Variable-rail aerial mobile charging robot system

Abstract

A variable-rail aerial mobile charging robot system, comprising a suspended rail, suspension type charging robots, a driving module, a contact type power supply line and a control unit. The plurality of suspension type charging robots are hung on the suspended rail, each suspension type charging robot comprising a charging pile body (10), a charging gun line mechanical arm and a charging gun (24), and the charging gun line mechanical arm being used for achieving folding, retracting and releasing of a charging cable and the charging gun. The driving module can drive the suspension type charging robots to move along the suspended rail and change rails for steering, and the suspension type charging robots take power from the contact type power supply line in a contact type power taking mode. Using the design of combining soft and hard mechanical arms can achieve regional full-coverage variable-rail mobile charging under the condition of high charging power and relatively thick charging gun cables.

Description

A variable-orbit aerial mobile charging robot system Technical Field

[0001] The utility model relates to the field of new energy vehicle charging, and in particular to a variable-orbit aerial mobile charging robot system. Background Art

[0002] Electric vehicles are currently the hottest, most dynamic, and most promising area of ​​automotive development, with a booming market of various brands. With the rapid increase in electric vehicle ownership, finding convenient and fast charging and recharging has become a challenge for many electric vehicle owners.

[0003] The current problems faced by the electric vehicle charging and charging pile industry include: (1) When looking for charging piles, car owners often need to spend a lot of time looking for charging points, finding available charging piles, and queuing, which leads to serious charging anxiety. (2) Parking spaces suitable for building commercial charging piles are generally located in relatively good locations, and the site costs are high, resulting in high overall costs for commercial charging piles. (3) The construction of a large number of charging piles will result in high construction costs and low utilization rates, which will waste resources and increase the power distribution pressure of 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.

[0004] Therefore, it is necessary to develop an intensive electric vehicle charging solution. This charging solution does not require the construction of charging piles for each parking space, and car owners do not need to specifically look for charging points. As long as the car is parked in the service coverage area where the intensive electric vehicle charging solution is deployed, convenient and fast charging can be achieved.

[0005] In order to solve the above problems, the applicant has previously applied to the State Intellectual Property Office for an invention patent with the patent name "A suspended mobile charging pile system" and application number "2023100936171", and a utility model patent with the patent name "A four-wheel independent drive and steering suspended mobile charging pile system" and application number "2023201748902". The above two patents adopt a cross-track suspended contact power-taking mobile charging solution, which can achieve full coverage of the parking area of ​​the parking lot with charging piles without the need to deploy a large number of charging piles. Electric vehicles in the area can be charged whenever they are parked. No matter where the electric vehicles are parked in the parking lot, they can be charged very conveniently. It also utilizes a large number of existing parking spaces in the parking lot. There is no need to build a special charging station, nor does it require car owners to park their cars in a specific parking space. The number of charging piles can be flexibly deployed and increased or decreased according to charging needs, which will not cause a large number of charging pile resources to be idle, and can also meet charging needs to the greatest extent. It has very obvious technical advantages and industry value.

[0006] The technical solutions described in the above two patents have been transformed into achievements. During the development of the corresponding products, the applicant discovered that when the charging power of the suspended charging pile is not large, the diameter of the cable connecting the charging gun and the charging pile can be designed to be relatively small. For example, the diameter of the charging gun cable of a common 7KW charging pile is usually around 16mm, which is a relatively thin and flexible cable. Therefore, an automatic winding device can be designed to achieve the winding and release of the charging gun and cable. Only when the charging gun and cable are in the stored state rather than the suspended state after release, the suspended charging pile will not interfere with the facilities, vehicles and pedestrians in the parking lot when moving along the suspension track. However, when the charging power of the suspended charging pile is large, such as the common 20KW and 30KW fast charging, and super charging greater than or equal to 60KW, the cable connecting the charging pile and the charging gun needs to be designed to be very thick because the current passing through it is very large. This makes the overall diameter of the cable larger, usually around 30mm or even thicker. In addition, due to the thickening of the internal copper wire and the overall diameter of the cable, the flexibility of the cable is significantly reduced, and the windability is deteriorated. In this case, it is no longer possible to store and release the cable by winding it. Therefore, in order to enable the cross-track suspended mobile charging solution to achieve high-power fast charging and even super charging, it is necessary to study a solution that can retract and release thicker cables and can be applied to suspended mobile charging piles. Summary of the Invention

[0007] The purpose of this utility model is to provide a variable-track aerial mobile charging robot system. To solve the problem of retracting and extending the thick charging gun cable of high-power charging piles, a soft and hard combined mechanical arm design is adopted. It can achieve full-area coverage variable-track mobile charging under high charging power and thick charging gun cables. Each charging robot located on the cross-type suspension track can flexibly and conveniently reach any position on the track path and quickly charge the new energy vehicles below it.

[0008] In order to achieve the above-mentioned invention objectives, the corresponding technical solutions are as follows:

[0009] A variable-track aerial mobile charging robot system, characterized in that it includes a suspended track, a suspended charging robot, a drive module, a contact power supply line, and a control unit. The suspended track is laid out in a suspended manner, and its track path includes several straight sections, several intersections, and greater than or equal to zero turning sections. It should be noted that the straight section is not required to be a completely straight section track, but refers to a track section without bifurcations and large turns. The intersection can be a mutually perpendicular cross intersection, or a non-mutually perpendicular intersection, or a T-shaped or Y-shaped intersection. The turning section refers to a track section that requires a large turn but has no bifurcation. There are several suspended charging robots, all of which are suspended on the suspended track. The suspended charging robot includes a charging pile body, a charging gun wire robot arm, and a charging gun. The charging gun wire robot arm is installed on the charging pile body to realize the folding and retraction of the charging cable and the charging gun. The charging gun is located at the free end of the charging gun wire robot arm. Under the control of the control unit, the driving module can drive the suspended charging robot to move along the track path of the suspended track, and drive the suspended charging robot to go straight or turn at the intersection and turning section of the suspended track according to the needs of the route. The contact power supply line is laid along the track path of the suspended track, and the suspended charging robot draws power from the contact power supply line by contact.

[0010] The reason why the suspended charging robot adopts the mechanical arm type charging gun cable folding and retracting solution is to solve the problem that the charging gun cable is too thick to be retracted under high charging power. The folding and retracting of the robotic arm charging gun cable can be divided into two design schemes according to the different wiring conditions. One design scheme is to directly connect the charging pile body and the charging gun through a complete bundle of charging wires. The complete charging wires are routed along the inside or outside of the charging gun cable robotic arm. When folding and retracting, the folding drive device at each joint of the robotic arm applies a bending torque to the charging wire to achieve the bending or stretching of the charging wire, thereby achieving the folding and retracting of the charging gun cable; the other design scheme is that the charging wire connecting the charging pile body and the charging gun is not a complete bundle, but is segmented according to the joint arm of the robotic arm. The segmented charging wires in the two connected adjacent joint arms are connected through a contact conductive device at the joint. The contact conductive device is preferably a conductive contact ring. Under this design scheme, the folding drive device at each joint of the robotic arm only needs to simply drive the two joint arms to open and close the angle when folding and retracting, without the need to load the bending torque of bending or stretching the charging wire. Therefore, the rated torque and power requirements of the folding drive device can be greatly reduced, and since the charging wire will not be repeatedly bent, the reliability and service life of the folding and retracting will also be improved.

