Retractable orbital transfer type pile line split air mobile charging robot system

Abstract

The utility model relates to a take-up track transfer type pile line split air mobile charging robot system, which comprises an air track, a walking module, a movable charger, a winding gun line module, a charger side butt joint module, a winding side butt joint module, a power taking module, a charging call response system and a control processing unit, the movable charger can move along the aerial track and change the track and steer under the driving of the walking module, a winding gun line module is arranged beside each parking space, the movable charger can achieve the purpose that any parking space can be in electrical butt joint with the winding gun line module, and therefore the charging service can be provided for an electric automobile below the movable charger. The utility model relates to the field of new energy vehicle charging, eliminates the one-to-one binding relationship between a movable charger and a charging gun line, greatly improves the utilization rate of charging resources, supports reservation charging and queuing charging, can take back the charging gun line after a user pulls out a gun, and is more convenient, more efficient, cleaner and safer.

Description

Technical Field

[0001] This utility model relates to the field of new energy vehicle charging, specifically to a retractable, variable-track, split-type aerial mobile charging robot system. Background Technology

[0002] With the development of the electric vehicle and charging pile industry, the drawbacks of fixed charging piles have gradually become apparent, mainly including: (1) When car owners look for charging piles, they often have to spend a lot of time looking for charging points, finding available charging piles, and queuing, leading to serious charging anxiety. (2) Parking spaces suitable for building commercial charging piles are generally located in good locations, and the site costs are high, resulting in high overall costs for station-type commercial charging piles. (3) Building a large number of charging piles will result in high construction costs and low utilization rates, which wastes resources and increases the voltage distribution pressure on the power grid. (4) The problem of charging pile parking spaces being occupied by fuel vehicles cannot be solved, resulting in a situation where either parking space resources or charging pile resources are wasted.

[0003] The aforementioned problems are mainly caused by the mutual binding between charging parking spaces and fixed charging piles. To solve these problems, it is necessary to debind the two. Mobile charging, because it can debind charging parking spaces and charging piles, has seen significant development and progress in recent years. In particular, aerial mobile charging that travels along suspended tracks has become a popular research direction in mobile charging due to its numerous advantages. The inventor has previously applied to the State Intellectual Property Office for an invention patent entitled "A Suspended Mobile Charging Pile System" (application number "2023100936171) and a utility model patent entitled "A Suspended Mobile Charging Pile System with Four-Wheel Independent Drive and Steering" (application number "2023201748902). Both patents adopt a cross-track suspended contact power extraction mobile charging solution, which can achieve full coverage of parking areas without the need for a large number of charging piles. Electric vehicles in the area can be parked and charged at any time, and can be conveniently charged no matter where the electric vehicle is parked in the parking lot. It also utilizes a large number of existing parking spaces in the parking lot, without the need to build dedicated charging stations or for car owners to park in a specific space. Furthermore, the number of charging piles can be flexibly increased or decreased according to charging demand, which will not cause a large number of charging pile resources to be idle, and can meet the charging demand to the greatest extent. It has very obvious technical advantages and industry value.

[0004] The technical solutions described in the two patents have already been commercialized. During the promotion and application of the related products, the inventor's company discovered that while aerial mobile charging decouples charging spaces from charging piles, improves the utilization rate of charging resources, solves the problem of gasoline vehicles occupying charging spots, and enhances the user charging experience, some shortcomings remain. First, even after a fully charged electric vehicle is fully charged, someone still needs to manually unplug the charging gun before it can provide charging services to other electric vehicles. Second, if all aerial mobile charging piles in the parking lot are currently occupied, car owners cannot charge or schedule a time to queue for charging without needing to return and without human intervention. Third, scheduling off-peak charging during late-night hours is also impossible without human intervention. These shortcomings have a significant impact on charging operation efficiency, charging resource utilization, operator payback period, and user charging experience. Once this problem is solved, aerial mobile charging solutions will have a disruptive advantage over traditional fixed charging stations. Therefore, a technical solution to address this issue is urgently needed. Summary of the Invention

[0005] The purpose of this invention is to provide a retractable, track-changing, split-type aerial mobile charging robot system. It employs a separate design for the mobile charger and the retractable charging gun module. The mobile charger can move and change tracks along the path of an aerial track, which can be deployed according to the layout of parking spaces. Several retractable charging gun modules are provided, all positioned above and next to parking spaces. When a charging request is received, the mobile charger can move to any parking space accessible by the aerial track and electrically connect with the retractable charging gun module next to that space. When a charging request is needed, the driver can park in any space, pull down the charging gun from the retractable charging gun module, plug it into the vehicle's charging port, scan the code to place an order, and a nearby available mobile charger will arrive and automatically connect with the retractable charging gun module, starting charging automatically. If no available mobile charger is currently available, it waits for other vehicles to finish charging, and then an available mobile charger will automatically come and connect with the retractable charging gun module to start charging automatically. In addition, if car owners wish to schedule a specific charging time, they can first unplug the charging gun from the retractable cable module and plug it into their vehicle, then scan the QR code to place an order and schedule the charging start time. At the designated time, an available mobile charger will automatically connect and begin charging. Once charging is complete, the mobile charger will automatically disconnect from the current retractable cable module and enter an idle, callable state. Theoretically, this system can provide 24 / 7 uninterrupted charging service for all electric vehicles in the parking lot, charging one vehicle at a time without the issue of gasoline vehicles or fully charged vehicles occupying charging spots. Even when fully charged, car owners do not need to immediately unplug the charging gun, and there are no time-wasting fees. It also supports scheduled charging. In summary, this system will greatly improve the utilization rate of charging resources and the efficiency of charging operations, accelerate the operator's payback period, and enhance the user charging experience.

