Charging control method for automobile charging device and charging control apparatus thereof

Abstract

A charging control method for an automobile charging device, the automobile charging device being mounted on a traveling guide rail (101) hoisted at the top of a parking lot, a plurality of charging base stations (6) being arranged along the traveling guide rail (101) at positions corresponding to parking spaces of the parking lot, and the automobile charging device comprising a mechanical arm mounting platform (20) and a charging main unit mounting platform (30), which can be mounted on the traveling guide rail (101). The charging control method comprises the following steps: a pile retrieving step: the charging main unit mounting platform (30) on which a charging main unit (50) is mounted moves to a target charging base station (6), and enables the charging main unit (50) to be electrically connected to the target charging base station (6); a mechanical arm conveying step: the mechanical arm mounting platform (20) equipped with a mechanical arm (210) moves to the target charging base station (6) and is electrically connected to the target charging base station (6); and a mechanical arm action step: the mechanical arm mounting platform (20) deploys the mechanical arm (210), and the mechanical arm (210) operates a charging gun (520) so as to plug the charging gun to a vehicle to be charged. The present invention also relates to a charging control apparatus.

Description

Charging control method of automobile charging device and charging control device thereof TECHNICAL FIELD

[0001] The present application relates to the field of new energy automobile charging, in particular to a charging control method of a rail-mounted automobile charging device and a charging control device thereof. BACKGROUND

[0002] By the end of 2023, China's new energy vehicle ownership has reached the first place in the world, but due to the current parking situation in China, future new energy vehicle charging will still rely on shared charging. With the vigorous promotion of national public charging pile charging, the charging pile to parking space ratio of public parking will be higher and higher. Due to the structure and distribution of existing charging piles, the cost of a single parking space will be higher, such as the land area occupied by charging piles, the number of charging pile equipment, and standby power consumption, etc., resulting in high cost and high energy consumption of charging piles for a single parking space. Therefore, there is an urgent need for low-cost, low-resource occupancy, and high-efficiency charging piles.

[0003] The structure and site characteristics of existing public charging piles determine that various problems will occur when the vehicle owner charges, such as too few charging exclusive parking spaces, oil vehicles occupying spaces, charging overtime, queuing for charging, and gun jumping, which makes the charging operation of the vehicle owner complicated, prone to errors, poor experience, and waste of public resources.

[0004] Although there are new charging solutions such as battery swap stations and wheeled charging robots on the market to try to solve the above problems, but due to their characteristics, they cannot be widely popularized. Specifically, battery swap stations have large land area, few backup batteries per station, and support few vehicle models, and cannot be built in underground parking lots. Wheeled charging robots are all pile-type charging unmanned vehicles with their own energy storage, which has high single-pile cost, and needs to avoid a large number of obstacles when driving in a large area, which has safety and legal risks.

[0005] Currently, there are also rail-mounted charging robots trying to solve the problems of existing pile-type charging devices, such as the rail-mounted charging device and its charging method described in Chinese patent application No. CN114954079A, which requires manual operation by the user to plug in the vehicle charging interface, resulting in complicated user operation. And for the gun jumping situation, this technology has the following problems: if the artificial does not pay continuous attention, it is easy to ignore the gun jumping and delay the completion of charging, which not only increases the parking space occupation time but also increases the user's time load. Even if the user pays continuous attention to whether the gun jumps, after discovering the gun jump, the user still needs to manually operate to recharge, which not only increases the user's burden but also increases the degree of operation complexity. In the case of insufficient charging pile ratio, the gun jump cannot be solved in time, which will cause the vehicle owner to wait for a long time on the parking space or not to charge the battery. SUMMARY

[0006] In order to overcome the above problems of the existing charging robot, the present application aims to provide a sufficient control method of a hanging rail type automobile charging device and a control device thereof, which can automatically charge by automatically plugging and unplugging a charging gun through a mechanical arm and can automatically start the continuous charging when a charging interruption fault such as gun jumping occurs.

[0007] The first aspect of the present application provides a charging control method of an automobile charging device, which is hung on a walking rail hoisted on the top of a parking lot, and a plurality of charging bases are arranged along the walking rail in correspondence with the positions of parking spaces in the parking lot, the automobile charging device comprising a mechanical arm mounting platform and a charging host mounting platform which can be mounted on the walking rail, the charging control method comprising the following steps: a pile taking step of operating the charging host mounting platform mounted with the charging host to a target charging base and electrically connecting the charging host with the target charging base; a mechanical arm conveying step of operating the mechanical arm mounting platform equipped with the mechanical arm to the target charging base and electrically connecting the mechanical arm mounting platform with the target charging base; and a mechanical arm action step of releasing the mechanical arm by the mechanical arm mounting platform and operating the charging gun by the mechanical arm to perform the action of inserting the charging gun to the vehicle to be charged.

[0008] When it is necessary to provide charging service to the vehicle to be charged (vehicle to be charged) at the target parking space, the charging control method according to the present application can transport the idle charging host to the charging base corresponding to the target parking space (target charging base) by the charging host mounting platform mounted on the walking rail, and operate the mechanical arm mounting platform mounted on the walking rail and equipped with the mechanical arm above the target parking space, and take out and operate the charging gun accommodated by the charging host by the mechanical arm to perform the action of inserting the charging gun to the vehicle to be charged, so as to be able to perform automatic charging service without manual operation.

[0009] Moreover, since the charging host mounting platform and the mechanical arm mounting platform which can be mounted with the charging host can walk along the walking rail between the charging bases and above each parking space in the parking lot, the charging host can not only move between the charging bases as a mobile charging pile and charge itself when idle, but also supply power to the vehicle at different target corresponding charging bases in response to the vehicle charging request at each parking space, and the mechanical arm mounting platform can also move flexibly and efficiently between different charging bases to grasp, plug and unplug, and take and deliver the charging gun. Therefore, the charging control method of the present application has high mobility, which can effectively reduce the charging host parking space ratio while improving the new energy vehicle pile searching efficiency and convenience, and improve the utilization rate of the charging host.

[0010] Preferably, the charging control method according to the present application further comprises a pile searching step of finding the idle charging host by the charging host mounting platform and mounting the charging host thereon.

[0011] Preferably, in the charging control method according to the present application, the mechanical arm operation step further comprises the following steps: the mechanical arm mounting platform releases the mechanical arm, and guides the charging gun grabbing module to dock with and lock the charging gun; the mechanical arm mounting platform releases the charging cable, and ends the locking of the charging gun to the charging host in the case of completely releasing the charging cable; the mechanical arm takes the charging gun off the charging host, and adjusts the posture of the charging gun relative to the charging interface to insert the charging gun into the charging interface.