[0011] Preferably, to optimize the track layout and reduce deployment costs, the path of the suspended track is designed based on the parking space layout of each parking lot. Preferably, the path design of most suspended tracks corresponds one-to-one with the parking space lines of the parking lot, ensuring that a suspended track is positioned above the side of the vehicle when parked in any parking space in the parking lot. Observations of various parking lots have revealed that most parking lots are divided into parking blocks, each typically containing multiple adjacent parking spaces. Aisles or other public facilities are located between different parking blocks. Based on this parking lot layout, preferably, connecting sections of track are used to connect the parking blocks, allowing any suspended charging robot to reach any parking block, or even any parking space, in the entire parking lot. This maximizes the utilization of each suspended charging robot, conserves resources, reduces costs, and, given a fixed number of suspended charging robots, allows them to serve as many electric vehicles as possible. It also allows for more convenient and efficient dispatching of the suspended charging robots. Of course, the layout of each parking lot is different, and its charging requirements are also different. The specific layout path of the suspended rail requires on-site investigation of the parking space characteristics and site characteristics of each parking lot, combined with actual needs and construction costs, and then specific design.

[0012] Preferably, the charging gun wire robotic arm adopts a soft and hard combination design, wherein the end close to the charging pile body is a hard articulated arm, and the end away from the charging pile body, i.e., the free end, is a soft flexible charging cable. The end of the flexible charging cable is connected to the charging gun, and the hard articulated arm is composed of a plurality of articulated segments greater than or equal to one section. Charging wires are arranged along the hard articulated arm, and the charging wires are led out from the charging pile body and connected to the charging gun via the hard articulated arm and the flexible charging cable. Due to the soft and hard combination robotic arm design, it can ensure the smooth folding and retraction of the thicker charging cable, and can also make the charging gun have good flexibility and accessibility. This is because the end is a section of flexible charging cable. In actual use, the owner can adjust the position of the charging gun within a certain range so that it can be smoothly inserted into the car charging port, reducing the requirements for the owner's parking position. Even if the parking position is not accurate, charging can be conveniently achieved.

[0013] Preferably, the hard articulated arm is provided with a charging gun plug-in port, and the charging gun wire robotic arm includes a charging working state and a folded storage state. When the charging gun wire robotic arm is in the folded storage state, the several joint segments fold relative to each other so that the overall length of the charging gun wire robotic arm in the vertical direction is shortened, and the charging gun is inserted into the charging gun plug-in port. At this time, the charging gun is in a hanging gun state, and the suspended charging robot is in a state where it can move safely along the suspension track; when the charging gun wire robotic arm is in the charging working state, the several joint segments unfold relative to each other so that the overall length of the charging gun wire robotic arm in the vertical direction is extended, and the charging gun is inserted into the charging port of the electric vehicle being charged. At this time, in order to ensure charging safety, the suspended charging robot needs to be in a state of remaining stationary relative to the suspension track. The design of providing a charging gun plug-in port on the hard joint arm makes it very convenient and quick for the car owner to pull out the gun when charging and hang the gun after charging. After hanging the gun, the charging gun line robot arm in the folded storage state will also be more regular. In this way, when the suspended charging robot moves along the suspension track, it is less likely to interfere with the facilities, vehicles and pedestrians in the parking lot.

[0014] Preferably, the suspension track includes a track supporting surface and a track through groove, and the driving module includes a driving wheel independent in-situ steering module, and the driving wheel independent in-situ steering module is used to enable the suspended charging robot to turn at the intersection or turning section of the suspension track, and after turning, it can move along the turned suspension track path under the drive of the driving module; the driving wheel independent in-situ steering module includes four independent steering driving wheel modules, which are arranged at the four corners of a square in the horizontal direction, and each independent steering driving wheel module includes a steering motor, a power motor, a rotating frame, and a wheel, and the tread of the wheel is in contact with the track support during movement. Surface contact, the power motor is installed on the rotating frame, the rotating frame is fixedly connected to the rotating shaft of the steering motor, the wheel is provided with rotational power by the power motor, the rotating shaft of the steering motor is along the vertical direction, the rotating shaft of the power motor is along the horizontal direction, the axis center line of the rotating shaft of the steering motor intersects with the axis center line of the rotating shaft of the power motor, the axis center line of the rotating shaft of the steering motor passes through the center point of contact between the tread of the wheel and the track supporting surface, under the drive of the steering motor, each wheel can independently rotate in place around the center point of contact between its tread and the track supporting surface, under the drive of the power motor, each wheel can independently rotate forward and reverse around the center line of its wheel axle.

[0015] With the help of the above-mentioned independent in-situ steering module for the driving wheels, the suspended charging robot can achieve in-situ steering at the intersection of vertically intersecting tracks and the intersection of diagonally intersecting tracks. The specific steering method is as follows:

[0016] Turning at an intersection with vertically intersecting tracks: When the drive module approaches the vertical intersection of the tracks, the two front wheels must first cross the track groove before continuing. When the center point of the diagonal intersection of the four wheels coincides with the center point of the vertical intersection of the tracks, the steering motors of the four independent steering drive wheel modules cause each wheel to independently rotate 90 degrees around the center point where its tread contacts the track support surface, completing the turn, and then continuing along the turned track. This steering method is applicable not only to cross-vertical intersections, but also to T-shaped vertical intersections and steering in vertical turns.

[0017] Turning at an intersection of obliquely intersecting tracks: The four wheels are parallel to each other in the straight-ahead state. When approaching the oblique intersection of the tracks, the two front wheels need to cross the track groove first and then continue driving. When the center point of the diagonal intersection of the four wheels coincides with the center point of the oblique intersection of the tracks, the steering motors of the four independent steering drive wheel modules are used to make each wheel independently rotate in place around the center point of contact between its tread and the track supporting surface until the axles of the four wheels all point to the center of the same center circle. Then, the power motors of the four independent steering drive wheel modules begin to drive the four wheels to rotate in the same clockwise direction around the center of the center circle, thereby causing the drive module to turn as a whole in place. After turning into place according to the angle of the oblique intersection of the tracks, the steering motors of the four independent steering drive wheel modules restore the four wheels to the state of being parallel to each other in the straight-ahead state. At this point, the turn is completed, and then the vehicle continues to travel along the turned track.

