A mobile multifunctional charging robot and a mobile charging method

Abstract

This invention, belonging to the field of engineering automation control technology, discloses a mobile multifunctional charging robot and a mobile charging method. The method includes: an omnidirectional mobile chassis, a dual-voltage energy storage and conversion system, a docking charging actuator, an environmental adaptability and safety protection structure, and a cloud-based collaborative scheduling and intelligent control system. The dual-voltage energy storage and conversion system is mounted on top of the omnidirectional mobile chassis and moves with the chassis as a whole, providing electrical energy. The docking charging actuator is located on the upper part of the robot body and is electrically connected to the dual-voltage energy storage and conversion system, receiving the electrical energy output by the dual-voltage energy storage and conversion system. The cloud-based collaborative scheduling and intelligent control system is communicatively connected to the omnidirectional mobile chassis, the dual-voltage energy storage and conversion system, and the docking charging actuator, respectively, uniformly receiving scheduling commands, planning navigation paths, and coordinating operations. This invention enables the robot to autonomously position itself and automatically dock for charging under visual guidance.

Description

Technical Field

[0001] This invention relates to the field of engineering automation control technology, and in particular to a mobile multifunctional charging robot and a mobile charging method. Background Technology

[0002] Currently, electrical equipment in industrial sites mainly relies on fixed distribution boxes or mobile generators for power supply. Fixed distribution boxes require laying a large number of cables, which are easily crushed and damaged in areas with frequent vehicle traffic, and there is a risk of electric shock during thunderstorms; while mobile generators can be moved with vehicles, they are noisy and have high emissions, which is not in line with the trend of green construction.

[0003] In recent years, the charging infrastructure for electric construction machinery has remained primarily fixed charging stations, which cannot adapt to the frequent changes in construction site layouts. Automated equipment such as inspection robots often employ automatic recharging technology, but the fixed charging point locations necessitate interrupting the task for return, reducing inspection efficiency. Furthermore, ordinary charging equipment in flammable and explosive environments may generate electrical sparks, posing a safety hazard. Summary of the Invention

[0004] This invention provides a mobile multifunctional charging robot and a mobile charging method, enabling the robot to move autonomously, adapt to multiple voltage requirements, and operate safely in harsh environments.

[0005] According to one aspect of the present invention, a mobile multi-functional charging robot is provided, comprising: Omnidirectional mobile chassis, dual-voltage energy storage and conversion system, docking charging actuator, environmental adaptability and safety protection structure, and cloud-based collaborative scheduling and intelligent control system; The dual-voltage energy storage and conversion system is mounted on the omnidirectional mobile chassis and moves with the chassis as a whole to provide electrical energy. The docking charging actuator is located on the upper part of the machine body and is electrically connected to the dual-voltage energy storage and conversion system, receiving the electrical energy output by the dual-voltage energy storage and conversion system; The cloud-based collaborative scheduling and intelligent control system is communicatively connected to the omnidirectional mobile chassis, the dual-voltage energy storage and conversion system, and the docking charging actuator, respectively, to uniformly receive scheduling instructions, plan navigation paths, and coordinate operations.

[0006] Optionally, the omnidirectional mobile chassis includes a multi-line lidar, an intelligent detection and signal unit, track plates, an inertial measurement unit, track links and pin sleeves, a transmission gear mechanism, and ultrasonic sensors; The multi-line lidar and the ultrasonic sensor are deployed at the front and sides of the chassis and are electrically connected to the intelligent detection and signal unit, transmitting real-time scanned route data and ranging signals to the intelligent detection and signal unit. The inertial measurement unit is installed inside the chassis body and is communicatively connected to the intelligent detection and signal unit to provide body attitude and position data; The intelligent detection and signal unit includes a signal transceiver unit and a current and power detection circuit. It fuses and analyzes the received real-time scanned route data, ranging signals, and body attitude and position data, corrects the travel route, and outputs drive commands to the transmission gear mechanism. The transmission gear mechanism includes a braking mechanism. The transmission gear mechanism drives the track plate through the track link and pin sleeve according to the driving command, thereby controlling the chassis's movement, steering and braking. The omnidirectional mobile chassis adopts a tracked or Mecanum wheel structure.

[0007] Optionally, the dual-voltage energy storage and conversion system includes a self-powered energy replenishment module, a bidirectional DC / AC converter, a drawer-type high-energy-density lithium iron phosphate battery pack, and a protective shell made of high-protection-level materials. The drawer-type high-energy-density lithium iron phosphate battery pack is installed inside the body in a drawer-type modular manner; The bidirectional DC / AC converter is electrically connected to the DC side of the drawer-type high-energy-density lithium iron phosphate battery pack, and converts DC power into AC power according to power demand, and outputs it to the docked charging actuator. The self-power replenishment module contains an integrated control circuit, which is located on the outside of the robot body and is electrically connected to the drawer-type high-energy-density lithium iron phosphate battery pack. It is used to connect to the mains power for power replenishment when the robot returns to the parking point. The high-protection-level material protective shell covers the outside of the dual-voltage energy storage and conversion system.