[0006] To achieve the above-mentioned objectives, the corresponding technical solution is as follows:

[0007] A retractable, track-changing, split-type aerial mobile charging robot system includes an aerial track, a walking module, a mobile charger, a retractable charging cable module, a charger-side docking module, a retractable cable-side docking module, a power-supply module, a communication unit, a charging call response system, and a control processing unit. The aerial track is deployed above parking spaces in a parking lot. The track path includes several straight sections, several intersection sections, and at least zero turning sections. The walking module is mounted on the mobile charger, which moves along the aerial track under its drive. This movement includes traveling along the track and, at intersections and turning sections, straightening or turning as needed. Several retractable charging cable modules are deployed next to the corresponding parking spaces according to the parking space layout. The locations where the retractable charging cable modules are deployed are called charging stations. The system includes several retractable charging cable modules, deployed next to corresponding parking spaces according to the parking space layout. Each retractable charging cable module includes a rotating shaft and a charging cable. The retractable charging cable can be wound and unwound by rotating the module around its shaft in both directions. A charger-side docking module and a cable-winding-side docking module are mounted on the mobile charger and the retractable charging cable modules, respectively. When the mobile charger moves to a charging station, the charger-side docking module can electrically connect to the cable-winding-side docking module. When the charging task ends, the charger-side docking module can disconnect from the cable-winding-side docking module. A power-supply module connects the mobile charger to an input power source. A communication unit provides information transmission and interactive communication capabilities for the system. A charging call response system responds to user charging requests. A control processing unit provides processing and control capabilities for the system. Preferably, the charging call response system uses a QR code scanning method. A charging code is provided next to each parking space, and users can call for charging by scanning the code via an app or mini-program.

[0008] This utility model adopts a separate design for the mobile charger and the retractable charging cable module. The advantage of this design is that, taking the deployment of the retractable charging cable module in each parking space as an example, and the car owner calling for charging by scanning a code with their mobile phone, the mobile charger can shuttle back and forth between any charging stations under the drive of the walking module. When the car owner needs to charge, they do not need to care about where the mobile charger is or whether there is a free mobile charger. They only need to pull down the charging gun of the retractable charging cable module, plug it into the car, and then place an order by scanning the charging code next to the parking space with their mobile phone. As soon as there is a free mobile charger, it will automatically come over, automatically connect with the retractable charging cable module, and then automatically start charging. The car owner can also use a similar method to reserve charging for a specific time period. A typical scenario for scheduled charging is as follows: a car owner returns to their underground parking garage after get off work and finds their vehicle needs charging, but current electricity prices are high. Off-peak electricity is much cheaper at night. The owner can simply pull down the retractable charging gun from the parking space's cable module, plug it into the car, scan a QR code to schedule a charging order for the night, and leave. When the scheduled time arrives, an available mobile charger will automatically connect and charge the vehicle. After charging, the mobile charger automatically disconnects from the cable module, ready to charge the next car. The owner wakes up the next morning to find the car fully charged and can simply unplug the charger before driving to work. This charging method addresses several major pain points in the charging industry: gasoline cars occupying charging spots, fully charged cars occupying charging spots, fully charged cars occupying charging guns, low utilization of charging stations, and the inability to schedule charging for specific time slots without occupying charging resources.

[0009] Preferably, there are several mobile chargers, all of which can move along the aerial track under the drive of the walking module.

[0010] Preferably, when the retractable cable module rotates around its axis, the cable-side docking module rotates along with it. The mobile charger also includes a docking angle recognition module and a docking rotation drive module. When the charger-side docking module and the cable-side docking module need to dock, the docking angle recognition module first identifies the relative angle difference between the cable-side docking module and the charger-side docking module. Then, the docking rotation drive module drives the charger-side docking module to rotate by the corresponding angle according to the relative angle difference, thereby aligning the charger-side docking module with the cable-side docking module. Preferably, the docking angle recognition module is a visual recognition module. The advantage of this setting, where the cable-side docking module rotates along with the retractable cable module around its axis, is that the cable-side docking module can be directly connected to the charging gun cable without the need for a rotating conductive mechanism. A common rotating conductive mechanism is a conductive slip ring, but high-current multi-wire harness conductive slip rings are expensive. If each retractable cable module is equipped with a conductive slip ring, the economy and practicality will be very poor. However, the rotation of the winding-side docking module also brings another problem. In actual use, the charging gun on the winding-type cable module is pulled down by the user. Each user operation may cause the winding-side docking module to be at a different angle. In order for the charger-side docking module to dock with the winding-side docking module, an alignment operation between the two must be performed. The docking angle recognition module and the docking rotation drive module are designed to solve this alignment problem.