[0018] Furthermore, the variable track aerial mobile charging robot system also includes a power supply contact module. When the suspended charging robot needs to draw power, the power supply contact module makes power receiving contact with the contact power supply line, thereby connecting with the contact power supply line to achieve power supply. When the suspended charging robot does not need to draw power, the power supply contact module loses contact with the contact power supply line, thereby disconnecting from the contact power supply line. Preferably, each suspended charging robot is also provided with an energy storage module. When the suspended charging robot does not move relative to the suspended track, the power supply contact module makes power receiving contact with the contact power supply line. At this time, the energy storage module charges and stores energy through the contact power supply line. When the suspended charging robot moves along the suspended track, the power supply contact module loses contact with the contact power supply line. At this time, the electric energy for driving the suspended charging robot to move and turn along the suspended track is provided by the energy storage module. This design ensures that the power supply contact module of the suspended charging robot only needs to make contact with the contact power supply line when the robot is stationary. When the robot is moving, the power supply contact module does not need to make contact with the contact power supply line. When the power supply contact module is not in contact with the contact power supply line, the energy storage module provides the power for the robot's movement, steering, and other power consumption. Without the energy storage module, the power supply contact module must maintain good contact with the contact power supply line during movement; otherwise, the drive module will lose power and energy and be unable to drive the robot. Due to the characteristics of contact power supply, maintaining good and sufficient conductive contact during movement is difficult, especially when the power supply line branches or turns. Furthermore, mobile contact power supply can be subject to wear of the conductive medium and inadequate contact, both of which increase the maintenance difficulty of the entire power supply system. Insufficient contact can also affect the power output of the contact power supply, and heat generation during power supply can be more pronounced, thereby impacting power supply efficiency and safety. Therefore, the provision of the energy storage module improves the reliability, stability and durability of contact power extraction.

[0019] Furthermore, the variable track aerial mobile charging robot system also includes a position feature identifier and a path map. The position feature identifiers are arranged along the suspension track, and there are several of them. Each position feature identifier is used to mark the specific position information of the position point on the suspension track where the position feature identifier is set in the entire suspension track path. The path map corresponds one-to-one to the layout of the suspension track, including the length and direction of each path segment of the suspension track, the position of each turning node, the relationship between each turning node and its adjacent path segments, and the position information of each position feature identifier.

[0020] Preferably, the position feature identifier is a position QR code, and each position QR code contains specific position information of the position QR code in the entire suspension track path.

[0021] Furthermore, the variable track aerial mobile charging robot system also includes a communication terminal device that supports input of the position feature identifier, a scheduling server for processing data, and a storage unit for storing data. The suspended charging robot includes a charging robot communication module and a charging robot positioning unit. The charging robot positioning unit is used to obtain the current position of the suspended charging robot itself in the track path of the suspended track. The charging robot communication module is used to enable the suspended charging robot to interact with the scheduling server. The path map is stored in the storage unit, and the scheduling server can read the path map information in the storage unit. The communication terminal device can directly or indirectly communicate with the scheduling server by inputting the position feature identifier. The input behavior of the communication terminal device for the position feature identifier is processed by the scheduling server. The scheduling server locates the location of the position feature identifier according to the path map, searches for and schedules the idle suspended charging robot closest to the location, and controls the suspended charging robot to move to the location along the suspended track. Preferably, the path that the scheduling server controls the suspended charging robot to move to the target location along the suspended track is the optimal path obtained by the scheduling server after analysis and calculation. The optimal path can be the shortest path, or it can be the shortest path calculated by the dispatch server by calculating the total time of all available paths based on the unit time of straight travel and turning along the track. When determining whether a path is a usable path, paths blocked by other suspended charging robots should be excluded.

[0022] Preferably, the position QR code can be set on the side of the hanging track, or on the bottom of the hanging track, or directly below, diagonally below or near the hanging track by hanging, cantilevering, etc. The present invention does not limit the setting method, specific location and setting form of the position QR code, as long as it can play the role of roughly marking the position on the hanging track. The number and distribution density of the position QR codes are set according to actual needs. The standard for meeting actual needs is: no matter where the user's electric car is parked, the communication terminal device, such as a smart phone, can be used to scan the nearby location QR code, and quickly and accurately send the location where the charging demand is issued to the dispatching server. The dispatching server dispatches the charging robot nearby according to the location information and moves to the location along the hanging track according to the preferred path, thereby providing charging services for the user's electric car.

[0023] Preferably, the number of suspended charging robots arranged on the suspension track is variable and can be increased or decreased according to actual usage demand, utilization rate, and idle rate. When the actual charging demand is large and the utilization rate of the suspended charging robots is high, the number of suspended charging robots deployed on the suspension track can be increased. When the actual charging demand is small and the idle rate of the suspended charging robots is high, the number of suspended charging robots deployed on the suspension track can be reduced.

[0024] Beneficial effects of the utility model:

[0025] (1) Due to the realization of regional full coverage of track-changing mobile charging, the charging mode has changed from the "car looking for pile" mode of the stationary charging pile to the "pile looking for car" mode. Car owners do not need to specifically look for charging points and charging parking spaces, and can charge whenever they stop, which greatly saves time and improves the charging experience of car owners. It also completely solves the problem of gasoline cars occupying charging pile parking spaces. After the deployment of this utility model, there will be no so-called charging-only parking spaces, and all parking spaces are charging spaces. In addition, the number of charging robots on the hanging track can be flexibly increased or decreased according to actual needs, utilization rate, and idle rate, which can greatly improve the utilization rate of the hanging charging robots, reduce the idle rate, save resources, improve deployment flexibility, and reduce deployment costs;

[0026] (2) In order to solve the problem of retracting and extending the thick charging gun wire of high-power charging piles, the present invention adopts a charging gun wire mechanical arm folding and extending solution, which can realize regional full coverage track-changing mobile charging under the conditions of high charging power and thick charging gun cables. Moreover, when the suspended charging robot moves along the suspended track, because the charging gun wire mechanical arm is in a folded and retracted state, the movement of the suspended charging robot along the suspended track is not likely to cause interference to the facilities, vehicles and personnel in the parking lot;

[0027] (3) Since the charging gun wire robot adopts a soft and hard combination robot design, it can not only ensure the smooth folding and retraction of the thicker charging cable, but also make the charging gun have good flexibility and accessibility. This is because the end is a section of flexible charging cable. In actual use, the owner can adjust the position of the charging gun within a certain range so that it can be smoothly inserted into the car charging port, which reduces the requirements for the owner's parking position. Even if the parking position is not accurate, charging can be conveniently achieved;

[0028] (4) The design of providing a charging gun plug-in port on the hard joint arm makes it very convenient and quick for the owner to remove the gun when charging and hang the gun after charging. After hanging the gun, the charging gun line robot arm in the folded storage state will also be more regular. In this way, when the suspended charging robot moves along the suspension track, it is less likely to interfere with the facilities, vehicles and pedestrians in the parking lot.

[0029] It should be noted that the beneficial effects of the present invention are not limited to the above description, and can be understood in combination with specific technical solutions and preferred implementation methods. In addition, descriptions of the technical effects and beneficial effects of a specific technical solution or preferred implementation method are also interspersed in the invention content of the present invention and the implementation methods thereafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the variable-track aerial mobile charging robot system of the present invention from an oblique upward perspective. The figure shows a suspended charging robot charging an electric car, and the charging gun line robot arm of the suspended charging robot is in a charging working state.