[0008] Optionally, the docking charging actuator consists of a charging socket, a power transmission connection and rotation structure, a charging layer fixing and stabilizing connecting rod, a wireless charging area, a built-in structured light camera, and a built-in toxic and harmful gas detector. The charging socket, the built-in structured light camera, and the built-in toxic and harmful gas detector are embedded on the outer surface of the docking charging actuator, forming a charging layer; The charging socket includes single-phase and three-phase power sockets, which are electrically connected to the dual-voltage energy storage and conversion system and output electrical energy at the corresponding voltage level. The power transmission connection and rotation structure is located at the bottom of the charging layer and is used to adjust the angle of the charging socket; The charging layer fixing and stabilizing connecting rod connects the dual-voltage energy storage and conversion system and the charging layer; Subsequently, the control system drives the rotating structure to adjust the angle of the charging socket; The wireless charging area is located on the upper surface of the charging layer, contains a wireless charging coil, and is electrically connected in parallel with the dual-voltage energy storage and conversion system. The built-in structured light camera identifies the location of the charging interface of the target device.

[0009] The built-in toxic and harmful gas detector collects ambient gas concentration data in real time and uploads it to the cloud-based collaborative scheduling and intelligent control system.

[0010] Optional features also include environmental adaptability and safety protection structures; The environmental adaptability and safety protection structure is enclosed on the outside of the body to provide enclosed protection for the dual-voltage energy storage and conversion system and the docking charging actuator. It also works in conjunction with the hazardous gas detection unit in the docking charging actuator to trigger a safety protection action when a dangerous signal is detected. The environmental adaptability and safety protection structure consists of a casing made of high-protection-level materials, with an overall protection level of not less than IP65.

[0011] Optionally, the cloud-based collaborative scheduling and intelligent control system consists of a control circuit, a PLC host, and a communication system; The PLC host is based on an industrial Internet of Things architecture and is electrically connected to the omnidirectional mobile chassis, the dual-voltage energy storage and conversion system, the docking charging actuator, and the environmental adaptability and safety protection structure, respectively, and uniformly collects the status data of each system and issues control commands. The communication system is connected to the PLC host and establishes a two-way data link with the cloud scheduling platform through a 5G or Wi-Fi wireless network. The cloud-based scheduling platform dynamically plans the optimal path based on the charging task instructions.

[0012] According to another aspect of the present invention, a mobile charging method for a mobile multi-functional charging robot is provided, applied in said mobile multi-functional charging robot, comprising: The cloud-based collaborative scheduling and intelligent control system obtains the location information and voltage requirements of electrical equipment and generates charging tasks. The cloud-based collaborative scheduling and intelligent control system obtains the current status of the robot, selects the optimal robot, and plans the navigation path based on the charging task and the current status of the robot. The robot activates its omnidirectional mobile chassis according to the navigation path. The omnidirectional mobile chassis constructs a site map and dynamically avoids obstacles to navigate to the target location. The docking charging actuator identifies the charging interface information of the device to be charged through a built-in structured light camera, and controls the bidirectional DC / AC converter in the dual-voltage energy storage and conversion system to automatically adjust the output voltage level to complete the docking charging. The docking charging actuator automatically detects the connection status and starts charging after confirming that it is normal. The environmental adaptability and safety protection structure continuously monitors the concentration of hazardous gases in the surrounding area through a gas sensor. When a danger signal is detected, it automatically stops charging and issues an alarm. The docking charging actuator automatically shuts off power, and the omnidirectional mobile chassis starts its autonomous return journey, returning to the parking point along a preset path. It then connects to the mains power supply through its own power replenishment module in the dual-voltage energy storage and conversion system to replenish its energy, awaiting the next task scheduling.

[0013] Optionally, the cloud-based collaborative scheduling and intelligent control system obtains the real-time power and location information of each robot, obtains the remaining power of the dual-voltage energy storage and conversion system and the current position of the omnidirectional mobile chassis, calculates the expected travel distance of each robot to the target position, and combines the maximum travel distance that each robot can support with its current power to select a set of candidate robots with sufficient power to cover the round trip. In the candidate robot set, each robot is evaluated by weighting the path length between its current position and the target point, the degree of road congestion, and the terrain conditions, and the robot with the best comprehensive evaluation is selected.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to execute a mobile multi-functional charging robot according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement a mobile multifunctional charging robot as described in any embodiment of the present invention.

[0016] The technical solution of this invention includes: an omnidirectional mobile chassis, a dual-voltage energy storage and conversion system, a docking charging actuator, an environmental adaptability and safety protection structure, and a cloud-based collaborative scheduling and intelligent control system. The dual-voltage energy storage and conversion system is mounted on top of the omnidirectional mobile chassis and moves with the chassis as a whole, providing electrical energy. The docking charging actuator is located on the upper part of the chassis and is electrically connected to the dual-voltage energy storage and conversion system, receiving the electrical energy output by the dual-voltage energy storage and conversion system. The cloud-based collaborative scheduling and intelligent control system is communicatively connected to the omnidirectional mobile chassis, the dual-voltage energy storage and conversion system, and the docking charging actuator, respectively, to uniformly receive scheduling commands, plan navigation paths, and coordinate operations.

