] In an optional embodiment, when the user places the charging gun 21c in the corresponding position on the storage box 21a, a Hall sensor is used to detect whether the gun head is in place; once the gun head is confirmed to be in place, the AGV parking robot 1 returns to the waiting area and enters a low-power sleep mode or continues to perform other tasks.

[0092] Furthermore, the storage box 21a integrates an intelligent servo reel unit, which includes a servo motor, a reducer, a high-precision dynamic torque sensor, and an absolute encoder. The control unit is communicatively connected to the intelligent servo reel unit and executes differentiated tension control strategies according to different working conditions to achieve precise winding and unwinding management of the charging cable 21b, thereby improving cable lifespan and operational safety, while enhancing adaptability and reliability in complex working environments.

[0093] In an optional embodiment, in step S1, by setting a pull force wake-up threshold, when the pull force detected by the torque sensor is greater than the pull force wake-up threshold and the duration exceeds a preset time period, the control unit activates the assist mode, controlling the reel motor to output an auxiliary torque consistent with the pulling direction based on an impedance control algorithm; when the detected pull force approaches zero, the control unit automatically switches to the position holding mode, controlling the reel motor to apply a reverse holding torque to counteract the cable's own weight, keeping the cable taut and suspended. It can be understood that when the user holds the charging gun 21c and pulls it outward, the torque sensor detects the pull force; the assist mode is activated only when the pull force is greater than 2N and the duration is greater than 200ms; when the user stops pulling, the pull force approaches zero, the servo motor automatically switches to the position holding mode, applying a weak reverse torque of 3N to 5N to counteract the cable's own weight, keeping the cable taut and suspended, preventing its middle section from drooping and contacting the ground due to gravity.

[0094] In an optional embodiment, the impedance control algorithm is as follows:

[0095] T cmd_S1 =G assist ·(F meas -F dead )·RB vir ·ω reel +Tcomp(θ);

[0096] In the formula, T cmd_s1 For output torque command to the servo motor; F meas This is the real-time tensile force measurement value; F dead The dead zone threshold for pull-force wake-up; G assist The gain factor is used to assist; R is the current effective radius of the reel; B vir ω is the virtual damping coefficient. reel θ is the angular velocity of the reel; Tcomp(θ) is the basic compensation torque.

[0097] Understandably, through the above design, the high-power cable that originally weighed several kilograms can be disguised by the algorithm in the hands of the user as a lightweight rope weighing only a few hundred grams, and has the intelligent features of stopping when released and not dragging on the ground.

[0098] In an optional embodiment, in step S2, after confirming mechanical locking, the control unit drives the servo motor to perform a micro-tightening action, maintaining the cable tension at a preset lifting threshold to apply an upward micro-lifting force to the charging gun, correcting the drooping of the charging head caused by the cable's own weight, wherein:

[0099] And T cmd_s2 ≤T safety_limit ;

[0100] In the formula, T cmd_S2 This refers to the static pretension torque; T bias The offset torque is the gravity compensation torque; e(k) is the tension deviation value; K p K is the proportional gain coefficient; i Δt is the integral gain coefficient; Δt is the control period; T safety_limit The safe torque threshold for fusing is used.

[0101] Understandably, after confirming the mechanical microswitch is closed in step S1, the basic bias torque is calculated by reading the current output length of the charging cable 21c. Simultaneously, based on a preset target tension, which is sufficient to counteract the downward trend of the charging head and align the terminal centers, but is far less than the mechanical damage limit of the socket (e.g., 10N), the servo motor is driven to slowly reverse and retract the cable. As the tension gradually increases to 10N, the charging cable 21c changes from slack to taut, applying an upward component torque to the charging head. This lifts the charging head, which is drooping due to gravity, and the internal metal pins and the vehicle socket holes change from oblique connection to coaxial alignment. Furthermore, when the tension deviation is less than the preset difference and lasts for 1 second, pre-tensioning is considered complete. The servo motor switches to position locking mode or maintains a constant torque, waiting for the electrical handshake to initiate. This proactively optimizes the physical contact interface before power-on, effectively reducing contact resistance and avoiding the risk of high-current heating or communication handshake failure due to poor connection.