[0031] FIG2 is a schematic diagram of the variable-track aerial mobile charging robot system of the present invention from an oblique upward perspective. The figure hides the suspension track and shows a suspended charging robot charging an electric car.

[0032] FIG3 is a schematic diagram of the suspended charging robot according to the present invention.

[0033] FIG4 is a schematic diagram of a suspended charging robot of the variable track aerial mobile charging robot system of the present invention suspended on a suspension track.

[0034] FIG5 is a schematic diagram of the suspended charging robot of the present invention, which also shows a schematic diagram of the independent in-situ steering module of the driving wheels.

[0035] FIG6 is a schematic diagram of the drive wheel independent in-situ steering module located in the crossroad section of the suspension track.

[0036] FIG7 is a schematic diagram of one of the four independent steering drive wheel modules described in the present invention.

[0037] FIG8 is a schematic diagram of the front and side views of the independent steering drive wheel module.

[0038] FIG9 is a schematic diagram of the four wheels of the driving module turning in situ when turning at an intersection of vertically intersecting tracks.

[0039] Figure 10 is a schematic diagram of the driving module turning at an intersection of obliquely intersecting tracks, where the four wheels turn independently until the axles of the four wheels all point to the center of the same central circle. In this way, when the four wheels rotate in the same clockwise direction, the driving module can turn in place around the center of the central circle as a whole.

[0040] FIG11 is a schematic diagram of the bottom view of the suspension track when the suspension track is a vertical cross track. DETAILED DESCRIPTION

[0041] The present invention will be further described and explained in detail below in conjunction with the embodiments, implementation methods, and accompanying drawings of the present invention. It should be noted that the embodiments or implementation methods described are only part of the embodiments or implementation methods of the present invention, rather than all of the embodiments or implementation methods. The accompanying drawings are only schematic diagrams for convenience of explanation, rather than complete limitations on the implementation methods of the present invention. Based on the embodiments or implementation methods of the present invention, all other embodiments or implementation methods obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] The following description of the embodiments or implementations of the present invention is merely illustrative in nature and is in no way intended to limit the present invention and its application or use.

[0043] As shown in Figures 1-5, a variable-track aerial mobile charging robot system is characterized in that it includes a suspended track, a suspended charging robot, a drive module, a contact power supply line, and a control unit. The suspended track is laid out in a suspended manner and includes a track supporting surface and a track groove. The track path of the suspended track includes a number of straight sections 1, a number of intersection sections, and greater than or equal to zero turning sections 4. It should be noted that the straight section 1 is not required to be a completely straight section track, but refers to a track section without bifurcations and large turns. The intersection section can be a mutually perpendicular cross intersection section 2, or a non-mutually perpendicular intersection, or a "T"-shaped intersection 3 or a "Y"-shaped intersection. The turning section 4 refers to a track section that requires a large turn but has no bifurcation. There are several suspended charging robots, all of which are suspended on the suspended track. The suspended charging robot includes a charging pile body 10, a charging gun wire robot arm, and a charging gun 24. The charging gun wire robot arm is installed on the charging pile body 10, and is used to realize the folding and retraction of the charging cable and the charging gun 24. The charging gun 24 is located at the free end of the charging gun wire robot arm. Under the control of the control unit, the driving module can drive the suspended charging robot to move along the track path of the suspended track, and drive the suspended charging robot to go straight or turn at the intersection and turning section of the suspended track according to the needs of the route. The contact power supply line is laid along the track path of the suspended track, and the suspended charging robot draws power from the contact power supply line by contact.

[0044] <Implementation Method of Hanging Charging Robot>

[0045] As shown in Figures 1-5, several hanging charging robots are provided, all suspended on the hanging track. Each robot comprises a charging pile body 10, a charging gun cable manipulator, and a charging gun 24. The charging gun cable manipulator is mounted on the charging pile body 10 and is used to fold and retract the charging cable and charging gun 24. The hanging charging robot adopts a manipulator-type charging gun cable folding and retracting solution to solve the problem of the charging gun cable being too thick to be retracted and wound at high charging power. The folding and retracting of the charging gun cable of the robotic arm can be divided into two design schemes according to different wiring conditions. One design scheme is to directly connect the charging pile body 10 and the charging gun 24 through a complete bundle of charging wires. The complete charging wires are routed along the inside or outside of the charging gun cable robotic arm. When folding and retracting, the folding drive device at each joint of the robotic arm applies a bending torque to the charging wire to achieve the bending or stretching of the charging wire, thereby achieving the folding and retracting of the charging gun cable; the other design scheme is that the charging wire connecting the charging pile body 10 and the charging gun 24 is not a complete bundle, but is segmented according to the joint arm of the robotic arm. The segmented charging wires in the two connected adjacent joint arms are connected through a contact conductive device at the joint. The contact conductive device is preferably a conductive contact ring. Under this design scheme, when folding and retracting, the folding drive device at each joint of the robotic arm only needs to simply drive the two joint arms to open and close the angle, without the need to bear the bending torque of bending or stretching the charging wire. Therefore, the rated torque and power requirements of the folding drive device can be greatly reduced. Moreover, since the charging wire will not be repeatedly bent, the reliability and service life of the folding and retracting will also be improved.

[0046] Preferably, as shown in Figures 1-5, the charging gun line robot arm adopts a soft and hard combination design. Its end close to the charging pile body 10 is a hard articulated arm, and the end away from the charging pile body 10, that is, the free end, is a soft flexible charging cable 23. The end of the flexible charging cable 23 is connected to the charging gun 24. The hard articulated arm is composed of a plurality of articulated segments greater than or equal to one section. Preferably, the hard articulated arm includes a rotating arm 17, a first folding arm 19, a second folding arm 22, a first joint body 18, a second joint body 20, and a third joint body 21. The rotating arm 17 can rotate along its own vertical axis relative to the charging pile body 10. The rotating arm 17 and the first folding arm 19 are connected by the first joint body 18, and the first folding arm 19 and the second folding arm 22 are connected by the second joint body 20 and the third joint body 21. One end of the flexible charging cable 23 is connected to the end of the second folding arm 22, and the other end is connected to the charging gun 24. Preferably, the motor that drives the rotating arm 17 to rotate relative to the charging pile body 10 is installed in the rotating arm 17, the motor that drives the first folding arm 19 to fold relative to the rotating arm 17 is installed in the first joint body 18, and the motor that drives the second folding arm 22 to fold relative to the first folding arm 19 is installed in the second joint body 20. Charging wires are routed along the rigid joint arm, extending from the charging pile body 10 and connecting to the charging gun 24 via the rotating arm 17, the first folding arm 19, the second folding arm 22, and the flexible charging cable 23. The combined rigid and flexible robotic arm design ensures smooth folding and retraction of thicker charging cables while also ensuring good flexibility and accessibility for the charging gun 24. This is because the flexible charging cable 23 at the end allows the driver to adjust the position of the charging gun 24 within a certain range to ensure smooth insertion into the vehicle's charging port 28. This reduces the parking requirements and allows for convenient charging even in inaccurate parking locations.