[0011] Preferably, after the charger-side docking module and the cable-side docking module are aligned, the walking module drives the charger-side docking module and the cable-side docking module to dock.

[0012] Preferably, the first preferred embodiment of the cable retraction solution provided by this utility model is as follows: after the charger-side docking module docks with the cable-winding-side docking module, when the docking rotation drive module rotates, the retractable cable module will rotate along with it. In this embodiment, no additional drive device is required; the retractable cable module can be driven to rotate using only the docking rotation drive module, thereby achieving automatic cable retraction after the user removes the cable.

[0013] This utility model provides a cable retraction solution to address the issue of cable retraction after the user unplugs the charging gun. Since the mobile charger of this utility model, after charging a vehicle, does not wait for the user to unplug it but automatically disconnects from the cable reel-side docking module and prepares to move to another parking space to charge the next vehicle, the mobile charger may have already left when the user unplugs the gun. If the charging cable cannot be automatically retracted at this time, it may scatter on the ground or be run over by vehicles, resulting in an unsightly and messy appearance, and potentially causing damage or other hazards. Therefore, it is necessary to retract the charging cable after the user unplugs the gun. Taking the first preferred embodiment of the cable retraction solution as an example, a typical scenario of automatic cable retraction after the user unplugs the gun is illustrated: When the user unplugs the gun, a nearby available mobile charger arrives and docks with the cable reel-side docking module through the charger-side docking module. Then, the docking rotation drive module drives the reel-in cable module to rotate, achieving cable retraction. The advantage of the first preferred embodiment of the cable retraction solution is that the control logic is relatively simple and the drive mechanism is less complex. The disadvantage is that the charging side docking module needs to rotate continuously during the cable winding process, and multiple continuous rotations inevitably require the use of a rotating conductive mechanism, namely the conductive slip ring mentioned above. However, in this solution, the conductive slip ring is set in the mobile charger and the number used is small, so it is also economical and practical.

[0014] Preferably, the second preferred embodiment of the cable winding solution provided by this utility model is as follows: the mobile charger further includes an electrical docking telescopic module, a cable winding rotation drive module, and a charger-side rotation docking mechanism. The retractable cable module includes a cable winding rotation docking mechanism. When the mobile charger and the retractable cable module are in the docking position and the charger-side docking module and the cable winding docking module are aligned, the electrical docking telescopic module can drive the charger-side docking module and the cable winding docking module to achieve electrical docking and disconnection. The charger-side rotation docking mechanism can achieve mechanical docking with the cable winding rotation docking mechanism. When the charger-side docking module and the cable winding docking module disconnect from electrical docking, the cable winding rotation drive module can drive the retractable cable module to rotate around its axis through the mechanical docking between the charger-side rotation docking mechanism and the cable winding rotation docking mechanism. Compared to the first preferred embodiment of the take-up solution, the second preferred embodiment of the take-up solution is characterized by the addition of four modules: an electrical docking telescopic module, a winding rotation drive module, a charger-side rotation docking mechanism, and a winding-side rotation docking mechanism. The structure is relatively more complex, but it does not require the use of expensive conductive slip rings.

[0015] Preferably, the third preferred embodiment of the wire take-up solution provided by this utility model is as follows: the coilable wire module further includes a winding drive module, which can drive the coilable wire module to rotate around its axis. In this third preferred embodiment, the wire take-up drive mechanism is placed directly on the coilable wire module side. Compared with the first and second preferred embodiments, the structure and implementation logic of the third preferred embodiment are simpler. However, it requires deploying the winding drive module for each coilable wire module. If a parking lot has a large number of parking spaces, this will lead to a rapid increase in cost, and the increase in drive components will also put pressure on the reliability and robustness of the system.

[0016] Preferably, the input power is provided by a power supply cable deployed along the aerial track, and the power-taking module draws power from the power supply cable via a contact power-taking method.