[0102] In an optional embodiment, in step S3, the control unit calculates the theoretical cable laying speed based on the chassis speed and turning radius of the AGV parking robot 1, serving as a feedforward command for the speed loop; the control unit calculates a corrected rotational speed using a PID algorithm based on the deviation between the set target tension and the actual feedback tension, serving as a feedback command for the torque loop; when the AGV accelerates, the control unit controls the servo motor to superimpose positive acceleration to reduce the tension peak; when the AGV decelerates or turns, causing an increase in cable slack, the control unit controls the servo motor to decelerate or reverse to retract the cable; simultaneously, a dynamic tension safety window is set, and when the actual tension exceeds the range of this window, an emergency stop protection is immediately triggered; wherein:

[0103]

[0104] In the formula, n cmd_S3 V represents the real-time target speed of the motor. agv φ is the real-time linear velocity of the AGV parking robot; φ is the outgoing line yaw angle; r curr The current effective radius of the reel; i is the reduction ratio; K ff e is the feedforward gain coefficient; t (k) represents the real-time tension deviation; K p K d These are the proportional and differential gains, respectively.

[0105] Understandably, while the AGV parking robot 1 is authorized to move, the reel controller calculates the theoretical rotational speed corresponding to the real-time linear velocity of the AGV parking robot through a feedforward term. The servo motor starts synchronously with the wheels of the AGV parking robot 1, eliminating the physical lag caused by relying solely on sensor feedback. At the same time, during the movement of the AGV parking robot 1, the tension on the cable is precisely controlled through real-time tension deviation, so that no matter how the AGV parking robot 1 accelerates, decelerates, or makes sharp turns, the cable always maintains a flexible tension of about 15N, neither dragging on the ground nor generating harmful tension, ensuring absolute safety during the handling process.

[0106] In an optional embodiment, in step S4, the static tension value is periodically detected; if the detected tension is less than a preset holding value due to thermal expansion and contraction of the cable or material creep, the servo motor performs a micro-step retraction action until the tension is restored, so as to maintain the catenary shape of the cable and adapt to the height changes of the vehicle suspension system; wherein:

[0107] θ cmd_s4 (k)=θ cmd (k-1)+λ step ·sgn(ΔT(k))·H(|ΔT(k)|-δ dead );

[0108] ΔT(k)=T hold_ref -Tmeas (k);

[0109] In the formula, θ cmd_S4 (k) represents the target position angle at the current moment; θ cmd_S4 (k-1) represents the position angle at the previous moment; λ step The step resolution is ΔT(k); the static tension deviation is ΔT(k); T hold_ref The optimal suspension tension when the vehicle is parked; T meas (k) represents the sampled value of the torque sensor in a stationary state; δ dead To control the dead zone threshold.

[0110] Understandably, in order to avoid overheating caused by the motor maintaining torque for a long time and to solve the problem of physical slack in the cable, the system switched from torque mode to position servo mode. At the same time, in order to save computing power, the control cycle frequency was reduced to 1Hz. Thus, through non-continuous micro-step control, the physical defects of cable material creep and thermal expansion are effectively overcome, so that the cable is always kept in a perfect non-grounding and non-tight state during the charging process that lasts for several hours, and low-energy operation is effectively achieved.

[0111] In an optional embodiment, in step S5, the control unit dynamically switches the output torque based on the relative distance between the charging gun 21c and the storage box 21a and the user's operating state, so that the charging gun 21c accurately returns to the storage box 21a, wherein:

[0112]

[0113] In the formula, T cmd_S5 For the recovery stage torque; S mech This is the state of a mechanical microswitch, where 1 indicates insertion and 0 indicates removal; T float For flexible suspension recovery torque; d rem d represents the remaining repositioning distance. suc T is the magnetic attraction trigger threshold; mag T is the magnetic attraction torque; pulse(t) is the pulse hold function; T brake To maintain the torque of the brake; S dock This is to reset the sensor status.

[0114] Understandably, the segmented torque control mechanism effectively improves the success rate of homing and user experience, reduces the risk of mechanical wear and structural damage, and balances operational efficiency and safety, providing key support for the reliable operation of the AGV parking robot 1 in human-machine collaborative scenarios.