[0047] Preferably, as shown in FIG3 , a charging gun insertion port 2101 is provided on the third joint body 21. The charging gun line robot arm includes a charging working state and a folded storage state. When the charging gun line robot arm is in the folded storage state, as shown in FIG4 , the joint segments fold relative to each other, shortening the overall vertical length of the charging gun line robot arm, and the charging gun 24 is inserted into the charging gun insertion port 2101. At this time, the charging gun 24 is in the hanging gun state, and the suspended charging robot is in a state where it can move safely along the suspension track. It should be noted that the charging gun line robot arm shown in FIG4 is not fully folded. In actual application, the degree of folding of the charging gun line robot arm in the folded storage state can be set as needed. When the charging gun line robot arm is in the charging working state, as shown in FIG1 , the joint segments unfold relative to each other, extending the overall vertical length of the charging gun line robot arm, and the charging gun 24 is inserted into the charging port 28 of the electric vehicle being charged. At this time, to ensure charging safety, the suspended charging robot must remain stationary relative to the suspension track. The design of providing a charging gun plug-in port 2101 on the third joint body 21 can make it very convenient and quick for the car owner to pull out the gun when charging and hang the gun after charging. After hanging the gun, the charging gun line robot arm in the folded storage state will also be more regular. In this way, when the suspended charging robot moves along the suspension track, it is less likely to interfere with the facilities, vehicles and pedestrians in the parking lot.

[0048] Preferably, the number of suspended charging robots arranged on the suspension track is variable and can be increased or decreased according to actual usage demand, utilization rate, and idle rate. When the actual charging demand is large and the utilization rate of the suspended charging robots is high, the number of suspended charging robots deployed on the suspension track can be increased. When the actual charging demand is small and the idle rate of the suspended charging robots is high, the number of suspended charging robots deployed on the suspension track can be reduced.

[0049] <Suspended rail implementation method>

[0050] As shown in Figures 1, 4, 6, and 11, the suspension track is arranged in a suspended manner to provide a travel track and suspension support for the drive module. The specific size, cross-section, and material of the suspension track are set according to the actual load-bearing and strength requirements.

[0051] Preferably, the suspension track includes a track supporting surface and a track through groove, and the track path of the suspension track includes a plurality of straight sections 1, a plurality of intersection sections, and greater than or equal to zero turning sections 4. Preferably, a track supporting surface guide groove is provided on the track supporting surface, and the track supporting surface guide groove is a long strip groove provided on the track supporting surface along the track path.

[0052] Figure 6 shows a schematic diagram of a drive module located within a crossroads section 2 of a suspended track. The crossroads section 2 includes track branches in four directions: a first track branch 201, a second track branch 202, a third track branch 203, and a fourth track branch 204. Each track branch is provided with a track support surface guide groove. For example, the first track branch 201 is provided with a first branch left guide groove 207 and a first branch right guide groove 208. Preferably, the cross-section of the track branches in each direction is the same as that of the straight section 1. Preferably, the cross-section of each track branch at the T-shaped intersection 3 and the turning section 4 is also the same as that of the straight section 1.

[0053] Since the driving module and the charging pile body 10 need to be connected by a connecting rod 9, the track groove is used to allow the connecting rod 9 to pass through and prevent the connecting rod 9 from interfering with the track when moving along the track path. As shown in Figure 11, the track groove includes a first groove 101 on the straight section 1, a second groove 209, a third groove 210, a fourth groove 211, and a fifth groove 212 on the intersection section 2. Since the wheels of the driving module need to cross the track groove when traveling in the intersection section and the turning section, in order to ensure basic crossing passability and prevent the wheels from getting stuck when crossing the track groove, the ratio of the wheel diameter to the track groove width d should be greater than 3:2. The larger the ratio of the wheel diameter to the track groove width d, the smoother and easier it is for the wheels to cross the track groove.

[0054] Preferably, connecting flanges are provided at the end faces of the straight section, intersection section, and turning section. For example, a connecting flange is provided at the end face of each track bifurcation in the cross intersection section 2. As shown in FIG11 , a first connecting flange 104 is provided at the end face of the straight section 1. As shown in FIG6 , a second connecting flange 205 is provided at the end face of the third track bifurcation 203. Bolt holes are provided on the connecting flanges. For example, a plurality of second bolt holes 206 are provided on the second connecting flange 205. The straight section 1, intersection section, and turning section 4 are connected in pairs through the connecting flanges and bolts.

[0055] Preferably, the straight section 1 is an extruded profile, and the connecting flange is a detachable flange.

[0056] Preferably, the suspension track can be fixed via the ceiling, load-bearing columns, walls, etc. of the installation site to ensure that the suspension track has load-bearing capacity. Taking the example of fixing the suspension track via the ceiling, since other facilities are usually located below the ceiling of the installation site, the suspension track can preferably be fixed by suspending it from the ceiling via a vertical long strip of profile. That is, the top of the long strip of profile that can withstand tension is first fixed to the ceiling using bolts or other means, and then the suspension track is fixed to the bottom of the long strip of profile. Depending on the length and layout of the suspension track, multiple long strips of profile can be arranged along the track path, thereby achieving vertical fixation of the suspension track.

[0057] When the installation site has no ceiling, wall or load-bearing column, preferably, the suspension track can be suspended and fixed by a column bracket, etc. The number, position, structure and material of the column bracket are set according to the actual load-bearing capacity and construction needs.

[0058] Preferably, to optimize the track layout and reduce deployment costs, the path of the suspended track is designed based on the parking space layout of each parking lot. Preferably, the path design of most suspended tracks corresponds one-to-one with the parking space lines of the parking lot, ensuring that a suspended track is positioned above the side of the vehicle when parked in any parking space in the parking lot. Observations of various parking lots have revealed that most parking lots are divided into parking blocks, each typically containing multiple adjacent parking spaces. Aisles or other public facilities are located between different parking blocks. Based on this parking lot layout, preferably, connecting sections of track are used to connect the parking blocks, allowing any suspended charging robot to reach any parking block, or even any parking space, in the entire parking lot. This maximizes the utilization of each suspended charging robot, conserves resources, reduces costs, and, given a fixed number of suspended charging robots, allows them to serve as many electric vehicles as possible. It also allows for more convenient and efficient dispatching of the suspended charging robots. Of course, the layout of each parking lot is different, and its charging requirements are also different. The specific layout path of the suspended rail requires on-site investigation of the parking space characteristics and site characteristics of each parking lot, combined with actual needs and construction costs, and then specific design.