[0012] Preferably, in the charging control method according to the present application, the post-pile step further comprises the following steps: the charging host mounting platform mounted with the charging host runs to the target charging base station; the charging host is pushed to the target charging base station to form an electrical connection therewith; the charging host mounting platform unloads the charging host and runs to the adjacent idle base station.

[0013] Preferably, in the charging control method according to the present application, the mechanical arm operation step further comprises the following steps: the mechanical arm mounting platform receives a notification of the target charging base station side performing a charging task; the mechanical arm mounting platform releases the locking state with the charging base station that is currently electrically connected; the mechanical arm mounting platform moves to the target charging base station via the walking guide rail; the mechanical arm mounting platform senses the position of the charging base station through the sensing device, and adjusts the position to align with the charging base station; the mechanical arm mounting platform forms a locking state with the target charging base station, and forms an electrical connection therewith.

[0014] Preferably, the charging control method according to the present application further comprises a jump gun solving step, wherein the jump gun solving step further comprises: notifying the mechanical arm mounting platform to run to the target charging base station to handle the jump gun problem; after receiving the notification, the mechanical arm mounting platform moves to the target charging base station and forms a locking state therewith; the mechanical arm is extended and the posture of the mechanical arm is adjusted to dock with and lock the charging gun; the locking state of the charging gun with the vehicle charging interface is released, and the mechanical arm operates the charging gun to perform the actions of pulling out and inserting the charging gun to recharge the vehicle.

[0015] In addition, when the charging is completed or a jump gun or other interruption fault occurs, the charging control method according to the present application can make the mechanical arm mounting platform equipped with the mechanical arm automatically run to the target parking space where the charging is completed or the jump gun or other charging interruption occurs, and make the mechanical arm perform the actions of pulling out the charging gun and recycling the charging gun to the storage mechanism of the charging host, or make the mechanical arm perform the action of reinserting the charging gun to restart the charging, so as to realize the automatic energy supplement service without the need for manual continuous attention to the charging condition and manual participation in the operation of inserting and pulling out the charging gun. Therefore, not only the convenience of the user's charging operation is improved, but also the attention time of the user and the parking space occupation time are saved, and thus the use efficiency of the parking space and the charging efficiency and charging experience of the user are improved.

[0016] Preferably, in the charging control method according to the present application, it further comprises a charging end step, wherein the charging end step further comprises: detecting that the vehicle is fully charged, and powering off the charging host; informing the mechanical arm mounting platform to perform an end charging service operation; the mechanical arm mounting platform moving to the target charging base station and forming a locking with the target charging base station; the mechanical arm extending and adjusting the posture of the mechanical arm to dock with and lock the charging gun; and the charging gun being unlocked from the vehicle charging interface, and the mechanical arm operating the charging gun to perform a gun pulling operation on the vehicle.

[0017] According to a second aspect of the present application, a charging control device of an automobile charging equipment is provided, the automobile charging equipment being mounted on a walking rail hoisted on the top of a parking lot, and a plurality of charging base stations being arranged along the walking rail in correspondence with the positions of parking spaces in the parking lot, the automobile charging equipment comprising a mechanical arm mounting platform and a charging host mounting platform which can be mounted on the walking rail, the charging control device comprising: a pile taking part which makes the charging host mounting platform mounted with the charging host run to a target charging base station and makes the charging host electrically connected with the target charging base station; a mechanical arm conveying part which makes the mechanical arm mounting platform equipped with the mechanical arm run to the target charging base station and electrically connected with the target charging base station; and a mechanical arm action part which controls the mechanical arm mounting platform to release the mechanical arm and makes the mechanical arm operate the charging gun to perform an action of inserting the charging gun into a vehicle to be charged.

[0018] Since the charging host mounting platform can walk along the walking rail between the charging base stations above each parking space in the parking lot in a manner of mounting the charging host, the charging host can be used as a mobile charging pile, thereby improving the utilization rate of the parking lot, solving the problems of low utilization rate of traditional charging facilities and large workload of ground reconstruction of parking spaces.

[0019] In addition, the mechanical arm mounting platform according to the present application can walk along the walking rail between the charging base stations above each parking space in the parking lot, and the carried mechanical arm can also be flexibly and efficiently moved between different charging base stations to grab, pull out and insert, and take and deliver the charging gun. Not only the problem of gun jumping during charging is effectively solved, but also the problem of occupying time after the new energy vehicle is charged is effectively solved through the automatic gun pulling design of the mechanical arm, thereby improving the charging experience of the vehicle owner and the utilization rate of the parking lot resources.

[0020] Preferably, the charging control device according to the present application further comprises a pile searching part which makes the charging host mounting platform find an idle charging host and mount the charging host thereon.

[0021] Preferably, the charging control device according to the present application further comprises a gun-jumping solution part, which further comprises: a notification part that notifies the mechanical arm mounting platform to operate to a target charging base station to handle the gun-jumping problem; a moving part that moves the mechanical arm mounting platform to the target charging base station and forms a locking state with it after receiving the notification; a mechanical arm posture adjustment part that extends the mechanical arm and adjusts the posture of the mechanical arm to dock with the charging gun and lock; a charging gun release part that releases the locking state of the charging gun and the vehicle charging interface, and a charging gun action part that makes the mechanical arm operate the charging gun to perform the gun pulling and gun inserting actions to recharge the vehicle.

[0022] In summary, the present application has at least the following advantages:

[0023] 1. The present application solves the problems of low utilization rate of traditional charging facilities and large ground reconstruction work of parking spaces by utilizing the high mobility of the overhead charging device. It can effectively reduce the ratio of charging host vehicle spaces while improving the efficiency and convenience of new energy vehicle searching for charging piles, and improve the utilization rate of charging hosts.

[0024] 2. The gun-jumping problem in the charging process is effectively solved by the mechanical arm, which improves the charging experience.

[0025] 3. The automatic gun pulling design of the mechanical arm can effectively solve the problem of occupancy timeout after new energy vehicle energy replenishment, improving the charging experience of the vehicle owner.