[0115] Example 2

[0116] This invention provides a new energy vehicle charging safety interlocking system based on an AGV parking robot, comprising: an AGV parking robot 1 for carrying vehicle movement; a power connection component 2, mounted on the AGV parking robot 1, including a storage box 21a, an intelligent servo reel system, a charging cable 21b, a charging gun 21c, and a charging cable connector 21d; a connection status detection module for detecting the physical connection status and spatial attitude between the charging gun 21c and the vehicle charging port, and generating a first valid signal; and a control pilot signal detection module for actively simulating charging equipment signals and detecting the electrical protocol handshake status between the AGV parking robot 1 and the vehicle in an off-grid state where the AGV parking robot 1 is not connected to a ground power source, and generating a second valid signal. The system includes: a signal; an electronic locking device, mounted on the charging gun 21c, for locking the charging gun to the vehicle charging port; and a control unit, which is communicatively connected to the AGV parking robot 1, the intelligent servo reel system, the plug-in status detection module, the control pilot signal detection module, and the electronic locking device. The control unit is configured to execute the following safety interlocking logic: only when both the first valid signal and the second valid signal are received simultaneously, the control unit controls the electronic locking device to perform forced locking and releases the software and hardware locks on the AGV parking robot 1's drive system, authorizing it to carry the vehicle and move; if either the first valid signal or the second valid signal is missing, the control unit locks the AGV parking robot 1 to remain stationary.

[0117] In an optional embodiment, the plug-in state detection module includes: a mechanical micro switch integrated into the latching mechanism of the charging gun 21c for detecting the mechanical locking state; an inertial measurement unit integrated inside the charging gun 21c for collecting real-time pitch and roll angle data of the gun head; the control unit is configured to determine that the physical connection is valid and generate the first valid signal only when the mechanical micro switch is triggered and the attitude angle collected by the inertial measurement unit is within the preset standard plug-in angle tolerance range.

[0118] In an optional embodiment, the control pilot signal detection module is integrated inside the storage box 21a; the storage box 21a further includes: an independent power supply module for supplying power to the control pilot signal detection circuit in the off-grid state; a signal injection circuit for generating a standard DC reference voltage via the independent power supply module and injecting it into the control pilot pin of the charging cable; and a microcontroller for monitoring the voltage transition of the control pilot pin and sending the second valid signal to the control unit after determining that the handshake is successful.

[0119] In an optional embodiment, the intelligent servo reel unit includes: a servo motor and a reducer for driving the winding and unwinding of the charging cable 21b; a dynamic torque sensor for real-time monitoring of the tension value of the charging cable; an absolute encoder for monitoring the cable's output length and reel speed; the control unit is configured to, based on feedback data from the dynamic torque sensor, control the servo motor to execute a flexible assist mode based on impedance control during the user insertion phase, a dual closed-loop follow-up mode based on speed feedforward during the AGV movement phase, and a constant tension recovery mode during the user return phase.

[0120] In an optional embodiment, the control unit further includes: a cloud communication module for interacting with a cloud dispatch center; the control unit is configured to upload vehicle information through the cloud communication module and receive handshake tolerance parameters based on the vehicle's historical charging characteristic profile fed back from the cloud before initiating the electrical protocol handshake; the control pilot signal detection circuit dynamically adjusts the voltage threshold or time window for determining a successful handshake according to the handshake tolerance parameters.

[0121] In an optional embodiment, the storage box 21a is further provided with a Hall sensor; the control unit is configured to control the servo motor to output a levitation recovery torque that can overcome the friction between the cable and the ground but is less than the user's pulling resistance when the user returns the charging gun; and when the Hall sensor detects that the charging gun has entered the adsorption range, control the servo motor to output a high torque pulse to achieve magnetic locking.

[0122] In an optional embodiment, the charging gun 21c is equipped with a dual-end temperature monitoring module at its terminal and the charging interface on the parking space side; the control unit is configured to calculate the temperature rise rate during the charging process in real time and compare its real-time value with the pre-stored normal temperature rise curve of the vehicle model; when the temperature rise rate deviates abnormally, the control system performs active derating of the charging current or cuts off the high-voltage circuit.

[0123] In an optional embodiment, the AGV parking robot 1 further includes a vision and laser fusion perception module for identifying the location marker of the charging interface on the parking space side.