[0059] <Driver Module Implementation Method>

[0060] As shown in Figures 4-10, the drive module includes four independent steering drive wheel modules, namely a first independent steering drive wheel module, a second independent steering drive wheel module, a third independent steering drive wheel module, and a fourth independent steering drive wheel module. Each independent steering drive wheel module includes a steering motor, a power motor, a rotating frame, and a wheel. For example, the first independent steering drive wheel module includes a first steering motor 5, a first power motor 7, a first rotating frame 6, and a first wheel 11. The four wheels are the first wheel 11, the second wheel 12, the third wheel 13, and the fourth wheel 14. The tread of the wheel contacts the track supporting surface during movement, the power motor is installed on the rotating frame, the rotating frame is fixedly connected to the rotating shaft of the steering motor, the wheel is provided with rotational power by the power motor, the rotating shaft of the steering motor is in the vertical direction, the rotating shaft of the power motor is in the horizontal direction, the axis centerline of the rotating shaft of the steering motor intersects with the axis centerline of the rotating shaft of the power motor, the axis centerline of the rotating shaft of the steering motor passes through the center point where the tread of the wheel contacts the track supporting surface, under the drive of the steering motor, each wheel can independently rotate in place around the center point where its tread contacts the track supporting surface, and under the drive of the power motor, each wheel can independently rotate forward and reverse around the centerline of its wheel axle.

[0061] Preferably, as shown in Figures 4 and 5, the drive module also includes a mounting bracket 8, which is used to install and fix the steering motor, and connect the drive module and the connecting rod 9. Preferably, a hanging connection flange 15 is fixed to the lower end of the connecting rod 9 for connection with the charging pile body 10. Preferably, a wire through hole 801 is provided in the center of the mounting bracket 8, the connecting rod 9, and the hanging connection flange 15, so that the drive module can be connected to the charging pile body 10 below through a line, which can be a communication signal line or a power supply line.

[0062] Preferably, the driving module is connected to the control unit.

[0063] <How to implement the steering process>

[0064] Turning at an intersection with vertically intersecting tracks: When the drive module approaches the vertical intersection of the tracks, the two front wheels must first cross the track groove before continuing. When the center point of the diagonal intersection of the four wheels coincides with the center point of the vertical intersection of the tracks, the steering motors of the four independent steering drive wheel modules cause each wheel to independently rotate 90 degrees around the center point where its tread contacts the track support surface, completing the turn, as shown in Figure 9. The vehicle then continues along the turned track. This steering method is applicable not only to cross-vertical intersections but also to T-shaped vertical intersections and vertical turns.

[0065] Turning at an intersection of obliquely intersecting tracks: The four wheels are parallel to each other in the straight-ahead state. When approaching the oblique intersection of the tracks, the two front wheels need to cross the track groove first and then continue to drive. When the center point of the diagonal intersection of the four wheels coincides with the center point of the oblique intersection of the tracks, the steering motors of the four independent steering drive wheel modules are used to make each wheel independently rotate in place around the center point of contact between its tread and the track supporting surface until the directions of the four wheels are tangent to the same center circle, as shown in Figure 10. Then, the power motors of the four independent steering drive wheel modules start to drive the four wheels to rotate in the same clockwise direction around the center of the center circle, thereby causing the drive module to turn as a whole in place. After turning into place according to the angle of the oblique intersection of the tracks, the steering motors of the four independent steering drive wheel modules restore the four wheels to the state of being parallel to each other in the straight-ahead state, thus completing the turn, and then continue to drive along the turned track.

[0066] <Control Unit Implementation Method>

[0067] The control unit should at least have 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 above chip as the main control chip. The control unit usually carries a program or software that implements the corresponding functions. This utility model does not limit the type of the control unit. Simply changing the type of the control unit based on the present utility model should fall within the scope of protection of this utility model.

[0068] <Contact power supply line implementation method>

[0069] The contact power supply line is used to supply power to the suspended charging robot. The contact power supply line itself is connected to the power grid or distribution station. The access method can be direct access or access after passing through transformers and other substation facilities.

[0070] The power supply principle of the contact power supply line is similar to the contact power supply of motor vehicles and trains. According to the prior art, current electric motor vehicles or trains obtain electricity by contacting the pantograph above the vehicle with the exposed power supply line. The advantage of this contact power supply is that only the exposed line needs to be laid along the track, and the electrical equipment moving along the track can obtain electricity by contacting the line no matter where on the track it is. The contact power supply line described in the present invention also works on a similar principle. It is laid along the path of the suspension track, and the wires laid in the path are exposed in the entire path or in part of the path section, so that the suspended charging robot can contact and obtain electricity. The contact power supply method can be a typical contact method such as touch contact, squeeze contact, wrapping contact, plug-in contact, etc. The thickness of the wires and the number of wires of the contact power supply line are determined according to the actual supply voltage, current and power.

[0071] <Electrical contact module implementation>

[0072] Furthermore, the variable track aerial mobile charging robot system also includes a power supply contact module. When the suspended charging robot needs to draw power, the power supply contact module makes electrical contact with the contact power supply line, thereby conducting with the contact power supply line to achieve power supply. When the suspended charging robot does not need to draw power, the power supply contact module loses contact with the contact power supply line, thereby disconnecting from the contact power supply line. The specific contact power supply implementation method is described in more detail in the "A Suspended Mobile Charging Pile System" and "A Suspended Mobile Charging Pile System with Four-Wheel Independent Drive and Steering" previously applied for by the applicant, and will not be repeated here.

[0073] Preferably, the power supply contact module is connected to the control unit.

[0074] Energy Storage Module Implementation Method

[0075] Preferably, each suspended charging robot is also provided with an energy storage module. When the suspended charging robot does not move relative to the suspended track, the power contact module makes power-receiving contact with the contact power supply line. At this time, the energy storage module is charged and stores energy through the contact power supply line. When the suspended charging robot moves along the suspended track, the power contact module loses contact with the contact power supply line. At this time, the electric energy for driving the suspended charging robot to move and turn along the suspended track is provided by the energy storage module. Preferably, the energy storage module is a rechargeable battery. This design is to ensure that the power contact module of the suspended charging robot only needs to make power-receiving contact with the contact power supply line when the suspended charging robot is stationary, and the power contact module does not need to make power-receiving contact with the contact power supply line when the suspended charging robot moves. When the power contact module does not make power-receiving contact with the contact power supply line, the movement, turning and other power consumption of the suspended charging robot are provided by the energy storage module. If the energy storage module is not provided, it is necessary to ensure that the power supply contact module must be in good contact with the contact power supply line during the movement of the suspended charging robot, otherwise the driving module will lose power and energy source and will not be able to drive the suspended charging robot to move. According to the characteristics of contact power supply, it is relatively difficult to always maintain good and sufficient conductive contact during movement, especially when there are bifurcations and turns in the power supply line. In addition, mobile contact power supply will also have problems of conductive medium wear and insufficient contact. These problems will increase the difficulty of maintaining the entire power supply system, and if there is insufficient contact, the contact power supply power will also be affected, and the heat problem generated during the power supply process will also be more obvious, thereby affecting the power supply efficiency and power supply safety. Therefore, the provision of the energy storage module improves the reliability, stability and durability of contact power supply.

[0076] Only when the suspended charging robot is stationary does the power supply contact module make electrical contact with the contact power supply line. This operating method greatly simplifies the operating logic of the power supply contact module, significantly improves the stability and safety of power supply, and reduces the development and deployment difficulty of the entire system. In addition, due to the working characteristics of the variable-orbit aerial mobile charging robot system of the present invention, the suspended charging robot only moves during scheduling. At other times, whether it is idle or in the working state of charging electric vehicles, the suspended charging robot is stationary. Therefore, there is sufficient time to charge and store energy for the energy storage module to ensure that the energy storage module is always powered.