[0017] The beneficial effects of this utility model are:

[0018] This invention eliminates the one-to-one binding between the portable charger and the charging cable. When a user needs to charge, they can park in any parking space, pull down the retractable cable module, plug it into the vehicle's charging port, and place an order. A nearby available portable charger will then arrive and automatically connect to the retractable cable module, starting charging automatically. If no available portable charger is available, it will wait for other vehicles to finish charging before an available charger automatically connects and starts charging. Alternatively, if a user wants to schedule charging for a specific time, they can first pull down the retractable cable module, plug it into the vehicle, scan a QR code to schedule the charging start time, and at the designated time, an available portable charger will automatically connect and start charging. After charging is complete, the portable charger will automatically disconnect from the current retractable cable module and enter an available, callable state. In theory, this system can provide 24-hour uninterrupted charging services for all electric vehicles in the parking lot, charging one vehicle at a time without the problem of gasoline vehicles occupying a charging spot or fully charged vehicles occupying a spot. Once fully charged, the owner does not need to come over immediately to unplug the charging gun, and there is no time-occupancy fee. It also supports scheduled charging, solving several major pain points in the charging industry: gasoline vehicles occupying a charging spot, fully charged vehicles occupying a charging spot, fully charged vehicles occupying a charging gun, low utilization rate of charging piles, and inability to achieve scheduled charging for specific time periods without occupying charging resources.

[0019] The track-changing scheme provided by this utility model can enable the mobile charger to turn at the intersection of the elevated track, which is different from the natural defect of one-way tracks that cannot change track and turn. This allows this utility model to be deployed in parking lots of various types and parking space layouts, and can achieve full coverage of parking spaces in the parking lot. It will not have the traffic congestion problem that naturally exists in one-way tracks, and can respond to multiple concurrent needs in real time.

[0020] In addition, the cable retraction solution provided by this utility model can also retract the charging gun cable after the user unplugs the gun, so that the charging gun cable will not be scattered on the ground. While being aesthetically pleasing and tidy, it also avoids the charging gun cable being run over by vehicles or tripping pedestrians due to being scattered on the ground, and is less likely to be damaged or cause other dangers.

[0021] From the user's perspective, this invention liberates the user from the charging process, especially after a full charge. It eliminates the hassle of rushing to unplug the charger after charging and avoids the problem of mobile chargers being occupied and unable to provide charging services to other electric vehicles, thus eliminating time-occupancy fees and greatly improving the user's charging experience. Furthermore, it enables queuing and scheduled charging. The advantage of queuing charging is that even if all mobile chargers are currently occupied, it can automatically charge users in the queue as soon as a free charger becomes available. The advantage of scheduled charging is that in cities with peak-valley electricity pricing, users can schedule charging during cheaper late-night hours, significantly reducing charging and vehicle usage costs.

[0022] For charging operators, this utility model theoretically supports 24-hour uninterrupted charging services for all vehicles in the parking lot, charging one vehicle after another, and also supports scheduled charging at night, which greatly improves the utilization rate of charging resources and the efficiency of charging operation, and accelerates the operator's payback period and profitability.

[0023] For the power grid, this can achieve peak shaving and valley filling, improve the utilization rate of distribution network resources, and reduce the pressure on the power grid.

[0024] In summary, this utility model has significant advantages and remarkable technical effects compared to existing charging solutions.

[0025] It should be noted that the beneficial effects of this utility model are not limited to the above description. The beneficial effects can be understood in conjunction with specific technical solutions and preferred embodiments. Furthermore, descriptions of the technical effects and beneficial effects of a specific technical solution or preferred embodiment are interspersed throughout the invention content and the embodiments described below. Attached Figure Description

[0026] Figure 1 The diagram shows the mobile charger of this invention suspended on the aerial track and about to be electrically connected to the retractable charging cable module. The charging cable of the retractable charging cable module is in a retracted state.

[0027] Figure 2 yes Figure 1 A three-dimensional diagram from another perspective.

[0028] Figure 3 This is a three-dimensional schematic diagram of the windable gun wire module described in this utility model.

[0029] Figure 4 The diagram shows a 3D illustration of the mobile charger being electrically connected to the retractable charging cable module, with the charging gun of the retractable charging cable module pulled down and plugged into the vehicle, indicating that the system is charging the electric vehicle.

[0030] Figure 5 The diagram shows a 3D illustration of the charging gun of the retractable charging cable module being pulled down and plugged into a vehicle by a user, waiting for an available mobile charger to arrive and charge the electric vehicle.

[0031] Figure 6 A three-dimensional schematic diagram of the charger-side docking module is shown.

[0032] Figure 7 A three-dimensional schematic diagram of the coil-side docking module is shown.

[0033] Figure 8 A schematic diagram of the mobile charger and the walking module is shown. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the embodiments, implementation methods, and accompanying drawings. It should be noted that the described embodiments or implementation methods are merely some, not all, of the present invention, and the accompanying drawings are merely schematic diagrams for ease of explanation, and not a complete limitation on the implementation methods of the present invention. All other embodiments or implementation methods obtained by those skilled in the art based on the embodiments or implementation methods of the present invention without creative effort should fall within the protection scope of the present invention.

[0035] The following description of the embodiments or implementations of this utility model is merely illustrative and is in no way intended to limit the utility model or its application or use.