[0124] In an optional embodiment, the storage box 21a is provided with a flexible floating docking mechanism, which has a preset physical floating degree of freedom, and is used to cooperate with the sensing module to achieve automatic coupling with the charging interface on the parking space side.

[0125] Example 3

[0126] This invention also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the various steps in the charging safety interlocking method described above. For details, please refer to the implementation methods provided for each of the above steps, which will not be repeated here.

[0127] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0128] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0129] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0130] In this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it; those skilled in the art will readily understand that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A safety interlocking method for charging new energy vehicles based on AGV parking robots, characterized in that, Includes the following steps: S1. According to the user's parking and / or charging needs, the AGV parking robot (1) carrying the power connection component (2) drives to the bottom of the new energy vehicle and guides the user to insert the charging gun (21c) into the new energy vehicle through the human-machine interaction interface; after verifying that the charging gun (21c) and the new energy vehicle have completed physical connection and locking is qualified, the first valid signal is output. S2. After the charging gun (21c) is inserted, the communication handshake status between the control pilot signal detection module and the vehicle is monitored, and a second valid signal is generated after confirming that the vehicle is ready. S3. Based on the first valid signal and the second valid signal, release the movement lock of the AGV parking robot (1), and the AGV parking robot (1) transports the vehicle to the optimal charging position; S4. When the AGV parking robot (1) arrives at the optimal charging parking space, and the charging cable connector (21d) corresponding to the charging gun (21c) on it is coupled with the charging interface on the parking space side, the charging circuit is turned on to charge the vehicle. S5. After charging is completed and power is cut off, the AGV parking robot (1) will transport the vehicle back to the user handover area based on the user's vehicle needs; after confirming that the high voltage circuit is disconnected and the mechanical lock is released, it will prompt the user to unplug the charging gun and return it so that other operations can continue to be performed.

2. The charging safety interlocking method according to claim 1, characterized in that, The power connection assembly (2) includes a first power connector (21) and a second power connector (22) arranged in mirror symmetry on both sides of the AGV parking robot (1); the first power connector (21) includes: a storage box (21a), a charging cable (21b), a charging gun (21c) and a charging cable connector (21d); the storage box (21a) is detachably disposed on one side of the AGV parking robot (1); the charging cable (21b) is housed in the storage box (21a) by means of a reel; the first end of the charging cable (21b) is led out from the front side of the storage box (21a) and connected to the charging gun (21c), and the second end is led out from the rear side of the storage box (21a) and connected to the charging cable connector (21d).

3. The charging safety interlocking method according to claim 2, characterized in that, In step S1, the generation of the first valid signal includes the following steps: S11. The mechanical latching status is detected by a mechanical micro switch integrated on the charging gun (21c); S12. Real-time spatial attitude data of the gun head is collected by an inertial measurement unit integrated inside the charging gun (21c), the attitude data including at least the pitch angle; S13. The control unit compares the real-time spatial attitude data with the preset vehicle standard plug-in angle model; S14. When the mechanical micro switch is triggered and the deviation between the real-time spatial attitude data and the standard plug-in angle model is within the preset tolerance range, the physical connection is determined to be valid, and the first valid signal is generated.

4. The charging safety interlocking method according to claim 3, characterized in that, In step S13, the control unit is integrated into the storage box (21a) and communicates with the AGV parking robot (1) through a corresponding wireless communication module.

5. The charging safety interlocking method according to claim 2, characterized in that, In step S2, the control pilot signal detection module is integrated inside the storage box (21a) and is powered by an independent power supply module located inside the storage box (21a). When the control pilot signal handshake between the detection unit and the vehicle is successful, the control unit wakes up the independent power module based on the first valid signal. In the off-grid state where the AGV parking robot (1) is not electrically connected to the charging interface on the parking space side, it independently performs the signal injection and detection tasks.