[0026] 4. The present application can cover all parking spaces in a large area, and there is no need to specially set up new energy vehicle exclusive parking spaces. Gasoline cars and electric cars can be parked together, improving resource utilization. It solves the problem of limited parking spaces in parking lots, resulting in insufficient exclusive new energy vehicle spaces or low utilization rate of exclusive new energy vehicle spaces. BRIEF DESCRIPTION OF DRAWINGS

[0027] FIG. 1A is a structural block diagram of the automobile charging system according to the present application;

[0028] FIG. 1B is a structural schematic diagram of the automobile charging device according to the present application;

[0029] FIG. 2 is a structural schematic diagram of the frame guide rail of the automobile charging system according to the present application;

[0030] FIG. 3 is a structural schematic diagram of the mechanical arm mounting platform according to the present application;

[0031] FIG. 4 is a structural schematic diagram of the charging host mounting platform according to the present application;

[0032] FIGS. 5A to 5D are structural schematic diagrams of the perception device of the automobile charging device according to the present application;

[0033] Fig. 6 is a schematic diagram illustrating the structure of a charging host of a vehicle charging device according to the present application;

[0034] Fig. 7 is a schematic diagram illustrating the structure of a charging base station of a vehicle charging system according to the present application;

[0035] Fig. 8 is a schematic diagram illustrating the locking state of a charging host mounting platform and a charging base station according to the present application;

[0036] Figs. 9A to 9C are flowcharts illustrating the charging operation of a charging control method according to the present application;

[0037] Fig. 10 is a flowchart illustrating the jump shot problem solving operation of a charging control method according to the present application;

[0038] Fig. 11 is a flowchart illustrating the end of charging operation of a charging control method according to the present application.

[0039] Explanation of Reference Numerals

[0040] 1000 - vehicle charging system; 1 - frame rail structure; 101 - traveling rail; 102 - wire slot; 103 - hoisting framework; 2 - vehicle charging device; 20 - mechanical arm mounting platform; 200 - platform main body; 200A, 200B - main body protruding portions; 201 - traveling module; 201A, 201B - roller sets; 201C - traveling motor; 202 - communication and power supply module; 203 - positioning module; 204 - lifting module; 205 - mechanical arm module; 206 - charging gun grabbing module; 210 - mechanical arm; 30 - charging host mounting platform; 300 - platform main body; 300A, 300B - main body protruding portions; 301 - traveling module; 301A, 301B - roller sets; 301C - traveling motor; 302 - communication and power supply module; 303 - positioning module; 304 - limiting assembly; 305 - push-in and pull-out module; 306 - traveling rail; 40 - sensing device; 401 - base station position recognizer; 402 - obstacle avoidance device; 403 - mechanical arm end visual positioning device; 50 - charging host; 501 - wire winding and unwinding module; 502 - charging gun; 503 - charging gun storage mechanism; 504 - dynamic insert; 505 - traveling module; 506 - positioning module; 6 - charging base station; 600 - support frame; 600W - side frame; 601 - locking rail; 601H - locking hole; 602 - parking fixing beam; 603 - communication and power supply module; 604 - static insert; 7 - server. DETAILED DESCRIPTION

[0041] The exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that the relative arrangement of the components, numerical expressions, and values described in these embodiments do not limit the scope of the present application unless otherwise specifically stated. For the sake of simplicity, the same reference numerals or symbols are used for the same structural parts or steps, and the description thereof is omitted.

[0042] [Structure of the automobile charging system of the present application]

[0043] The structure of the automobile charging system of the present application is described below with reference to FIG. 1A. The automobile charging system 1000 includes a guide rail structure 1 arranged in a parking lot, a trolley-type automobile charging device 2, a plurality of charging bases 6 hoisted above parking spaces of the parking lot by the guide rail structure 1 in a manner corresponding to the positions of the parking spaces, and a server 7 capable of communicating with a user terminal, the automobile charging device 2, and the charging bases 6, respectively. The user issues a charging request to the server 2 of the automobile charging system 1000 by operating the user terminal (an on-board terminal or a portable user terminal such as a mobile phone, etc.). The charging request includes at least the model information of the automobile to be charged, the position information of the parking space where the automobile is to be parked for charging, and the parking direction of the vehicle. After receiving the charging request, the server 2 locates the charging space (target space) of the automobile to be charged and the charging base 6 (target charging base) corresponding to the target space, dispatches the automobile charging device 2 in an idle state to run to the target space, and the automobile charging device 2 automatically charges the automobile to be charged, without further manual operation by the user.

[0044] The specific structure of the guide rail structure 1 is described below with reference to FIG. 2. As shown in FIG. 2, the guide rail structure 1 includes a walking guide rail 101 arranged above the parking spaces of the parking lot in a through-type hoisting manner, a wire slot 102 for interfacing with the charging bases 6 arranged along the walking guide rail, and a hoisting framework 103 for fixing the walking guide rail 101 to the top of the parking lot. The wires for supplying power to the automobile charging system are routed through the wire slot 102, covering all the charging bases. As an example, the cross section of the walking guide rail 101 shown in the present application is in the shape of an I-beam, and obviously other shapes can also be used.

[0045] The charging bases 6 can be arranged in a one-to-one correspondence with the parking spaces, above each parking space along the walking guide rail. Of course, other arrangement manners can also be used, for example, arranged in a two-to-one manner for the middle of two parking spaces parked in a manner with the rear ends adjacent to each other, or arranged in a three-to-one, four-to-one, etc. manner according to the specific arrangement manner of the parking spaces, or a combination of two or more of the above arrangement manners.

[0046] The automobile charging device 2 can be mounted on the walking guide rail of the guide rail structure 1 and can communicate with the server 7 and the charging bases 6 to travel along the walking guide rail 101 between the charging bases according to the instructions of the server 7.

[0047] The specific structures of the charging bases and the automobile charging device included in the automobile charging system of the present application are described in detail below, respectively.

[0048] [Structure of the charging base station of the present application]

[0049] The structure of the charging base station according to the present application is described below with reference to FIG. 7. The charging base station 6 comprises a support frame 600, a locking rail 601, a parking fixing beam 602, a communication and power supply module 603 and a static plug-in 604. The support frame 600 adopts a frame structure, and the side frame 600W on the side of the support frame 600 away from the walking rail 101 extends downward, and the static plug-in 604 is arranged on the extended part of the side frame 600W. As a preferred example, the static plug-in 604 in FIG. 7 is located in the center of the side frame 600W, and it is obvious that it can also be located on one side of the side frame 600W as long as it can correspond to the position of the matched dynamic plug-in.

[0050] The locking rail 601 comprises two U-shaped rails arranged in parallel with the openings facing each other, and arranged at the two side ends of the bottom of the support frame 600 in a perpendicular manner to the walking rail 101 in the installed state, so as to bear the charging host. The locking rail 601 has a locking hole 601H opened in the middle of the axial direction, which can be docked with the positioning module (to be described later) of the charging host to form a locking state. The parking fixing beam 602 can adopt a straight beam column structure, and is arranged in the middle and upper part of the support frame 600 in a parallel manner to the locking rail 601, and in the installed state, the parking fixing beam 602 protrudes to the side of the walking rail 101 along the length direction.