[0036] like Figure 1-7As shown, a retractable, track-changing, split-type aerial mobile charging robot system includes an aerial track, a walking module, a mobile charger 1, a retractable charging cable module, a charger-side docking module 2, a retractable charging cable-side docking module 10, a power-supply module, a communication unit, a charging call response system, and a control processing unit. The aerial track is deployed above parking spaces in a parking lot. The track path includes several straight sections, several intersection sections 13, and at least zero turning sections. The walking module is mounted on the mobile charger 1. Driven by the walking module, the mobile charger 1 can move along the aerial track. This movement includes traveling along the aerial track and, at intersections and turning sections, going straight or turning as needed. Several retractable charging cable modules are deployed next to the corresponding parking spaces according to the parking space layout. The locations where the retractable charging cable modules are deployed are called... The mobile charger 1 is a charging station. The retractable charging cable module includes a rotating shaft and a charging cable. The charging cable includes a charging gun 4 and a charging cable 12. When the retractable charging cable module rotates forward and backward around its rotating shaft, the charging cable can be retracted and wound. The charger-side docking module 2 is set on the mobile charger 1, and the cable winding-side docking module 10 is set on the retractable charging cable module. When the mobile charger 1 moves to a certain charging station, the charger-side docking module 2 can electrically dock with the cable winding-side docking module 10. When the charging task ends, the charger-side docking module 2 can disconnect from the cable winding-side docking module 10. The power supply module is used to connect the mobile charger 1 to the input power supply. The communication unit is used to provide the system with information transmission and interactive communication capabilities. The charging call response system is used to respond to the user's charging needs. The control processing unit is used to provide the system with processing and control capabilities. Preferably, the charging call response system uses a QR code scanning method. A charging code is placed next to each parking space, and users can call for charging by scanning the charging code through an APP or mini-program.

[0037] This utility model adopts a separate design for the mobile charger 1 and the retractable charging cable module. The advantage of this design is that, taking an example where each parking space is equipped with a retractable charging cable module, and the car owner can call for charging by scanning a QR code with their mobile phone, such as... Figure 1-5 As shown, the mobile charger 1 can move back and forth between any charging stations under the drive of the walking module. When the car owner needs to charge, he / she does not need to care about where the mobile charger is or whether there is a free mobile charger. He / she only needs to pull down the charging gun 4 of the retractable charging gun module and plug it into the electric vehicle 14. Then he / she can place an order by scanning the charging code next to the parking space with his / her mobile phone. As long as there is a free mobile charger 1, it will come over automatically and automatically connect with the retractable charging gun module and then start charging automatically. The car owner can also use a similar method to reserve a specific time for charging.

[0038] <Implementation Method of Aerial Track>

[0039] like Figure 1-5 As shown, the elevated track is suspended in the air to provide the traveling track and suspension support for the walking module. Preferably, the layout of the elevated track corresponds one-to-one with the parking space layout. Preferably, the elevated track includes a track support surface and a track channel. The track path of the elevated track includes several straight sections, several intersection sections 13, and at least zero turning sections. It should be noted that the straight sections do not need to be completely straight tracks, but rather refer to track sections without branching or sharp turns. The intersection sections 13 can be mutually perpendicular cross intersections or "T"-shaped intersections. The turning sections refer to track sections that require sharp turns but do not branch. Preferably, the elevated track adopts a layout of main road plus branch roads, such as... Figure 1 As shown, the aerial track includes a main track section 6, a branch track section 7, an intersection section 13, and a suspension component 8. The main track section 6 is used for passage, the branch track section 7 is the charging and parking track, and the suspension component 8 is used to suspend the aerial track. The retractable cable module is located at the end of the branch track section 7 and is installed on the branch track section 7 via a bracket flange 501 on the bracket 5. The location where the retractable cable module is located is called the charging station.

[0040] Preferably, the specific dimensions, cross-section, and material of the aerial track are set according to the actual load-bearing and strength requirements.

[0041] Preferably, the aerial track can be fixed by the ceiling, load-bearing columns, walls, etc. of the installation site to enable the aerial track to bear weight.

[0042] When the installation site lacks a ceiling, walls, or load-bearing columns, the aerial track can preferably be suspended and fixed in the air using column supports or the like. The number, location, structure, and material of the column supports are determined based on the actual load-bearing capacity and construction needs.

[0043] <Implementation Method of Walking Module>

[0044] like Figure 8A schematic diagram of the walking module and the mobile charger is shown. The walking module can drive the mobile charger to travel straight or turn at the intersection section 13 and the turning section of the aerial track according to the needs of the travel route. Preferably, the aerial track includes a track support surface, and the walking module includes an independent in-situ steering module for the drive wheels. The independent in-situ steering module for the drive wheels enables the mobile charger to turn at the intersection section 13 or the turning section of the aerial track, and after turning, it can move along the aerial track path after turning under the drive of the walking module. Preferably, the independent steering module for drive wheels includes four independent steering drive wheel modules arranged horizontally at the four corners of a square. Each independent steering drive wheel module includes a steering motor 19, a power motor, a rotating frame, and a wheel 20. The tread of the wheel 20 contacts the track support surface during movement. The power motor is mounted on the rotating frame, which is fixedly connected to the rotation axis of the steering motor 19. The wheel 20 is powered by the power motor. The rotation axis of the steering motor 19 is vertical, and the rotation axis of the power motor is horizontal. The centerline of the rotation axis of the steering motor 19 intersects with the centerline of the rotation axis of the power motor. The centerline of the rotation axis of the steering motor 19 passes through the center point where the tread of the wheel 20 contacts the track support surface. Driven by the steering motor 19, each wheel 20 can independently rotate in place around the center point where its tread contacts the track support surface. Driven by the power motor, each wheel 20 can independently rotate in both directions around its wheel axis.