[0017] The present invention enables the robot to autonomously position itself through an omnidirectional mobile chassis, eliminating the need to lay temporary cables, significantly reducing the risk of electric shock and construction costs; the dual-voltage energy storage and conversion system simultaneously outputs single-phase 220V and three-phase 380V alternating current, and a single unit is compatible with a variety of devices; the drawer-type modular battery pack supports on-site rapid replacement, extending the continuous operation time; visual guidance for automatic docking enables charging without human intervention; real-time monitoring of dangerous gases and linked power-off provide active safety protection; cloud-based collaborative scheduling enables multi-robot parallel operation and dynamic path planning, improving the overall charging efficiency.

[0018] The present invention eliminates potential safety hazards of temporary electricity use. By actively moving the robot to charge beside the equipment, it completely replaces manual cable laying, reduces cable material consumption, and reduces safety accidents such as cable wear, tripping, short circuits, and electric shock, improving the on-site operation safety level, operation quality, and operation efficiency.

[0019] The present invention is compatible with multi-voltage devices, improving utilization efficiency. One robot can serve 220V and 380V devices simultaneously, achieving multi-purpose use within a construction site or factory area, reducing equipment idle rate, and saving procurement costs.

[0020] The present invention is suitable for harsh environments and operates reliably. High protection levels and all-terrain chassis ensure the robot can work stably under harsh conditions such as muddy, dusty, and high-temperature environments; wireless charging options enable safe operation in flammable and explosive areas.

[0021] The present invention ensures operation continuity. The equipment does not need to interrupt the task and return to a fixed point for charging, nor does it need to spend time looking for a distribution box and laying temporary cables. The robot can directly reach the operation point for energy replenishment, which can also significantly improve the working efficiency for automated inspection robots.

[0022] The gas sensor carried by the robot of the present invention continuously and real-time monitors the content data of toxic and harmful gases in the environment during the charging process, achieving dual-purpose use of one machine, and providing additional safety warning capabilities for industrial construction sites.

[0023] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 This invention provides a structural diagram of a mobile, multifunctional charging robot.

[0026] Figure 2 This invention provides a structural diagram of an omnidirectional mobile chassis for a mobile multifunctional charging robot.

[0027] Figure 3 The present invention provides a structural diagram of a dual-voltage energy storage and conversion system for a mobile multifunctional charging robot.

[0028] Figure 4 This invention provides a structural diagram of a docking charging actuator for a mobile multifunctional charging robot.

[0029] Among them, 101, multi-line lidar; 102, intelligent detection and signal unit; 103, track plate; 104, inertial measurement unit; 105, track link and pin sleeve; 106, transmission gear mechanism; 107, ultrasonic sensor.

[0030] 201. Self-powered charging module; 202. Bidirectional DC / AC converter; 203. Drawer-type high-energy-density lithium iron phosphate battery pack; 204. High-protection-level protective shell.

[0031] 401. Charging socket; 402. Power transmission connection and rotating structure; 403. Charging layer fixing and stabilizing connecting rod; 404. Wireless charging area; 405. Built-in structured light camera; 406. Built-in toxic and harmful gas detector.

[0032] 301. Docking charging actuator; 302. Dual-voltage energy storage and conversion system; 303. Omnidirectional mobile chassis. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] The problem that the charging station robot described in this invention aims to solve is that currently, industrial equipment mainly relies on fixed distribution boxes or mobile generators for power supply. Distribution boxes at construction sites are fixed in location and cannot be moved freely, therefore, suitable distribution boxes need to be selected before power is used. Furthermore, fixed distribution boxes require the laying of a large number of temporary cables, and the complex road conditions at construction sites, especially in areas with frequent vehicle traffic, make them prone to damage from being run over, causing grounding short circuits and other faults, leading to power outages and work stoppages. There is also a risk of electric shock during thunderstorms. While mobile generators can move with vehicles, they are noisy and emit high levels of pollutants, which is inconsistent with the trend of green construction. In recent years, some companies have attempted to introduce electric construction machinery, but the supporting charging facilities are still mainly fixed charging piles, which cannot adapt to the frequently changing layout of construction sites. Inspection robots and other automated equipment mostly use automatic recharging technology, but the charging point location is fixed, requiring interruption of the task for return, reducing inspection efficiency. In addition, the metallurgical industry has flammable and explosive environments, and ordinary charging equipment may generate electrical sparks, posing a safety hazard. Therefore, there is an urgent need for a charging robot that can move autonomously, adapt to multiple voltage requirements, and operate safely in harsh environments to fill the technological gap in flexible power replenishment in industrial settings.

[0036] The industrial mobile charging station described in this invention is a mobile, multi-functional charging robot suitable for industrial sites. Designed for charging equipment in construction sites or metallurgical plants, it replaces the traditional method of drawing power from fixed distribution boxes. This robot is equipped with an intelligent integrated control system, a precise positioning module, and an intelligent voltage storage and conversion system. Combined with a wheeled or tracked chassis, its omnidirectional mobility significantly improves charging efficiency and quality, avoids the need for extensive temporary cable laying, and substantially reduces the risk of electric shock to personnel, thus supporting modern and civilized construction practices.