[0077] Preferably, the energy storage module is connected to the control unit.

[0078] <Implementation Method of Location Feature Identification>

[0079] A preferred embodiment of the position feature identifier is a position QR code set along the hanging track. The position QR code can be set on the side of the hanging track, or on the bottom of the hanging track, or directly below, diagonally below, or near the hanging track by hanging, cantilevering, etc. The position QR code can be set by posting, printing, spraying, etc., and can also be set to be luminous. The present invention does not limit the setting method, specific location, and setting form of the position QR code, as long as it can play the role of roughly marking the position on the hanging track. The number and distribution density of the position QR codes are set according to actual needs. The standard for meeting actual needs is: no matter where the user's electric car is parked, the communication terminal device, such as a smart phone, can be used to scan the nearby position QR code, and quickly and accurately send the location of the vehicle to the dispatch server. The dispatch server dispatches the nearby hanging charging robot according to the location information and moves to the location along the hanging track according to the preferred path, thereby providing charging services for the user's electric car.

[0080] Preferably, the location feature identifier may also be a location barcode, and the principle and usage of identifying location information thereof are similar to those of the location QR code, which will not be described in detail here.

[0081] Preferably, the location feature identifier can also be a location marker formed by words, letters, numbers, symbols alone or in combination. The location marker is mapped or corresponds to the location information through set mapping. By inputting the location marker into the communication terminal, the location orientation information of the user who needs to use the charging service can also be sent to the scheduling server, so that the scheduling server can successfully dispatch the suspended charging robot and move it along the suspension track to the location of the location marker.

[0082] <Implementation Method of Sending Location Feature Identification Information to the Dispatch Server>

[0083] Preferably, the communication terminal device includes an application, a processor, and a communication module. The application has the function of inputting the location feature identification information. After the processor receives the input of the location feature identification information, it sends the location feature identification information to the dispatch server through the communication module. Preferably, the communication terminal device is a smart phone. The application is preferably a charging management APP software or WeChat applet installed on the smart phone that is compatible with the present invention. The communication module can be a 2G, 3G, 4G, 5G or other mobile communication module on the smart phone, or a WIFI, Bluetooth or other communication module.

[0084] Preferably, the dispatch server can be a single server, a server cluster, or a cloud server, which is connected to the Internet communication network via wired or wireless means. The communication terminal device can communicate with the dispatch server via the Internet directly or indirectly. Preferably, the dispatch server also includes a dispatch management software program.

[0085] Preferably, the suspended charging robot includes a charging robot communication module and a charging robot positioning unit. The charging robot positioning unit is used to obtain the current position of the suspended charging robot itself in the track path of the suspended track. The position can be determined by the initial position, path map, travel distance, and the turning information that has occurred. The travel distance can be calculated by the mileage of the distance traveled by the wheel rotation. The mileage calculation technology belongs to the mature existing technology in the vehicle field and will not be described in detail here. However, this positioning method has certain errors. In order to improve the positioning accuracy, a position marking point can be set at intervals on the track path. The suspended charging robot corrects the position data calculated by its own positioning unit by reading the position information of the position marking point. The position marking point can mark the position in the form of an image. The suspended charging robot uses a camera to visually identify the position information recorded by the position marking point. Preferably, the position information of the position marking point can be recorded in a QR code. Each position marking point is provided with a QR code. The suspended charging robot includes a camera and a QR code recognition module for reading the position information recorded in the QR code. Of course, the position marking point can also mark the position in a physical way, such as an electrical signal, a magnetic signal, an optical signal, etc. The hanging charging robot is provided with a module capable of reading these signals. When the hanging charging robot passes the position marking point, it can receive the corresponding signal, thereby reading the position information recorded in the signal. The relevant technology also belongs to the existing technology and will not be repeated here. The charging robot communication module is used to interact with the dispatch server. On the one hand, it can receive the control commands sent by the dispatch server, and on the other hand, it can transmit its own position information to the dispatch server.

[0086] Route Map, Scheduling, and Implementation Methods of Route Planning

[0087] Taking the deployment of the present invention in a certain parking lot as an example, the parking space planning and site characteristics of each parking lot are different. Therefore, when deploying the present invention, the layout of the suspension track also needs to be adapted to local conditions and designed according to the site characteristics, parking space planning and actual needs of each parking lot. In the present invention, in order to achieve the smooth scheduling of the suspended charging robot and plan the movement path of the suspended charging robot, it is necessary to prepare a corresponding path map for the layout of the suspension track of each parking lot. The path map includes information such as the length and direction of each path segment, the position of each turning node, the relationship between each turning node and its adjacent path segments, and the position of each position feature identifier. Preferably, the path map is stored in the scheduling server.

[0088] When the user sends a charging request with location feature identification information to the dispatching server through the communication terminal device, the dispatching server locates the location of the location feature identification according to the stored path map, searches for and dispatches the idle suspended charging robot closest to the location, and controls the suspended charging robot to move to the location along the suspended track according to the preferred path.

[0089] <Implementation method for the entire charging process>

[0090] Taking the deployment location of the present invention as a parking lot, the location feature identification information as a location QR code, the communication terminal device as a smartphone, and the application as a charging management app as an example, the following describes the entire process of charging an electric vehicle using the variable-track aerial mobile charging robot system of the present invention:

[0091] As shown in Figures 1, 2, and 3, a user drives his electric car 27 into a parking lot where the variable-track aerial mobile charging robot system of the present invention is deployed and parks in a parking space. He then searches for the QR code of the location closest to the charging port 28 of his electric car 27 above and around the parking space. He then opens the charging management app of the present invention and uses the camera of a smartphone to scan the QR code of the location closest to the charging port 28. After confirming the need to paging and dispatch a suspended charging robot, the charging management app sends the paging request information to the dispatch server. After receiving the paging request information, the dispatch server searches for and dispatches an idle suspended charging robot closest to the location QR code based on the location information of the scanned location QR code. The robot moves along the suspended track according to the preferred path to the location of the location QR code and releases the charging cable and charging gun 24 through the charging gun line robot arm to lower it. At this time, the charging gun 24 is still inserted into the charging gun plug-in port 2101. At this time, the user only needs to unplug the charging gun 24 from the charging gun plug-in port 2101 and then plug it into the charging port 28 of his electric car 27 to charge.

[0092] Preferably, the hanging charging robot also includes a charging detection module for detecting the charging status and the plug-in status of the charging gun. After the charging detection module detects that charging is complete, if the user has not unplugged the charging gun 24, a charging completion reminder can be sent to the user through the charging management APP to urge the user to unplug the charging gun 24. After the charging gun 24 is unplugged, the owner needs to insert the charging gun 24 into the charging gun plug-in port 2101. After the charging detection module detects that the charging gun 24 is unplugged and plugged into the charging gun plug-in port 2101, the charging gun line mechanical arm begins to fold and restore itself to a folded storage state. The charging gun line mechanical arm in the folded storage state will neither affect the movement of the hanging charging robot under the hanging track nor minimize the interference of the hanging charging robot's movement with other facilities, vehicles or personnel in the parking lot. At this point, the hanging charging robot has completed a charging service and is waiting to be paged and dispatched by other users.