[0045] <Power Supply Module Implementation Method>

[0046] Preferred, Figure 8 A schematic diagram of the power-gathering module 18 is also shown. When the mobile charger needs power, the power-gathering module 18 rises and connects to the power supply terminal installed at the end of the branch track section 7. The power supply terminal is installed at the terminal mounting position 11 of the branch track section 7. Preferably, the power supply terminal is connected to the power supply cable. When the mobile charger does not need power, the power-gathering module 18 disconnects from the power supply terminal. Preferably, the power-gathering module can use plug-in power receiving, fixed-point contact power receiving, or common conductor-to-conductor contact power receiving methods such as sliding contact power receiving. These power receiving contact methods are commonly used in the power and electrical fields and will not be elaborated on here.

[0047] <Implementation Method of Mobile Charger and Windable Cable Module>

[0048] like Figure 1-5As shown, preferably, there are several mobile chargers 1, all of which can move along the aerial track under the drive of the walking module. Preferably, the basic components and functions of the mobile chargers 1 are basically the same as those of ordinary electric vehicle charging piles.

[0049] like Figure 1-8 As shown, preferably, the coilable cable module further includes a cable reel 3. Preferably, when the cable reel 3 of the coilable cable module rotates around its axis, the cable-side docking module 10 rotates along with it. The mobile charger 1 further includes a docking angle recognition module and a docking rotation drive module. When the charger-side docking module 2 and the cable-side docking module 10 need to dock, the docking angle recognition module first identifies the relative angle difference between the cable-side docking module 10 and the charger-side docking module 2. Then, the docking rotation drive module drives the charger-side docking module 2 to rotate by the corresponding angle according to the relative angle difference, thereby aligning the charger-side docking module 2 with the cable-side docking module 10. Preferably, the docking angle recognition module is a visual recognition module. Preferably, the visual recognition module is installed in a... Figure 6 The visual module mounting hole 203 is shown. The advantage of the design where the winding coil 3 of the retractable cable module rotates around its axis, and the winding-side docking module 10 rotates along with it, is that the winding-side docking module 10 can be directly connected to the charging cable 12 without needing a rotating conductive mechanism. A common rotating conductive mechanism is a conductive slip ring, but high-current, multi-wire harness conductive slip rings are expensive. If each retractable cable module were equipped with a conductive slip ring, the economy and practicality would be very poor. However, the rotation of the winding-side docking module 10 also brings another problem. In actual use, the charging gun 4 on the retractable cable module is pulled down by the user. Each user operation may place the winding-side docking module 10 at a different angle. To allow the charger-side docking module 2 to dock with the winding-side docking module 10, an alignment operation must be performed. The docking angle recognition module and the docking rotation drive module are designed to solve this alignment problem.

[0050] Preferred, such as Figure 1 As shown, when the charger-side docking module 2 and the cable-side docking module 10 are aligned, the walking module drives the charger-side docking module 2 to move to the end of the branch track section, thereby docking with the cable-side docking module 10.

[0051] Preferably, in the first preferred embodiment of the cable retraction solution provided by this utility model, after the charger-side docking module 2 docks with the cable winding-side docking module 10, when the docking rotation drive module rotates, the retractable cable module will rotate along with it. In this embodiment, no additional drive device is required; the retractable cable module can be driven to rotate using only the docking rotation drive module, thereby achieving automatic cable retraction after the user removes the cable. Preferably, as... Figure 6 , Figure 7 As shown, the charger-side docking module 2 includes several high-current male terminals 201, several male signal terminals 202, and mechanical pins 15. The winding-side docking module 10 includes several high-current female terminals 1001, several female signal terminals 1002, and mechanical pin holes 16. When the charger-side docking module 2 and the winding-side docking module 10 are in a docking state, the electrical connection is achieved by the mutual docking of the high-current male terminals 201, high-current female terminals 1001, male signal terminals 202, and female signal terminals 1002. The mechanical pins 15 and mechanical holes 16 complete the mechanical connection between the charger-side docking module 2 and the winding-side docking module 10. The advantage of setting up a mechanical connection is that when the docking rotation drive module drives the winding cable module to rotate together, the terminals of the electrical connection do not need to bear a large rotational torque. This rotational torque is mainly borne by the mechanical connection, which can better protect the terminals of the electrical connection and improve service life and reliability.