[0037] According to one aspect of the invention, please refer to Figure 1 A mobile multi-functional charging robot is provided, comprising: According to one aspect of the present invention, a mobile multi-functional charging robot is provided, comprising: Omnidirectional mobile chassis 303, dual-voltage energy storage and conversion system 302, docking charging actuator 301, environmental adaptability and safety protection structure, and cloud-based collaborative scheduling and intelligent control system; The dual-voltage energy storage and conversion system 302 is mounted on the omnidirectional mobile chassis 303 and moves with the chassis as a whole to provide electrical energy; The docking charging actuator 301 is located on the upper part of the machine body and is electrically connected to the dual-voltage energy storage and conversion system 302, receiving the electrical energy output by the dual-voltage energy storage and conversion system 302; The cloud-based collaborative scheduling and intelligent control system is communicatively connected to the omnidirectional mobile chassis 303, the dual-voltage energy storage and conversion system 302, and the docking charging actuator 301, respectively, and uniformly receives scheduling instructions, plans navigation paths, and coordinates work.

[0038] Autonomous industrial mobile charging stations include the following functional components: Automatic measurement, scanning, and positioning functions: Through technologies such as laser ranging, machine vision recognition, and GPS positioning, the system automatically completes route identification and correction.

[0039] Automatic voltage identification and adaptation function: During the charging process, the robot will identify the voltage level of the electrical equipment and automatically adapt the voltage to ensure equipment safety.

[0040] Safety protection and intelligent control system: Upgraded with high-protection materials, equipped with toxic and harmful gas detection and emergency braking system to ensure driving safety. The system integrates Internet of Things architecture and intelligent modules to realize intelligent control, human-machine natural language interaction and remote monitoring during the robot's operation.

[0041] The industrial mobile charging station robot consists of several major systems, including an omnidirectional mobile chassis 303, a dual-voltage energy storage and conversion system 302, a PLC host, a docking charging actuator 301, an environmental adaptability and safety protection structure, a cloud-based collaborative scheduling system, and an intelligent control system.

[0042] The dual-voltage energy storage and conversion system 302 is fixedly mounted on top of the omnidirectional mobile chassis 303, forming the core of the robot's power supply; the docking charging actuator 301 is located on the upper part of the body, serving as the power output terminal; the environmental adaptability and safety protection structure covers the exterior, forming a sealed protective body; the cloud-based collaborative scheduling and intelligent control system communicates with each subsystem via a bus architecture, realizing centralized control and distributed execution. Each system has a clear division of labor and a reasonable layout. The entire machine possesses comprehensive capabilities including autonomous movement, energy storage, multi-voltage output, visual docking, and safety protection, replacing traditional fixed distribution boxes and generators, enabling flexible power replenishment anytime and anywhere in the industrial field.

[0043] Optional, please refer to Figure 1 and Figure 2 The omnidirectional mobile chassis 303 includes a multi-line lidar 101, an intelligent detection and signal unit 102, track plates 103, an inertial measurement unit 104, track links and pin sleeves 105, a transmission gear mechanism 106, and an ultrasonic sensor 107. The multi-line lidar 101 and the ultrasonic sensor 107 are arranged at the front end and around the chassis, and are electrically connected to the intelligent detection and signal unit 102, transmitting real-time scanned route data and ranging signals to the intelligent detection and signal unit 102. The inertial measurement unit 104 is installed inside the chassis body and is communicatively connected to the intelligent detection and signal unit 102 to provide body attitude and position data; The intelligent detection and signal unit 102 includes a signal transceiver unit and a current and power detection circuit. It performs fusion analysis on the received real-time scanned route data, ranging signals, and body attitude and position data, corrects the travel route, and outputs drive commands to the transmission gear mechanism 106. The transmission gear mechanism 106 includes a braking mechanism. The transmission gear mechanism 106 drives the track plate 103 through the track link and pin sleeve 105 according to the driving command, thereby controlling the chassis's movement, steering and braking. The omnidirectional mobile chassis 303 adopts a tracked or Mecanum wheel structure.

[0044] The omnidirectional mobile chassis 303 structure is used for the movement of the robot body. It can adopt a tracked or Mecanum wheel structure to ensure the ability to pass through complex terrains such as mud, gravel, and slopes. The chassis is equipped with a multi-line lidar 101, an ultrasonic sensor 107, and an inertial measurement unit 104. These are used to scan the route and generate images in real time during the robot's operation, upload the data to the system, analyze and correct the travel route, realize real-time environmental perception and autonomous obstacle avoidance, and have high-precision positioning capabilities, allowing the robot to know its location in real time.

[0045] The omnidirectional mobile chassis 303 is based on a tracked or Mecanum wheel structure, and together with a multi-line lidar 101, ultrasonic sensors 107, and an inertial measurement unit 104, it forms an environmental perception system. The intelligent detection and signal unit 102 contains signal transmission and reception circuits and power detection circuits. After fusing and processing sensor data, it outputs drive commands to the transmission gear mechanism 106, which drives the track links and pin sleeves 105 to move the track plates 103, and cooperates with the braking mechanism to realize forward movement, steering, and braking. Multi-sensor fusion improves the accuracy of environmental perception, corrects the travel route in real time, significantly enhances the robot's ability to pass through complex industrial terrains such as mud, gravel, and slopes, and improves positioning accuracy, ensuring the reliability and stability of autonomous navigation.