6. The charging safety interlocking method according to claim 5, characterized in that, In step S2, the control pilot signal detection module uses the independent power supply module to generate a standard DC reference voltage via a boost circuit, and injects the DC reference voltage into the control pilot pin of the charging cable (21b) to simulate a handshake request from an external charging device. The control pilot signal detection module monitors the voltage transition state on the control pilot pin. Only when the voltage is detected to sequentially transition from the initial reference value to a first voltage value representing vehicle connection and a second voltage value representing vehicle readiness, and the voltage state is maintained for a time that meets a preset standard, is the electrical protocol handshake considered successful, and the control unit in the storage box (21a) generates the second valid signal.

7. The charging safety interlocking method according to claim 6, characterized in that, In step S2, the handshake tolerance parameters based on the historical charging feature profile of the vehicle fed back by the cloud server are used. The control pilot signal detection module dynamically adjusts the voltage tolerance range or state maintenance time threshold for determining the success of the electrical protocol handshake according to the handshake tolerance parameters. If the monitored voltage state conforms to the adjusted determination logic, the second valid signal is generated.

8. The charging safety interlocking method according to claim 1, characterized in that, The globally optimal charging parking space is obtained based on a multi-objective optimization function, and the calculation method is as follows: In the formula, S opt Ω is the unique ID of the globally optimal charging parking space calculated; avail Let C be the set of available charging spots in the parking lot that are vacant and not reserved; let i be the i-th candidate charging spot in the set; path p represents the path-time cost; curr This refers to the current real-time coordinates of the AGV parking robot; p i Let Γ(p) be the physical coordinates of the i-th candidate charging space. curr ,p i L is the set of path segments traversed by the planned path from the current point to the target point i; e v is the physical length of path segment e; agv ρ(e,t) is the standard cruising speed of the AGV parking robot; ρ(e,t) is the dynamic congestion density coefficient of path segment e at the current time t; μ is the congestion penalty factor; E load The cost of grid load balancing; P req The rated charging power requested by the vehicle's battery management system; T k The power distribution cabinet in area k supplies power to the i-th charging parking space; P load (k,t) represents the current real-time heavy load of the k-th distribution cabinet at the current time t; P max (k) represents the rated maximum capacity of the kth distribution cabinet; λ is the load sensitivity index, and its value is not less than 2.

9. The charging safety interlocking method according to claim 2, characterized in that, The storage box (21a) integrates an intelligent servo reel unit, which includes a servo motor, a reducer, a high-precision dynamic torque sensor, and an absolute encoder. The control unit is communicatively connected to the intelligent servo reel unit and executes differentiated tension control strategies according to different working conditions to achieve precise winding and unwinding management of the charging cable (21b).

10. The charging safety interlocking method according to claim 9, characterized in that, In step S1, by setting a tension wake-up threshold, when the tension detected by the torque sensor is greater than the tension wake-up threshold and the duration exceeds a preset time period, the control unit activates the assist mode and controls the reel motor to output an auxiliary torque in the same direction as the pulling based on the impedance control algorithm; when the detected tension approaches zero, the control unit automatically switches to the position holding mode and controls the reel motor to apply a reverse holding torque to counteract the cable's own weight and keep the cable taut and suspended. The impedance control algorithm is as follows: T cmd_S1 =G assist ·(F meas -F dead )·R-B vir ·ω reel +Tcomp(θ); In the formula, T cmd_S1 For output torque command to the servo motor; F meas This is the real-time tensile force measurement value; F dead The dead zone threshold for pull-force wake-up; G assist The gain factor is used to assist; R is the current effective radius of the reel; B vir ω is the virtual damping coefficient. reel θ is the angular velocity of the reel; Tcomp(θ) is the basic compensation torque.

11. The charging safety interlocking method according to claim 9, characterized in that, In step S2, after confirming mechanical locking, the control unit drives the servo motor to perform a micro-tightening action, maintaining the cable tension at a preset lifting threshold to apply a slight upward lifting force to the charging gun, correcting the drooping of the charging head caused by the cable's own weight. And T cmd_S2 ≤T safety_limit ; In the formula, T cmd_s2 This refers to the static pretension torque; T bias The offset torque is the gravity compensation torque; e(k) is the tension deviation value; K p K is the proportional gain coefficient; i Δt is the integral gain coefficient; Δt is the control period; T safety_limit The safe torque threshold for fusing is used.