[0052] This utility model provides a cable retraction solution to address the issue of cable retraction after the user unplugs the charging gun. Since the mobile charger 1 of this utility model, after charging a vehicle, does not wait for the user to unplug it but automatically disconnects from the cable reel-side docking module 10 and prepares to move to another parking space to charge the next vehicle, the mobile charger 1 may have already left when the user unplugs the gun. If the charging gun 4 and charging cable 12 cannot be automatically retracted at this time, they may scatter on the ground or be run over by vehicles, resulting in an unsightly and messy appearance, and potentially causing damage to the charging gun cable or other hazards. Therefore, it is necessary to retract the charging gun cable after the user unplugs the gun. Taking the first preferred embodiment of the cable retraction solution as an example, a typical scenario of automatic cable retraction after the user unplugs the gun is illustrated: When the user unplugs the gun, the nearest available mobile charger 1 arrives and docks with the cable reel-side docking module 10 through the charger-side docking module 2. Then, the docking rotation drive module drives the reel-in cable module to rotate, achieving cable retraction. The advantage of the first preferred embodiment of the cable retraction solution is that the control logic is relatively simple and the drive mechanism is less complex. The disadvantage is that the charger-side docking module 2 needs to rotate continuously during the cable winding process, and multiple continuous rotations inevitably require the use of a rotating conductive mechanism, namely the conductive slip ring mentioned above. However, in this solution, the conductive slip ring is set in the mobile charger 1, and the number used is not large, so it is also economical and practical.

[0053] Preferably, the second preferred embodiment of the cable winding solution provided by this utility model is as follows: the mobile charger 1 further includes an electrical docking telescopic module, a cable winding rotation drive module, and a charger-side rotation docking mechanism; the cable winding module includes a cable winding side rotation docking mechanism. Figure 6 , Figure 7The mechanical pin 15 and mechanical socket 16 can serve as the charger-side rotating docking mechanism and the winding-side rotating docking mechanism, respectively. However, a design change is required: the mechanical pin 15 cannot rotate together with the charger-side docking module 2; their rotations should be independent. Preferably, the mechanical pin 15 and the charger-side docking module 2 share the same rotation axis. When the mobile charger 1 and the winding-type cable module are in the docking position and the charger-side docking module 2 and the winding-side docking module 10 are aligned, the electrical docking telescopic module can drive the charger-side docking module 2 and the winding-side docking module 10 to achieve electrical docking and disconnection. The charger-side rotating docking mechanism can achieve mechanical docking with the winding-side rotating docking mechanism. When the charger-side docking module and the winding-side docking module disconnect from the electrical docking, the winding-type rotating drive module can drive the winding-type cable module to rotate around its axis through the mechanical docking between the charger-side rotating docking mechanism and the winding-side rotating docking mechanism. Compared to the first preferred embodiment of the take-up solution, the second preferred embodiment of the take-up solution is characterized by the addition of four modules: an electrical docking telescopic module, a winding rotation drive module, a charger-side rotation docking mechanism, and a winding-side rotation docking mechanism. The structure is relatively more complex, but it does not require the use of expensive conductive slip rings.

[0054] Preferably, the third preferred embodiment of the wire take-up solution provided by this utility model is as follows: the coilable wire module further includes a winding drive module, which can drive the coilable wire module to rotate around its axis. In this third preferred embodiment, the wire take-up drive mechanism is placed directly on the coilable wire module side. Compared with the first and second preferred embodiments, the structure and implementation logic of the third preferred embodiment are simpler. However, it requires deploying the winding drive module for each coilable wire module. If a parking lot has a large number of parking spaces, this will lead to a rapid increase in cost, and the increase in drive components will also put pressure on the reliability and robustness of the system.

[0055] <Implementation of Control Processing Unit>

[0056] The control processing unit should have at least the ability to analyze, process, and control data. It can be a general-purpose chip, such as a central processing unit (CPU) or a microprocessor (MCU), or a dedicated processing and control chip, or a circuit board module with the aforementioned chip as the main control chip. The control processing unit typically carries programs or software that implement the corresponding functions. The control processing unit can be an integrated controller or composed of multiple controllers. Preferably, both the mobile charger 1 and the windable cable module are equipped with controllers possessing control processing capabilities.

[0057] <Implementation Method of Charging Call Response System>

[0058] Preferably, the charging call response system uses a QR code scanning method. A charging code, usually a QR code, is placed next to each parking space. Users can call for charging by scanning the charging code through an APP or mini-program.

[0059] Furthermore, the charging call response system also includes a charging scheduling system. Each charging station is equipped with a charging QR code, and each charging station corresponds one-to-one with the charging QR code set on it. Users can make a charging call by scanning the charging QR code through a mobile APP or WeChat mini program. The charging scheduling system realizes the scheduling and path planning of the mobile charger 1, as well as the functions of reservation charging management and queue sequence management.