[0046] Optional, please refer to Figure 1 and Figure 3 The dual-voltage energy storage and conversion system 302 includes a self-power replenishment module 201, a bidirectional DC / AC converter 202, a drawer-type high-energy-density lithium iron phosphate battery pack 203, and a high-protection-level protective shell 204. The drawer-type high-energy-density lithium iron phosphate battery pack 203 is installed inside the body in a drawer-type modular manner; The bidirectional DC / AC converter 202 is electrically connected to the DC side of the drawer-type high-energy-density lithium iron phosphate battery pack 203, and converts DC power into AC power according to power demand, and outputs it to the docked charging actuator. The self-power replenishment module 201 contains an integrated control circuit, is located on the outside of the robot body, and is electrically connected to the drawer-type high-energy-density lithium iron phosphate battery pack 203, and is used to connect to the mains power for power replenishment when the robot returns to the parking point. The high-protection-level material protective shell 204 covers the outside of the dual-voltage energy storage and conversion system 302.

[0047] Used for storing and converting electrical energy, the battery pack acts as an energy storage unit when power is insufficient. It returns to the refueling station and replenishes energy through the power replenishment port. When supplying power to external equipment, the battery pack serves as the power source. Based on power demand, the integrated bidirectional DC / AC converter 202 converts the current, simultaneously outputting 220V single-phase AC and 380V three-phase AC power to meet the power needs of different devices. The battery pack adopts a drawer-type modular design, supporting quick on-site replacement or capacity expansion to extend operating range.

[0048] The drawer-type modular design supports hot-swappable battery pack replacement on-site without downtime, extending continuous operation range; the bidirectional DC / AC converter 202 enables bidirectional power flow, combining energy storage and discharging in one unit, improving power utilization efficiency; the high-protection casing ensures the safe operation of the energy storage system in harsh environments.

[0049] Optional, please refer to Figure 1 and Figure 4 The docking charging actuator 301 consists of a charging socket 401, a power transmission connection and rotation structure 402, a charging layer fixing and stabilizing connecting rod 403, a wireless charging area 404, a built-in structured light camera 405, and a built-in toxic and harmful gas detector 406. The charging socket 401, the built-in structured light camera 405, and the built-in toxic and harmful gas detector 406 are embedded on the outer surface of the docking charging actuator 301 to form a charging layer. The charging socket 401 includes single-phase and three-phase power sockets, and is electrically connected to the dual-voltage energy storage and conversion system 302 to output electrical energy at the corresponding voltage level. The power transmission connection and rotation structure 402 is located at the bottom of the charging layer and is used to adjust the angle of the charging socket 401. The charging layer fixing and stabilizing connecting rod 403 connects the dual voltage energy storage and conversion system 302 and the charging layer; Subsequently, the control system drives the rotating structure to adjust the angle of the charging socket 401; The wireless charging area 404 is located on the upper surface of the charging layer, contains a wireless charging coil, and is electrically connected in parallel with the dual-voltage energy storage and conversion system 302. The built-in structured light camera 405 identifies the location of the charging interface of the target device.

[0050] The built-in toxic and harmful gas detector 406 collects ambient gas concentration data in real time and uploads it to the cloud-based collaborative scheduling and intelligent control system.

[0051] Designed for charging external devices, it features a separate charging layer with both single-phase and three-phase power outlets. It can identify the device's charging plug using a structured light camera, achieve automatic rotation guided by vision, select the device's charging level, and includes wireless charging functionality.

[0052] The docking charging actuator 301 has a charging layer as its main structure. The charging socket 401, the built-in structured light camera 405, and the built-in toxic and harmful gas detector 406 are embedded on the outer surface of the charging layer. The power transmission connection and rotation structure 402 is located at the bottom of the charging layer. The control system drives the rotation according to the recognition result of the structured light camera to adjust the angle of the charging socket 401 to complete the automatic alignment. The wireless charging coil is connected in parallel to the dual-voltage energy storage and conversion system 302 as a supplement to wired charging.

[0053] Structured light camera vision guidance enables automatic identification and precise alignment of charging interfaces, reducing the difficulty of manual intervention; rotating structure adaptive adjustment improves docking success rate; wired and wireless dual modes coexist, expanding equipment compatibility; gas detector real-time monitoring ensures a safe and controllable environment throughout the charging operation.

[0054] Optional features also include environmental adaptability and safety protection structures; The environmental adaptability and safety protection structure is enclosed on the outside of the machine body to enclose and protect the dual voltage energy storage and conversion system 302 and the docking charging actuator 301. It also works in conjunction with the hazardous gas detection unit in the docking charging actuator 301 to trigger a safety protection action when a dangerous signal is detected. The environmental adaptability and safety protection structure consists of a casing made of high-protection-level materials, with an overall protection level of not less than IP65.

[0055] In metallurgical applications, additional gas sensors such as CO, H2S, and CH4 are added to monitor the concentration of harmful gases in the environment during charging and upload the data to the safety management platform in real time. When the concentration exceeds the limit, an alarm signal is issued to notify the power supply user and the power output is automatically terminated.

[0056] The environmental adaptability and safety protection structure uses high-protection materials to form the entire shell, with a protection level of not less than IP65, corrosion resistance and internal sealing; it works in conjunction with the gas detection unit in the docking charging actuator 301, and the detection data is uploaded to the cloud in real time. When the concentration exceeds the standard, it triggers an audible and visual alarm and cuts off the power output.

[0057] IP65 protection ensures reliable operation of the robot in dusty, humid, and highly corrosive metallurgical and construction environments; the sealed structure protects critical internal components and extends their service life; the hazardous gas-linked power-off mechanism responds quickly to detect abnormalities, actively cutting off the power supply to prevent the escalation of safety accidents.