[0051] And as an example, in the horizontal direction, the parking fixing beam 602 is arranged at the center between the two U-shaped rails of the locking rail 601. Obviously, it can also be arranged close to one side of the locking rail 601. The communication and power supply module 603 is fixed to the bottom of the protruding end of the parking fixing beam 602, and can cooperate with the positioning module 203 (see FIG. 3) of the mechanical arm mounting platform 20 or the positioning module 303 of the charging host mounting platform 30 to form a locking state (see FIG. 8), and in this state, the communication and power supply module 603 of the charging base station 6 is docked with the communication and power supply modules of the two mounting platforms to form an electrical connection. In addition, the static plug-in 604 can be docked with the dynamic plug-in of the charging host to form an electrical connection.

[0052] [Structure of the automobile charging equipment of the present application]

[0053] The structure of the vehicle charging device of the present application will be described below with reference to FIG. IB. The vehicle charging device 2 according to the present application comprises a mechanical arm mounting platform 20, a charging host mounting platform 30, a sensing device 40, and a charging host 50 mounted in a detachable manner to the lower part of the charging host mounting platform 30. In the working state, the mechanical arm mounting platform 20 and the charging host mounting platform 30 are suspended below the frame walking guide rail 101. The charging host mounting platform 30 is capable of moving along the walking guide rail 101 of the frame guide rail structure 1 between the various charging bases 6 in a manner that the charging host 50 can be mounted, and can push the charging host 50 to the side of the charging base 6.

[0054] The mechanical arm mounting platform 20 is capable of moving between the various charging bases 6 and adjusting the posture of the mechanical arm to operate the charging gun, and performing actions such as plugging and unplugging the charging gun on the vehicle, such as the charging operation of taking out the charging gun and inserting the charging gun into the vehicle, the restart charging operation of unplugging and inserting the charging gun for the gun jump problem, and the end charging operation of unplugging the charging gun and returning the charging gun, etc.

[0055] The sensing device 40 is capable of communicating with the mechanical arm mounting platform 20 and the charging host mounting platform 30, and providing environmental sensing, positioning, and obstacle avoidance control, etc. The specific structure of the sensing device 40 will be described later.

[0056] The specific structure of each part included in the vehicle charging device of the present application will be described in detail below.

[0057] [Structure of the mechanical arm mounting platform of the present application]

[0058] The structure of the mechanical arm mounting platform will be described below with reference to FIG. 3. The mechanical arm mounting platform 20 comprises a platform body 200 and an extendable mechanical arm 210 fixed to the bottom of the platform body. Two walking modules 201 are arranged on the top surface of the platform body 200. As a preferred example, two walking modules 201 are arranged on the top surface of the platform body 200 in a symmetrical manner along the two sides of the transverse direction of the platform body 200 (the direction parallel to the walking guide rail 101 in the mounted state). Obviously, the number and arrangement of the walking modules 201 are not limited to this, and other numbers and arrangements can also be used.

[0059] As a preferred example, in the present embodiment, each walking module 201 uses a roller set arranged symmetrically along the two sides of the transverse direction of the platform body 200 (the direction perpendicular to the walking guide rail 101 in the mounted state). In the mounted state, the walking guide rail 101 is tightly held in the middle position of each roller set. Obviously, the number of roller sets is not limited to 2 sets, for example, it can be 1 set, or more than 2 sets. The arrangement of the roller sets is also not limited to the above arrangement.

[0060] The walking module 201 further comprises a walking motor 201C, and the wheel set connected with the walking motor 201C is the driving wheel set 201B, while the wheel set not connected with the walking motor is the driven wheel set 201A. As a preferred example, in the present embodiment, two wheel sets 201A are respectively configured with a set of driving wheels and a set of driven wheels. In the working state, the driving wheel set and the driven wheel set of the walking module respectively clamp the walking guide rail in the middle, and drive the driving wheel set to move the mechanical arm mounting platform 20 along the walking guide rail 101 forward and backward through the driving of the walking motor.

[0061] The mechanical arm mounting platform 20 further comprises a positioning module 203 arranged on the top surface of the platform body 200 and a communication and power supply module 202 arranged on the top of the positioning module 203. Preferably, the positioning module 203 is arranged on the side of the platform body 200 close to the base station 6, and obviously, it can also be arranged on the side of the platform body 200 away from the base station 6, as long as it can realize locking with the parking fixed beam 602 of the charging base station 6.

[0062] Preferably, the positioning module 203 is a clamping mechanism, which can perform a locking action (clamping action) upwardly through the driving of a lead screw, so as to be able to clamp the mechanism located at the center of the clamping mechanism of the positioning module 203. As a preferred example, when the mechanical arm mounting platform 20 runs to the appropriate position, the parking fixed beam 602 of the charging base station 6 can be overlapped with the position of the positioning module 203 up and down, the positioning module 203 performs a clamping action, and the communication and power supply module 603 fixed at the bottom of the protruding end of the parking fixed beam 602 can be locked, so that the mechanical arm mounting platform 20 and the parking fixed beam 602 (and the charging base station 6) form a locked state. When the positioning module 203 and the parking fixed beam 602 of the charging base station 6 form a locked state, the communication and power supply module 202 of the mechanical arm mounting platform 20 and the communication and power supply module 603 of the charging base station 6 form an electrical connection and communicate. In addition, the communication and power supply module 202 can not only communicate with the charging base station, but also signal communicate with the server 7.

[0063] In addition, as an example, the platform body 200 of the mechanical arm mounting platform 20 extends upward on the top surface with two protruding portions 200A (located on the side away from the charging base station 6) and 200B (located on the side close to the charging base station 6), and obviously the shape of the platform body 200 is not limited thereto, and other shapes can be adopted, such as a shape without the protruding portions, etc. In addition, devices such as a rechargeable battery, a processor, a memory (not shown), etc. can be installed in the protruding portions 200A and 200B. The rechargeable battery can provide power for the mechanical arm mounting platform 20 to walk on the walking rail, transmit and receive instructions and information, etc. in the case where the mechanical arm mounting platform 20 and the charging base station are not powered on. The computer program for controlling various operations or processes of the mechanical arm mounting platform 20, such as rail walking, power-on, communication, locking the charging base station, mechanical arm posture adjustment, plugging and unplugging the charging gun, etc. can be stored in the memory.