12. The charging safety interlocking method according to claim 9, characterized in that, In step S3, the control unit calculates the theoretical wire-laying speed based on the chassis speed and turning radius of the AGV parking robot (1), which serves as the feedforward command for the speed loop; the control unit calculates the corrected rotation speed using a PID algorithm based on the deviation between the set target tension and the actual feedback tension, which serves as the feedback command for the torque loop; when the AGV accelerates, the control unit controls the servo motor to superimpose positive acceleration to reduce the tension peak; when the AGV decelerates or turns, causing an increase in cable slack, the control unit controls the servo motor to decelerate or reverse to retract the wire; at the same time, a dynamic tension safety window is set, and when the actual tension exceeds the range of this window, an emergency stop protection is immediately triggered; wherein: In the formula, n cmd_S3 V represents the real-time target speed of the motor. agv φ is the real-time linear velocity of the AGV parking robot; φ is the outgoing line yaw angle; r curr The current effective radius of the reel; i is the reduction ratio; K ff e is the feedforward gain coefficient; t (k) represents the real-time tension deviation; K p K d These are the proportional and differential gains, respectively.

13. The charging safety interlocking method according to claim 9, characterized in that, In step S4, the static tension value is periodically detected. If the tension is detected to be less than the preset holding value due to thermal expansion and contraction of the cable or material creep, the servo motor performs a micro-step retraction action until the tension is restored, so as to maintain the catenary shape of the cable and adapt to the height changes of the vehicle suspension system; wherein: i cmd_S4 (k)=θ cmd (k-1)+λ step ·sgn(ΔT(k))·H(|ΔT(k)|-δ dead ); ΔT(k)=T hold_ref -T meas (k); In the formula, θ cmd_s4 (k) represents the target position angle at the current moment; θ cmd_s4 (k-1) represents the position angle at the previous moment; λ step The step resolution is ΔT(k); the static tension deviation is ΔT(k); T hold_ref The optimal suspension tension when the vehicle is parked; T meas (k) represents the sampled value of the torque sensor in a stationary state; δ dead To control the dead zone threshold.

14. The charging safety interlocking method according to claim 9, characterized in that, The control unit dynamically switches the output torque based on the relative distance between the charging gun (21c) and the storage box (21a) and the user's operating status, so that the charging gun (21c) accurately returns to the storage box (21a), wherein: In the formula, T cmd_S5 For the recovery stage torque; S mech This is the state of a mechanical microswitch, where 1 indicates insertion and 0 indicates removal; T float For flexible suspension recovery torque; d rem d represents the remaining repositioning distance. suc T is the magnetic attraction trigger threshold; mag T is the magnetic attraction torque; pulse(t) is the pulse hold function; T brake To maintain the torque of the brake; S dock This is to reset the sensor status.

15. A new energy vehicle charging safety interlocking system based on an AGV parking robot, applied to the charging safety interlocking method according to any one of claims 1-14, characterized in that, include: An AGV parking robot (1) is used to carry vehicles for movement; an electrical connection assembly (2) is provided on the AGV parking robot (1) and includes a storage box (21a), an intelligent servo reel system, a charging cable (21b), a charging gun (21c), and a charging cable connector (21d). A plug-in status detection module is used to detect the physical connection status and spatial attitude between the charging gun (21c) and the vehicle charging port, and generate a first valid signal; a control pilot signal detection module is used to actively simulate the charging equipment signal and detect the electrical protocol handshake status between the AGV parking robot (1) and the vehicle when the AGV parking robot (1) is not connected to the ground power supply and is offline, and generate a second valid signal; an electronic locking device is set on the charging gun (21c) to lock the charging gun and the vehicle charging port; a control unit is communicatively connected to the AGV parking robot (1), the intelligent servo reel system, the plug-in status detection module, the control pilot signal detection module and the electronic locking device respectively; wherein, the control unit is configured to execute the following safety interlock logic: only when the first valid signal and the second valid signal are received at the same time, the control unit controls the electronic locking device to perform forced locking and releases the software and hardware lock on the drive system of the AGV parking robot (1), authorizing it to carry the vehicle to move; if either the first valid signal or the second valid signal is missing, the control unit locks the AGV parking robot (1) to remain stationary.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program that, when executed by a processor, controls the device containing the storage medium to perform the charging safety interlocking method as described in any one of claims 1-14.

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