[0058] Optionally, the cloud-based collaborative scheduling and intelligent control system consists of a control circuit, a PLC host, and a communication system; The PLC host is based on an industrial Internet of Things architecture and is electrically connected to the omnidirectional mobile chassis 303, the dual-voltage energy storage and conversion system 302, the docking charging actuator 301 and the environmental adaptability and safety protection structure, respectively, and uniformly collects the status data of each system and issues control commands. The communication system is connected to the PLC host and establishes a two-way data link with the cloud scheduling platform through a 5G or Wi-Fi wireless network. The cloud-based scheduling platform dynamically plans the optimal path based on the charging task instructions.

[0059] Based on an industrial IoT architecture and integrating a PLC control system, the robot connects to the scheduling platform via 5G, Wi-Fi, or Fi. The platform receives charging requests from the devices, either manually initiated or automatically triggered by a power threshold. Combining robot status, device location, and traffic conditions, it dynamically plans the optimal path to achieve multi-robot collaborative operation, while simultaneously enabling intelligent control and remote monitoring of the operation process.

[0060] The Industrial Internet of Things (IIoT) architecture enables comprehensive device interconnection and unified distribution of data acquisition and control commands; 5G / Wi-Fi and Fi wireless communication ensures real-time performance and flexibility; cloud-based dynamic path planning significantly improves the efficiency of multi-machine collaboration and reduces robot idle time; remote monitoring and human-machine interaction functions reduce manual management costs.

[0061] According to another aspect of the present invention, a mobile charging method for a mobile multi-functional charging robot is provided, applied in said mobile multi-functional charging robot, comprising: The cloud-based collaborative scheduling and intelligent control system obtains the location information and voltage requirements of electrical equipment and generates charging tasks. The cloud-based collaborative scheduling and intelligent control system obtains the current status of the robot, selects the optimal robot, and plans the navigation path based on the charging task and the current status of the robot. The robot activates the omnidirectional mobile chassis 303 according to the navigation path. The omnidirectional mobile chassis 303 constructs a site map and dynamically avoids obstacles to navigate to the target location. The docking charging actuator 301 identifies the charging interface information of the device to be charged through the built-in structured light camera 405, and controls the bidirectional DC / AC converter 202 in the dual voltage energy storage and conversion system 302 to automatically adjust the output voltage level to complete the docking charging. The docking charging actuator 301 automatically detects the connection status and starts charging after confirming that it is normal. The environmental adaptability and safety protection structure continuously monitors the concentration of hazardous gases in the surrounding area through a gas sensor. When a danger signal is detected, it automatically stops charging and issues an alarm. The docking charging actuator 301 automatically shuts off power, and the omnidirectional mobile chassis 303 starts autonomous return, returning to the parking point along the preset path. It then connects to the mains power through the self-power replenishment module 201 in the dual-voltage energy storage and conversion system 302 to replenish its power, waiting for the next task scheduling.

[0062] This invention discloses an industrial mobile charging station robot that achieves low noise, low emissions, intelligent control, cost savings, improved work efficiency and quality, and ensures the electrical safety of on-site personnel. The specific operation steps are as follows: Step 1: Charging demand triggering: On-site operators fill in the information about the device to be charged via an indoor touchscreen or mobile app, including the required charging voltage and charging area. After completing the form, they submit the application, confirm the order, and wait for system feedback.

[0063] Step 2: The platform records the request time, device number, location coordinates, and voltage type, adds it to the task queue, and the system automatically obtains the device's GPS location and voltage requirement (220V or 380V) and uploads the request information to the cloud scheduling platform.

[0064] Step 3, Robot Scheduling and Task Assignment: The scheduling platform selects the optimal robot and assigns a charging task based on the remaining battery power, location, and task status of each robot.

[0065] Step 4, Autonomous Navigation of the Robot: After the system issues a charging command, the scheduling platform selects the nearest charging robot with sufficient power and issues the task. After receiving the command, the robot starts autonomous navigation, using the LiDAR in front to scan the terrain and construct a construction site map, bypassing obstacles such as piled building materials and other construction vehicles, and proceeds to the target location, while simultaneously reporting its status to the requester.

[0066] Step 5: Device Identification and Voltage Matching: After the charging robot arrives at the designated location, it uses a camera to confirm the device model and charging interface location, retrieves system data, matches the power demand uploaded to the cloud, adjusts the inverter output mode to the required AC power, and sends feedback to the person who submitted the charging request that it has arrived at the target location, waiting for the user to collect the power.

[0067] Step 6, Charging Connection: Once the robot arrives at the designated location and the user correctly connects the charging plug, it automatically detects the connection status. After successful connection, charging begins, and the robot sends feedback on the device status to the user via the App.

[0068] Step 7, Environmental Monitoring and Safety Alarm: During the charging process, the robot's built-in gas sensor continuously monitors the surrounding air. If the concentration of toxic or harmful substances exceeds the standard, it will immediately send an alarm to the construction site safety management platform and automatically stop charging if necessary.

[0069] Step 8, Charging Completed and Return: When the device battery is fully charged or the operator stops charging in advance, the robot automatically cuts off the power and then autonomously returns to the preset parking point, connects to the mains power to recharge itself, and waits for the next task.