[0064] The mechanical arm 210 includes a charging gun grabbing module 206 mounted at the end thereof, and a mechanical arm module 205 connected to the charging gun grabbing module at the upper portion of the charging gun grabbing module. Preferably, the charging gun grabbing module 206 adopts an electromagnetic mechanism with power-on magnetism, and correspondingly, the end of the charging gun includes a guided iron structure. When the charging gun grabbing module 206 is powered on, a stable linking relationship in the correct direction can be formed with the charging gun, so that the charging gun can be grabbed and operated to perform plugging and unplugging actions, etc. Thus, the mechanical arm 210 can realize the docking and fixing of the mechanical arm and the charging gun through the charging gun grabbing module 206.

[0065] In addition, as a preferred mode, in order to cope with the case of insufficient arm span, the mechanical arm 210 can further include a lifting module 204, which can be arranged at the upper portion of the mechanical arm module 205 to adjust the height of the mechanical arm module, so that the mechanical arm 210 can have sufficient arm span to cope with various parking space arrangements, vehicle parking directions and vehicle models (positions of vehicle charging interfaces), so as to be able to perform operations such as plugging and unplugging the charging gun to the vehicle to be charged under different conditions.

[0066] In summary, when it is necessary to provide charging service to the vehicle to be charged (vehicle to be charged) at the target parking space, the automobile charging device according to the present application can run above the target parking space through the mechanical arm mounting platform mounted on the walking rail and equipped with the mechanical arm, and the mechanical arm can take out and operate the charging gun to perform the action of plugging the charging gun to the vehicle to be charged, so as to be able to perform automatic charging service without manual operation.

[0067] In addition, when the charging is completed or an interrupting fault such as a gun jump occurs, the automobile charging device according to the present application can make the mechanical arm mounting platform equipped with the mechanical arm automatically move to the target parking space where the charging is completed or the interrupting fault such as the gun jump occurs, and make the mechanical arm perform the action of pulling out the charging gun and recycling the charging gun to the storage mechanism of the charging host or the action of reinserting the charging gun to restart the charging, so that the automatic energy supplement service without manual continuous attention to the charging condition and manual participation in the operation of inserting and pulling out the charging gun can be realized.

[0068] Therefore, not only the convenience of the charging operation of the user is improved, but also the attention time of the user and the parking space occupation time are saved, and the use efficiency of the parking space and the charging efficiency and charging experience of the user are further improved.

[0069] [Structure of the charging host mounting platform]

[0070] The structure of the charging host mounting platform will be described below with reference to FIG. 4. The upper part of the charging host mounting platform 30 can adopt the same structure as the mechanical arm mounting platform 20, and thus will not be described again. Specifically, the charging host mounting platform 30 includes a platform body 300, two groups of walking modules 301 (301A and 301B) symmetrically arranged on both sides of the longitudinal direction of the walking rail, which tightly hold the walking rail in the middle position through left and right arrangement. The walking module 301 includes a walking motor 301C, which drives the charging host mounting platform to move forward and backward along the walking rail through the walking motor. The charging host mounting platform 30 further includes a positioning module 303 located on the top surface of the platform body 300 and a communication and power supply module 302 arranged on the top of the positioning module 303. When the positioning module 303 is locked with the parking fixed beam 602 of the charging base station 6, the communication and power supply module 302 is connected with the communication and power supply module on the parking fixed beam to supply power and communicate. The positioning module 303 is a clamping mechanism, which is driven to stretch and retract through a screw rod to tightly hold the parking fixed beam 602, so that the charging host mounting platform 30 is locked with the charging base station 6.

[0071] As an example, the platform body 300 of the charging host mounting platform 30 extends upwardly on the top surface with two protruding parts 300A (which is located away from the charging base station 6) and 300B (which is located close to the charging base station 6). The protruding parts 300A and 300B are internally provided with devices such as a rechargeable battery, a processor, a memory (not shown) and the like. The rechargeable battery can provide power for the charging host mounting platform 30 to walk on the walking rail, transmit and receive instructions and information and the like under the condition that the charging host mounting platform 30 is not powered with the charging base station. The memory can store computer programs of various operations or processes of the charging host mounting platform 30, such as rail walking, power supply, communication, mounting of the charging host, unloading of the charging host, locking of the charging base station and the like.

[0072] In addition, the charging host mounting platform 30 further comprises a push-retract module 305 and a walking track 306 arranged at the bottom of the platform body 300. A limiting assembly 304 is arranged at the end of the push-retract module 305 close to the charging base station, which is a movable mechanism. As a preferred example, the limiting assembly 304 of the present application is a latch structure, but obviously, other limiting mechanisms can also be used.

[0073] In addition, the limiting assembly 304 matches the positioning module 506 of the charging host 50. When the limiting assembly 304 is opened (the latch is ejected in a way of protruding to both sides), the positioning module 506 of the charging host 50 is tightly locked outward, so that the push-retract module 305 and the charging host 50 form a locked state, and the push-retract module 305 continues to push out from the charging host mounting platform 30 to the charging base station 6 side (or retract from the charging base station 6 to the charging host mounting platform 30 side) in a way of locking the charging host 50, which can make the charging host 50 and the charging host mounting platform 30 (or the charging base station 6) out of the locked state. In addition, when the charging host mounting platform 30 and the charging base station 6 are locked, the walking track 306 and the locking track 601 of the charging base station 6 form a horizontal track, so that the push-retract module 305 can move the charging host 50 between the charging host mounting platform 30 and the charging base station 6, and bear the weight of the charging host through the walking track 306 in the charging host mounting state.

[0074] When the locked state of the push-retract module 305 and the charging host 50 is to be released, the limiting assembly 304 is released and the positioning module 506 of the charging host is retracted inward along the longitudinal direction, so that the limiting assembly 304 is unlocked with the positioning module 506 of the charging host 50.

[0075] In addition, the charging host also has functions such as AC-DC conversion, billing, safety switch and the like.

[0076] In addition, the charging host mounting platform and the mechanical arm mounting platform that can mount the charging host can walk along the walking guide rail between each parking space above the parking lot and the charging base station, so that the charging host not only can move between each charging base station as a movable charging pile and charge itself when idle, but also can supply power to the vehicle at different charging base stations corresponding to different target vehicles in response to the vehicle charging request at each parking space, and the mechanical arm mounting platform can also move flexibly and efficiently between different charging base stations to grab, plug and take the charging gun. Therefore, the automobile charging equipment of the present application has high mobility, which can effectively reduce the charging host parking space ratio while improving the pile searching efficiency and convenience of new energy vehicles, and improve the utilization rate of the charging host.