Claims

1. A variable-orbit aerial mobile charging robot system, characterized in that: It includes a suspension track, a suspended charging robot, a drive module, a contact power supply line, and a control unit. The suspended track is laid out in a suspended manner, and its track path includes several straight sections, several intersections, and greater than or equal to zero turning sections. Several suspended charging robots are provided, all of which are suspended on the suspended track. The suspended charging robot includes a charging pile body, a charging gun line mechanical arm, and a charging gun. The charging gun line mechanical arm is installed on the charging pile body to realize the folding and retracting of the charging cable and the charging gun. The charging gun is located at the free end of the charging gun line mechanical arm. Under the control of the control unit, the driving module can drive the suspended charging robot to move along the track path of the suspended track, and drive the suspended charging robot to go straight or turn at the intersections and turning sections of the suspended track according to the needs of the travel route. The contact power supply line is laid along the track path of the suspended track, and the suspended charging robot draws power from the contact power supply line in a contact power supply manner.

2. The variable-orbit aerial mobile charging robot system according to claim 1, characterized in that: The charging gun wire mechanical arm adopts a combination of soft and hard design, with the end close to the charging pile body being a hard articulated arm, and the end away from the charging pile body, i.e., the free end, being a soft flexible charging cable, the end of the flexible charging cable being connected to the charging gun, and the hard articulated arm being composed of a plurality of articulated segments greater than or equal to one section, and a charging conductor being arranged along the hard articulated arm, the charging conductor being led out from the charging pile body, and being connected to the charging gun via the hard articulated arm and the flexible charging cable.

3. The variable-orbit aerial mobile charging robot system according to claim 2, characterized in that: The hard joint arm is provided with a charging gun plug-in port, and the charging gun wire robot arm includes a charging working state and a folded storage state. When the charging gun wire robot arm is in the folded storage state, the several joint segments are folded relative to each other so that the overall length of the charging gun wire robot arm in the vertical direction is shortened, and the charging gun is inserted into the charging gun plug-in port. At this time, the suspended charging robot is in a state where it can move safely along the suspension track; when the charging gun wire robot arm is in the charging working state, the several joint segments are unfolded relative to each other so that the overall length of the charging gun wire robot arm in the vertical direction is extended, and the charging gun is inserted into the charging port of the electric vehicle being charged. At this time, the suspended charging robot needs to be in a state of remaining stationary relative to the suspension track.

4. The variable-orbit aerial mobile charging robot system according to claim 1, characterized in that: The suspension track includes a track support surface, and the drive module includes a drive wheel independent in-situ steering module, which is used to enable the suspension charging robot to turn at an intersection or a turning section of the suspension track, and after turning, it can move along the turned suspension track path under the drive of the drive module; the drive wheel independent in-situ steering module includes four independent steering drive wheel modules, which are arranged at the four corners of a square in the horizontal direction, and each independent steering drive wheel module includes a steering motor, a power motor, a rotating frame, and a wheel, and the tread of the wheel contacts the track support surface during movement. The power motor is installed on a rotating frame, and the rotating frame is fixedly connected to the rotating shaft of the steering motor. The wheel is provided with rotational power by the power motor. The rotating shaft of the steering motor is in the vertical direction, and the rotating shaft of the power motor is in the horizontal direction. The axis centerline of the rotating shaft of the steering motor intersects with the axis centerline of the rotating shaft of the power motor. The axis centerline of the rotating shaft of the steering motor passes through the center point where the tread of the wheel contacts the track supporting surface. Under the drive of the steering motor, each wheel can independently rotate in place around the center point where its tread contacts the track supporting surface. Under the drive of the power motor, each wheel can independently rotate forward and reverse around the centerline of its wheel axle.

5. The variable-orbit aerial mobile charging robot system according to claim 1, characterized in that: It also includes a power supply contact module. When the suspended charging robot needs to supply power, the power supply contact module makes electrical contact with the contact power supply line to thereby conduct electricity with the contact power supply line to achieve power supply. When the suspended charging robot does not need to supply power, the power supply contact module loses contact with the contact power supply line to thereby disconnect from the contact power supply line.

6. The variable-orbit aerial mobile charging robot system according to claim 5, characterized in that: Each suspended charging robot is also provided with an energy storage module. When the suspended charging robot does not move relative to the suspension track, the power collection contact module makes power receiving contact with the contact power supply line. At this time, the energy storage module is charged and stores energy through the contact power supply line. When the suspended charging robot moves along the suspension track, the power collection contact module is disconnected from the contact power supply line. At this time, the electric energy for driving the suspended charging robot to move and turn along the suspension track is provided by the energy storage module.

7. The variable-orbit aerial mobile charging robot system according to claim 1, characterized in that: It also includes position feature identifiers and a path map. The position feature identifiers are arranged along the suspension track, and there are several of them. Each position feature identifier is used to mark the specific position information of the position point on the suspension track where the position feature identifier is set in the entire suspension track path. The path map corresponds to the arrangement of the suspension track one by one, including the length and direction of each path segment of the suspension track, the position of each turning node, the relationship between each turning node and its adjacent path segments, and the position information of each position feature identifier.

8. The variable-orbit aerial mobile charging robot system according to claim 7, characterized in that: The position feature identifier is a position two-dimensional code, and each position two-dimensional code contains specific position information of the position two-dimensional code in the entire suspension track path.

9. The variable-orbit aerial mobile charging robot system according to claim 7, characterized in that: It also includes a communication terminal device that supports input of the position feature identifier, a scheduling server that processes data, and a storage unit that stores data. The suspended charging robot includes a charging robot communication module and a charging robot positioning unit. The charging robot positioning unit is used to obtain the current position of the suspended charging robot itself in the track path of the suspended track. The charging robot communication module is used to enable the suspended charging robot to interact with the scheduling server. The path map is stored in the storage unit, and the scheduling server can read the path map information in the storage unit. The communication terminal device inputs the position feature identifier, and the communication terminal device can communicate directly or indirectly with the scheduling server. The input behavior of the communication terminal device on the position feature identifier is processed by the scheduling server. The scheduling server locates the position of the position feature identifier according to the path map, finds and schedules the suspended charging robot that is closest to the position and is in an idle state, and controls the suspended charging robot to move to the position along the suspended track.

10. The variable-orbit aerial mobile charging robot system according to claim 1, characterized in that: The number of suspended charging robots arranged on the suspension track is variable, and can be increased or decreased according to actual usage demand, utilization rate, and idle rate. When the actual charging demand is large and the utilization rate of the suspended charging robots is high, the number of suspended charging robots deployed on the suspension track can be increased. When the actual charging demand is small and the idle rate of the suspended charging robots is high, the number of suspended charging robots deployed on the suspension track can be reduced.

Images