[0070] The entire process is automated and requires no human intervention, significantly improving charging efficiency; a multi-dimensional robot selection strategy ensures optimal scheduling for each operation; autonomous navigation and obstacle avoidance adapt to complex industrial environments; automatic voltage matching avoids equipment damage caused by human error in selection; a hazardous gas linkage mechanism ensures personal and equipment safety; and autonomous return-to-base recharging enables continuous robot operation.

[0071] Optionally, the cloud-based collaborative scheduling and intelligent control system obtains the real-time power and location information of each robot, obtains the remaining power of the dual-voltage energy storage and conversion system 302 and the current position of the omnidirectional mobile chassis 303, calculates the expected travel distance of each robot to the target position, and combines the maximum travel distance that each robot can support with its current power to select a set of candidate robots with sufficient power to cover the round trip. In the candidate robot set, each robot is evaluated by weighting the path length between its current position and the target point, the degree of road congestion, and the terrain conditions, and the robot with the best comprehensive evaluation is selected.

[0072] To prevent robots from running out of power midway through a mission and causing failure, weighted evaluation comprehensively considers factors such as distance, traffic congestion, and terrain to select the overall optimal robot and improve scheduling hit rate; when multiple robots are working in parallel, task conflicts are avoided, significantly improving the overall charging throughput and operating efficiency of the system.

[0073] This disclosure also provides an electronic device, including: at least one processor; a memory for storing processor-executable instructions; wherein the at least one processor is configured to execute the instructions to implement the methods disclosed in this disclosure.

[0074] This disclosure also provides a computer-readable storage medium, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is able to perform the methods disclosed in this disclosure.

[0075] The computer-readable storage medium in this disclosure can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The aforementioned computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specifically, the aforementioned computer-readable storage medium may include electrical connections based on one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD, ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0076] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0077] This disclosure also provides a computer program product, including a computer program, wherein the computer program, when executed by a processor, implements the methods disclosed in the embodiments of this disclosure.

[0078] In embodiments of this disclosure, computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include, but are not limited to, object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or it can be connected to an external computer.

[0079] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. Two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0080] The modules, components, or units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules, components, or units do not necessarily constitute a limitation on the module, component, or unit itself.

[0081] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. Exemplary hardware logic components that may be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0082] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0083] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0084] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disc read-only memory (CD, ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0085] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; 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 sound input, voice input, or tactile input).

[0086] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0087] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0088] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0089] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. 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 substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A mobile multi-functional charging robot, characterized in that, include: Omnidirectional mobile chassis (303), dual-voltage energy storage and conversion system (302), docking charging actuator (301), environmental adaptability and safety protection structure, and cloud-based collaborative scheduling and intelligent control system; The dual-voltage energy storage and conversion system (302) is mounted on the omnidirectional mobile chassis (303) and moves with the chassis as a whole to provide electrical energy; The docking charging actuator (301) is located on the upper part of the machine body and is electrically connected to the dual-voltage energy storage and conversion system (302) to receive the electrical energy output by the dual-voltage energy storage and conversion system (302); The cloud-based collaborative scheduling and intelligent control system is communicatively connected to the omnidirectional mobile chassis (303), the dual-voltage energy storage and conversion system (302), and the docking charging actuator (301), respectively, and uniformly receives scheduling instructions, plans navigation paths, and coordinates work.

2. The mobile multi-functional charging robot according to claim 1, characterized in that, The omnidirectional mobile chassis (303) includes a multi-line lidar (101), an intelligent detection and signal unit (102), track plates (103), an inertial measurement unit (104), track links and pins (105), a transmission gear mechanism (106), and an ultrasonic sensor (107). The multi-line lidar (101) and the ultrasonic sensor (107) are located at the front end and periphery of the chassis and are electrically connected to the intelligent detection and signal unit (102) to transmit the real-time scanned route data and ranging signal to the intelligent detection and signal unit (102). The inertial measurement unit (104) is installed inside the chassis body and is communicatively connected to the intelligent detection and signal unit (102) to provide body attitude and position data; The intelligent detection and signal unit (102) includes a signal transceiver unit and a current and power detection circuit. It performs fusion analysis on the received real-time scanned route data, ranging signal, and body attitude and position data, corrects the travel route, and outputs drive commands to the transmission gear mechanism (106). The transmission gear mechanism (106) includes a braking mechanism. The transmission gear mechanism (106) drives the track plate (103) through the track link and pin sleeve (105) according to the driving command, thereby controlling the chassis's movement, steering and braking. The omnidirectional mobile chassis (303) adopts a tracked or Mecanum wheel structure.

3. A mobile multi-functional charging robot according to claim 2, characterized in that, The dual-voltage energy storage and conversion system (302) includes a self-powered energy replenishment module (201), a bidirectional DC / AC converter (202), a drawer-type high-energy-density lithium iron phosphate battery pack (203), and a high-protection-level protective shell (204). The drawer-type high-energy-density lithium iron phosphate battery pack (203) is installed inside the body in a drawer-type modular manner; The bidirectional DC / AC converter (202) is electrically connected to the DC side of the drawer-type high-energy-density lithium iron phosphate battery pack (203), and converts DC power into AC power according to power demand, and outputs it to the docked charging actuator; The self-power replenishment module (201) contains an integrated control circuit, which is located on the outside of the robot body and is electrically connected to the drawer-type high-energy-density lithium iron phosphate battery pack (203). It is used to connect to the mains power for power replenishment when the robot returns to the parking point. The high-protection-level material protective shell (204) covers the outside of the dual-voltage energy storage and conversion system (302).