[0077] [Structure of the sensing device of the present application]

[0078] The structure of the sensing device is described below with reference to FIGS. 5A to 5D. The sensing device 40 includes a base station position identifier 401 arranged on the platform body 200 of the mechanical arm mounting platform 20 and the platform body 300 of the charging host mounting platform 30 facing the charging base station side, which identifies the two-dimensional code on the charging base station side through the identifier 401 to determine the position of the charging base station, thereby performing the positioning operation of the relative position between the platform (the mechanical arm mounting platform 20 or the charging host mounting platform 30) and the base station.

[0079] In addition, the sensing device 40 further includes an obstacle avoidance device 402 including sensing components installed on the outer surface of the platform body of each platform (the mechanical arm mounting platform 20 and the charging host mounting platform 30). The sensing components can be a camera, a distance sensor, etc. As a preferred mode, the sensing components can be arranged on the longitudinal (the direction parallel to the walking guide rail 101 in the mounted state) two side end surfaces of the platform body and the platform body bottom surface close to the outer end edge (for example, the central position of the platform body bottom surface in the longitudinal direction and the end edge away from the charging base station side in the transverse direction in FIGS. 5B and 5D), so as to perform the environmental sensing and obstacle avoidance control of the platform during the on-track movement through the sensing results of the environment by the sensing components.

[0080] In addition, the sensing device 40 can further include a mechanical arm end visual positioning device 403 installed at the end of the mechanical arm, which can perform the environmental sensing and obstacle avoidance during the movement of the mechanical arm, and the orientation identification of the charging gun, the vehicle body charging cover and the charging head, so as to provide positioning control when the charging gun grabbing module is connected with the charging gun, so that the mechanical arm can hold the charging gun at the correct angle and plug in and pull out the charging gun. As an example, the mechanical arm end visual positioning device 403 can be a visual sensing device such as a camera.

[0081] [Structure of the charging host of the present application]

[0082] Referring to FIG. 6, the structure of the charging host is described. The charging host 50 includes a positioning module 506 located at the top of the charging host and close to the side end of the charging base in the transverse direction (perpendicular to the walking rail in the hanging state). As a preferred example, it adopts a bayonet structure matched with the limiting assembly 304, which is obviously not limited thereto, and other interlocking structures matched with the limiting assembly 304 can also be adopted. The positioning module 506 is operable to cooperate with the limiting assembly 304 of the charging host hanging platform 30, and when the limiting assembly 304 is opened (protruded outward), the positioning module 506 is pushed outward tightly, so that the positioning module 506 is locked with the limiting assembly 304 to achieve the locking of the push-retraction module 305 and the charging host 50, and when the limiting assembly 304 is released and retracted, the positioning module 506 is unlocked, so that the charging host is in a locked state with the locking rail on the charging host hanging platform 30 or the charging base. The positioning module of the charging host cooperates with the limiting assembly of the charging host hanging platform to form the locking and fixing between the charging host and the push-retraction module, the locking rail on the charging base, and the charging host hanging platform.

[0083] The charging host 50 further includes two groups of walking wheels 505 installed on the left and right sides thereof, which can tightly press the locking rail of the charging base or the walking rail 306 of the charging host hanging platform from the side end, so that the charging host can move on the walking rail; a movable plug 504 which forms an electrical connection with the static plug 604 of the charging base 6 to supply power to the charging host; a charging gun storage mechanism 503 which cooperates with the charging gun 502 through the left and right side rails to achieve assisted correction when the charging gun is inserted (which includes a guide rail which cooperates with the charging gun to assist the insertion of the charging gun in the correct posture); and a wire winding and unwinding module 501 which stores the charging wire in the charging host through a turntable structure and can perform winding and unwinding actions according to signal instructions. As an example, the wire winding and unwinding module 501 can be driven by a motor to wind and unwind the charging wire.

[0084] Referring to FIG. 8, the positioning module 303 of the charging host hanging platform 30 centrally holds the communication and power supply module 603 on the parking fixing beam 602 to form a locking state, and the communication and power supply module 302 on the charging host hanging platform 30 forms an electrical connection with the communication and power supply module 603 on the parking fixing beam 602 to supply power to the charging host hanging platform 30 and communicate with it.

[0085] In order to better understand the charging control method of the automobile charging equipment and the control device thereof, the control process thereof is described in detail below. The control method can be implemented by the processors of the server, the mechanical arm hanging platform, and the charging host hanging platform executing the control programs respectively stored in the respective memories.

[0086] [Charging control method of the charging system / equipment of the application]

[0087] First, the charging control method of the charging system of the application is described with reference to Figs. 9A to 9C and Figs. 1B to 8.

[0088] In the state that the mechanical arm mounting platform and the charging host mounting platform are mounted on the walking guide rail, after receiving the charging instruction of the vehicle owner, an idle charging host is identified and locked, the charging host mounting platform runs to the charging base station to take out the charging host and deliver it to the target charging base station, and pushes it onto the charging base station to complete the delivery of the charging host, and then the charging host mounting platform departs from the target charging base station and stops at the nearest base station for energy replenishment. The mechanical arm mounting platform moves to the target charging base station, the mechanical arm holds the charging gun on the charging host to automatically charge the vehicle, the mechanical arm mounting platform completes the current instruction and starts to process the next charging instruction. Specifically, the charging control method of the application includes the following processing steps.

[0089] As shown in Fig. 9A, in step S10, the server receives the charging instruction for charging the vehicle parked in the parking space from the terminal used by the user to be charged, and then enters step S20.

[0090] In step S20, the server 7 informs the charging host mounting platform 30 of the charging equipment to start the pile taking operation. In the pile taking operation, first, the charging host mounting platform 30 moves to the nearby idle charging host 50 and mounts the charging host, the charging host mounting platform 30 mounted with the charging host 50 runs to the target charging base station corresponding to the charging parking space, pushes the charging host to the target charging base station to form an electrical connection, and the charging host mounting platform 30 unloaded with the charging host 50 runs to the adjacent idle base station for charging, and the pile taking operation is completed.

[0091] In step S30, the server 7 informs the mechanical arm mounting platform 20 of the charging equipment to start the mechanical arm charging operation. In the mechanical arm charging operation, the mechanical arm mounting platform 20 runs to the target charging base station, releases the mechanical arm after forming an electrical connection, the mechanical arm operates the charging gun to perform the gun insertion action on the charging interface of the vehicle to be charged, and the mechanical arm is recovered after the charging host starts to charge the vehicle, and the charging operation is completed.

[0092] The specific control process of the pile taking operation and the mechanical arm charging operation of the charging equipment of the application is described in detail below with reference to Fig. 9B.

[0093] [Charging control method of the charging system / equipment of the application]

[0094] Firstly, the operation process of the charging host mounting platform 30 of the automobile charging equipment 2 of the present application performing the pile searching operation (step S20) is described in detail with reference to FIG. 9B.