[0060] In addition, the walking, movement, docking, cable winding, and other functions of the mobile charger described in this utility model require the participation of some feedback sensors, such as limit sensors, position sensors, contact sensors, and micro switches. These sensors provide feedback on the position or state of a certain action actuator or component of the mobile charger 1 and the cable winding module under certain working conditions. The setting of feedback sensors is a standard practice in the field of automation control; they are usually set as needed, with corresponding feedback sensors set where the required feedback signal is needed. Therefore, the specific details of the feedback sensor settings will not be elaborated here. Preferably, the feedback sensors are connected to the control processing unit directly or indirectly. The position feedback of the mobile charger 1 on the aerial track can be achieved using an industrial barcode reader and a location QR code. This technology is standard in the AGV and robotics fields and will not be elaborated further here.

[0061] <Communication Unit Implementation Method>

[0062] The communication unit provides the system with the ability to transmit and interact with communication information. Regarding the choice of communication method, if wireless communication is used, long-distance, wide-range communication can employ common mobile communication networks, such as 5G, 4G, and 3G, while short-range, small-area communication can use Wi-Fi, Bluetooth, ZigBee, or pass-through. Wired communication typically uses a network cable. Preferably, communication between the mobile charger 1 and the charging call response system can use Wi-Fi or a mobile communication network, and communication between the retractable cable module and the charging call response system can also use Wi-Fi or a mobile communication network. Preferably, communication can also be achieved between the mobile charger 1 and the retractable cable module, preferably using Wi-Fi or Bluetooth.

Claims

1. A retractable, variable-track, split-type aerial mobile charging robot system, characterized in that, It includes an aerial track, a walking module, a mobile charger, a retractable charging cable module, a charger-side docking module, a retractable cable-side docking module, a power supply module, a communication unit, a charging call response system, and a control processing unit. The elevated track is deployed above the parking spaces in the parking lot. The track path includes several straight sections, several intersection sections, and at least zero turns. The walking module is mounted on the mobile charger, which can move along the elevated track under the drive of the walking module. The movement along the aerial track includes traveling along the aerial track, and at intersections and turning points of the aerial track, proceeding straight or turning as required by the route. Several of the retractable cable modules are provided and deployed next to the corresponding parking spaces according to the parking space layout. The location where the retractable cable modules are deployed is called the charging station. The retractable charging cable module includes a rotating shaft and a charging cable. When the retractable charging cable module rotates forward and backward around its rotating shaft, it can rewind and unwind the charging cable. The charger-side docking module is mounted on the mobile charger, and the cable-rewinding-side docking module is mounted on the retractable charging cable module. When the mobile charger moves to a charging station, the charger-side docking module can electrically connect with the cable-rewinding-side docking module. When the charging task is completed, the charger-side docking module can disconnect from the cable-rewinding-side docking module. The power acquisition module is used to connect the mobile charger to an input power source, the communication unit is used to provide the system with information transmission and interactive communication capabilities, the charging call response system is used to respond to the user's charging needs, and the control processing unit is used to provide the system with processing and control capabilities.

2. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 1, characterized in that, There are several mobile chargers, all of which can move along the aerial track under the drive of the walking module.

3. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 1, characterized in that, When the coilable cable module rotates around its axis, the cable winding docking module rotates along with it. The mobile charger also includes a docking angle recognition module and a docking rotation drive module. When the charger-side docking module and the cable winding docking module need to dock, the docking angle recognition module first identifies the relative angle difference between the cable winding docking module and the charger-side docking module. Then, the docking rotation drive module drives the charger-side docking module to rotate by the corresponding angle according to the relative angle difference, thereby aligning the charger-side docking module with the cable winding docking module.

4. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 3, characterized in that, The docking angle recognition module is a visual recognition module.

5. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 3, characterized in that, Once the charger-side docking module and the cable-side docking module are aligned, the walking module drives the charger-side docking module and the cable-side docking module to dock.

6. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 3, characterized in that, When the charger-side docking module docks with the winding-side docking module, the winding gun wire module will rotate along with the docking rotation drive module when the docking rotation drive module rotates.

7. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 3, characterized in that, The mobile charger also includes an electrical docking telescopic module, a winding cable rotation drive module, and a charger-side rotation docking mechanism. The winding cable module includes a winding cable rotation docking mechanism. When the mobile charger and the winding cable module are in the docking position and the charger-side docking module and the winding cable docking module are aligned, the electrical docking telescopic module can drive the charger-side docking module and the winding cable docking module to achieve electrical docking and disconnection. The charger-side rotation docking mechanism can achieve mechanical docking with the winding cable rotation docking mechanism. When the charger-side docking module and the winding cable docking module disconnect from the electrical docking, the winding cable rotation drive module can drive the winding cable module to rotate around its axis through the mechanical docking between the charger-side rotation docking mechanism and the winding cable rotation docking mechanism.

8. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 3, characterized in that, The windable gun wire module also includes a winding drive module, which can drive the windable gun wire module to rotate around its axis.

9. The retractable, track-changing, split-type aerial mobile charging robot system according to claim 1, characterized in that, The input power is provided by a power cable deployed along the aerial track, and the power-taking module draws power from the power cable via a contact power-taking method.

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