4. A mobile multi-functional charging robot according to claim 3, characterized in that, The docking charging actuator (301) consists of a charging socket (401), a power transmission connection and rotation structure (402), a charging layer fixing and stabilizing connecting rod (403), a wireless charging area (404), a built-in structured light camera (405), and a built-in toxic and harmful gas detector (406). The charging socket (401), the built-in structured light camera (405), and the built-in toxic and harmful gas detector (406) are embedded on the outer surface of the docking charging actuator (301) to form a charging layer; The charging socket (401) includes single-phase and three-phase power sockets, which are electrically connected to the dual-voltage energy storage and conversion system (302) and output electrical energy at the corresponding voltage level. The power transmission connection and rotation structure (402) is located at the bottom of the charging layer and is used to adjust the angle of the charging socket (401); The charging layer fixing and stabilizing connecting rod (403) connects the dual-voltage energy storage and conversion system (302) and the charging layer; Subsequently, the control system drives the rotating structure to adjust the angle of the charging socket (401); The wireless charging area (404) is located on the upper surface of the charging layer, contains a wireless charging coil, and is electrically connected in parallel with the dual-voltage energy storage and conversion system (302); The built-in structured light camera (405) identifies the location of the charging interface of the target device; The built-in toxic and harmful gas detector (406) collects ambient gas concentration data in real time and uploads it to the cloud-based collaborative scheduling and intelligent control system.

5. A mobile multi-functional charging robot according to claim 4, characterized in that, It also includes environmental adaptability and safety protection structures; The environmental adaptability and safety protection structure is covered on the outside of the body to provide closed protection for the dual voltage energy storage and conversion system (302) and the docking charging actuator (301), and works in conjunction with the hazardous gas detection unit in the docking charging actuator (301) to trigger a safety protection action when a hazardous signal is detected. The environmental adaptability and safety protection structure consists of a casing made of high-protection-level materials, with an overall protection level of not less than IP65.

6. A mobile multi-functional charging robot according to claim 5, characterized in that, The cloud-based collaborative scheduling and intelligent control system consists of a control circuit, a PLC host, and a communication system. The PLC host is based on an industrial Internet of Things architecture and is electrically connected to the omnidirectional mobile chassis (303), the dual-voltage energy storage and conversion system (302), the docking charging actuator (301), and the environmental adaptability and safety protection structure, respectively, and collects the status data of each system and issues control commands. The communication system is connected to the PLC host and establishes a two-way data link with the cloud scheduling platform through a 5G or Wi-Fi wireless network. The cloud-based scheduling platform dynamically plans the optimal path based on the charging task instructions.

7. A mobile charging method for a mobile multi-functional charging robot, applied in any one of claims 1-6, characterized in that, include: The cloud-based collaborative scheduling and intelligent control system obtains the location information and voltage requirements of electrical equipment and generates charging tasks. The cloud-based collaborative scheduling and intelligent control system obtains the current status of the robot, selects the optimal robot, and plans the navigation path based on the charging task and the current status of the robot. The robot activates the omnidirectional mobile chassis (303) according to the navigation path. The omnidirectional mobile chassis (303) constructs a site map and dynamically avoids obstacles to navigate to the target location. The docking charging actuator (301) identifies the charging interface information of the device to be charged through the built-in structured light camera (405), and controls the bidirectional DC / AC converter (202) in the dual voltage energy storage and conversion system (302) to automatically adjust the output voltage level to complete the docking charging; The docking charging actuator (301) automatically detects the connection status and starts charging after confirming that it is normal. The environmental adaptability and safety protection structure continuously monitors the concentration of dangerous gases in the surrounding area through a gas sensor. When a dangerous signal is detected, it automatically stops charging and issues an alarm. The docking charging actuator (301) automatically shuts off power, and the omnidirectional mobile chassis (303) starts autonomous return, returning to the parking point along the preset path. It then connects to the mains power through the self-power replenishment module (201) in the dual-voltage energy storage and conversion system (302) to replenish power, and waits for the next task scheduling.

8. The mobile charging method for the mobile multifunctional charging robot according to claim 7, characterized in that, The cloud-based collaborative scheduling and intelligent control system obtains the real-time power and location information of each robot, obtains the remaining power of the dual-voltage energy storage and conversion system (302) and the current position of the omnidirectional mobile chassis (303), calculates the expected travel distance of each robot to the target position, and combines the maximum travel distance that each robot can support with its current power to select a set of candidate robots with sufficient power to cover the round trip. In the candidate robot set, each robot is evaluated by weighting the path length between its current position and the target point, the degree of road congestion, and the terrain conditions, and the robot with the best comprehensive evaluation is selected.

9. An electronic device, characterized in that, include: At least one processor; Memory for storing the at least one processor-executable instruction; The at least one processor is configured to execute the instructions to implement the method as described in any one of claims 7-8.

10. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is able to perform the method as described in any one of claims 7-8.

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