[0095] Step 1, the positioning module 303 of the charging host mounting platform 30 receiving the notification retracts to release the parking fixed beam 602, and the locking state with the charging base station 6 is ended (step S902).

[0096] Step 2, the walking module 301 on the charging host mounting platform 30 drives the platform to move along the walking guide rail 101 to the charging base station 6 where the nearest idle charging host 50 is located, and the target charging base station 6 is positioned according to the base station position identifier 401 to reach the side of the target charging base station (step S903).

[0097] In the present application, the idle charging host refers to the charging host in the state of not charging the vehicle in direct, which can be in the state of being mounted on the charging host mounting platform 30 or in the state of being separated from the charging host mounting platform 30, and is usually in the state of being connected to the charging base station for charging.

[0098] Step 3, the positioning module 303 of the charging host mounting platform 30 performs the clamping action to lock with the parking fixed beam 602 of the charging base station 6 to form the locking state (step S904). The communication and power supply module 302 of the charging host mounting platform 30 is docked with the communication and power supply module 603 of the charging base station 6 to supply power and communicate for the charging host mounting platform 30.

[0099] Step 4, the limiting assembly 304 of the charging host mounting platform 30 moves above the push-retraction module 305 together with the push-retraction module 305. The push-retraction module 305 pushes to the side of the charging base station 6 (step S905), the sensing device 40 senses the distance between the push-retraction module 305 and the charging host 50 (step S906), and it is judged whether the predetermined position is reached (step S907). When it is judged that the predetermined position is reached, the limiting assembly 304 is opened to lock the charging host 50 with the push-retraction module 305 (step S908), and the push-retraction module 305 with the charging host 50 passes through the locking rail 601 and the walking rail 306 by the walking module 505 to retract to the side of the charging host mounting platform 30 (step S909).

[0100] Step 5, the sensing device 40 senses the position of the push-retraction module 305 (step S910), and it is judged whether the predetermined position is reached (step S911). When it is judged that the charging host 50 reaches the predetermined position, the limiting assembly 304 is released (step S912), and the positioning module 506 of the charging host 50 is locked with the charging host mounting platform 30 (step S913) to complete the pile searching process.

[0101] The above describes the pile searching process of the vehicle charging device, which includes steps 1-5 (S901-S913). In general, the charging host mounting platform 30 finds an idle charging host and mounts the charging host 50.

[0102] Next, the pile taking process of the vehicle charging device is described, which includes the following steps 6-9 (S914-S931).

[0103] Step 6: The positioning module 303 of the charging host mounting platform 30 releases the parking fixed beam 602 and releases the locked state with the parking fixed beam 602 (step S914). The charging host mounting platform 30 carrying the charging host 50 runs on the walking guide rail 101 through the walking module 301 to the target charging base station 6 corresponding to the parking space of the target charging vehicle (step S915), and the relative position between the charging host mounting platform 30 and the charging base station 6 is accurately adjusted to the alignment state by the base station position identifier 401 of the sensing device 40. The positioning module 303 holds the parking fixed beam 602, and the parking fixed beam 602 of the target charging base station 6 forms a locked state (step S916).

[0104] Step 7: The limiting assembly 304 on the push-retraction module 305 is opened (step S917), so that the charging host 50 and the push-retraction module 305 form a lock (step S918). The push-retraction module 305 pushes the charging host 50 to the target charging base station 6 side (step S919). The walking module 505 of the charging host 50 runs on the locking rail 601 of the charging base station 6 through the walking rail 306 of the charging host mounting platform 30. The position of the push-retraction module 305 is sensed by the sensing device 40 (step S920), and it is judged whether the charging host 5 reaches the target position (step S921). After determining that the target position is reached (YES in step S921), the limiting assembly 304 is released (step S922), the positioning module 506 of the charging host 50 and the locking rail 601 of the charging base station 6 form a locked state, and the dynamic plug 504 and the static plug 604 form an electrical connection, so that the charging host 50 and the target charging base station 6 are powered (step S923).

[0105] Step 8: The push-retraction module 305 is retracted to the charging host mounting platform 30 side (step S924), the position of the push-retraction module 305 is sensed by the sensing device 40 (step S925), and it is judged whether the sensing push-retraction module 305 reaches the predetermined position (step S926). After determining that the predetermined position is reached (YES in step S926), the push-retraction module 305 returns to the initial state (step S927).

[0106] Step 9, the positioning module 303 on the charging host mounting platform 30 retracts to release the parking fixing beam 602, and the locking state with the parking fixing beam 602 is released (step S928). The walking module 301 on the charging host mounting platform 30 drives the platform to move along the walking guide rail 101 to the nearest idle charging base station (step S929). The base station position identifier 401 (on the charging host mounting platform 30) of the sensing device 40 accurately identifies the position of the charging base station 6, and after reaching the target position (for example, the nearby idle charging base station), the positioning module 303 holds the parking fixing beam 602 of the target charging base station to form a locking state with the target charging base station 6 (step S929), and the server 7 changes the charging host mounting platform state to idle (step S931), and the pile taking operation ends.

[0107] In summary, the charging host mounting platform 30 transports the charging host to the target charging base station, and pushes the charging host to the target charging base station to form an electrical connection with the target charging base station, and the charging host mounting platform 30 runs to the adjacent idle base station for charging.

[0108] [Charging operation of the automobile charging system / equipment of the present application]

[0109] Next, the operation process of the charging operation of the mechanical arm mounted platform 20 of the automobile charging system of the present application operating the charging gun of the mechanical arm (step S30, which includes steps 10-15 (S932-S953)) will be described with reference to FIG. 9C.

[0110] Step 10 (mechanical arm transporting step), the mechanical arm mounting platform runs to the target charging base station and is electrically connected with the target charging base station. Specifically, the mechanical arm transporting step includes the following steps: the server 7 informs the mechanical arm mounting platform 20 to perform a charging task at the side of the target charging base station 6 (step S932); the positioning module 203 of the mechanical arm mounting platform 20 releases the currently locked parking fixing beam 602 to release the locking state with the currently electrically connected charging base station (step S933); the walking module 201 on the mechanical arm mounting platform 20 drives the platform to move along the walking guide rail 101 to the target charging base station 6 (step S934); the relative position of the charging base station 6 is accurately identified by the base station position identifier 401 (on the mechanical arm mounting platform 20) of the sensing device 40, and the position of the mechanical arm mounting platform 20 is adjusted so that the mechanical arm mounting platform 20 is aligned with the charging base station 6. After reaching the target position (position alignment), the positioning module 203 locks the parking fixing beam 602 of the target position to form a locking state with the target charging base station 6, and the communication and power supply module 603 of the charging base station 6 forms an electrical connection with the communication and power supply module 202 on the side of the mechanical arm mounting platform 20 (step S935).

[0111] Step 11, the mechanical arm 210 is released (step S936), the charging gun grabbing module 206 is guided to dock with the charging gun 502 by the mechanical arm end vision positioning device 403 (step S937), and then it is judged whether the docking is successful (step S938). If the docking is successful (step S938 "Yes"), the charging gun grabbing module 206 is locked with the charging gun 502 (step S938).

[0112] Step 12, the charging line releasing module 501 of the charging host 50 releases the charging line (step S940), and it is judged whether the release is completed (step S941). If the charging line is completely released (step S942), the locking state of the charging gun to the charging host is ended (step S943).

[0113] Step 13, the mechanical arm module 205 takes down the charging gun 502 from the charging host 50 (step S944), finds the charging interface of the target vehicle through the mechanical arm end vision positioning device 403, adjusts the attitude of the charging gun 502 relative to the charging interface according to the accurate positioning information fed back by the mechanical arm end vision positioning device 403, and inserts the charging gun into the charging interface (step S945). It is judged whether the docking is successful (step S946). If the docking is successful (step S946 "Yes"), the charging gun and the vehicle charging interface form a locking state (step S947), and the charging host and the vehicle complete the handshake of the charging protocol (step S948).

[0114] Step 14, the charging gun grabbing module 206 releases the charging gun 502 (step S949), and recovers to the side of the mechanical arm mounting platform 20 (step S950). After reaching the predetermined position, the mechanical arm module 205 returns to the initial state (step S951).

[0115] Step 15, the charging host 50 starts to supply power to the vehicle and charge (step S952), and the server 7 changes the state of the mechanical arm mounting platform 20 to an idle state (step S953). Thus, the charging operation is completed.

[0116] Therefore, when the charging service needs to be provided to the vehicle to be charged (the vehicle to be charged) at the target parking space, the automobile charging equipment according to the present application can carry the idle charging host to the charging base station (the target charging base station) corresponding to the target parking space by mounting the charging host mounting platform on the walking guide rail, and make the mechanical arm mounting platform mounted on the walking guide rail and equipped with the mechanical arm run above the target parking space, and take out and operate the charging gun accommodated by the charging host by the mechanical arm to perform the action of inserting the charging gun into the vehicle to be charged, so that the automatic charging service without manual operation can be performed.

[0117] The process of solving the jump gun problem in the charging process of the automobile charging device of the present application is described in detail below.

[0118] [Operation of the automobile charging system / device of the present application to solve the jump gun problem]

[0119] The operation flow of the automobile charging device of the present application to solve the jump gun problem is described below with reference to FIG. 10 and FIGS. 1B to 8, specifically, comprising the following steps:

[0120] Step 1, when it is determined that a jump gun problem occurs in a certain charging host 50 (step S1001), it is detected whether the target parking fixed beam (target parking fixed beam) 602 of the target charging base corresponding to the charging parking space where the vehicle with the jump gun problem is parked is occupied (step S1002). If not, go to step 3 to inform the mechanical arm mounting platform to come to execute the solution to the jump gun problem (step S1008), and if it is occupied, it is determined whether the occupant is the mechanical arm mounting platform 20 or the charging host mounting platform 30 (step S1003). If the occupant is the mechanical arm mounting platform 20, go to step 4 (step S1011) to execute the solution to the jump gun problem, and if it is the charging host mounting platform 30, go to step 2 (step S1004) to move the charging host mounting platform 30 to the parking fixed beam (free parking fixed beam) 602 of the nearest idle charging base.

[0121] Step 2, the positioning module 303 of the charging host mounting platform 30 is released, and the locking state with the parking fixed beam 602 is released (step S1004). The walking module 301 of the charging host mounting platform 30 drives the platform to move along the walking guide rail 101 to the nearest idle parking fixed beam 602 (step S1005). The base position identifier 401 of the sensing device 40 (the base position identifier 401 of the charging host mounting platform 30) accurately identifies the position of the charging base 6 and adjusts the position, and after reaching the target position, the positioning module 303 locks the parking fixed beam 602 of the target position to form a locking state with the idle charging base (step S1006), and informs the server to change the state of the charging host mounting platform to idle (step S1007).

[0122] Step 3, inform the mechanical arm mounting platform 20 to run to the target charging base 6 to handle the jump gun problem (step S1008). After receiving the notification, the mechanical arm mounting platform moves to the target charging base 6 (step S1009), and the base position identifier 401 of the sensing device 40 (the base position identifier 401 of the mechanical arm mounting platform 20) accurately identifies the position of the charging base 6 and adjusts the position, and after reaching the target position, the positioning module 203 locks the parking fixed beam 602 of the target position to form a locking state with the corresponding target charging base (step S1010).

[0123] Step 4, the mechanical arm 210 is released and the posture of the mechanical arm is adjusted (step S1011), and the charging gun grabbing module 206 is guided to dock with the charging gun 502 through the positioning of the mechanical arm end vision positioning device 403 (step S1012). It is judged whether the docking is successful (step S1013), and if the docking with the charging gun 502 is successful, the charging gun grabbing module 206 is locked with the charging gun 502.

[0124] Step 5, the locking state of the charging gun 502 and the vehicle charging interface is released (step S1014), the mechanical arm module 205 drives the charging gun 502 to perform the gun pulling and inserting action (step S1015), and the charging gun 502 is re-locked with the charging interface (step S1016).

[0125] Step 6, it is judged whether the charging host 50 and the vehicle resume the charging handshake protocol (step S1017). If it is judged that the charging handshake protocol is not resumed, the server 7 is notified to mark that the problem is not solved this time (step S1020), the billing of the current order is ended (step S1021), and an error is sent to the vehicle owner, and the problem is listed as a to-be-repaired state (step S1022), and then step 7 is entered. If it is judged that the charging handshake protocol is resumed, the charging host 50 recharges the vehicle (step S1018). The billing is continued on the basis of the billing amount of the previous order (step S1019).

[0126] Step 7, the charging gun grabbing module 206 releases the charging gun 502 (step S1023), the mechanical arm 210 is recovered to the mechanical arm mounting platform 20 (step S1024), and is restored to the initial state (step S1025).

[0127] Step 9, the server 7 changes the mechanical arm mounting platform 20 to an idle state (step S1026), and the operation of solving the gun jumping problem is ended.

[0128] As described above, by sending the rail-mounted mechanical arm mounting platform 20 to the charging base station corresponding to the parking space where the problem vehicle is parked when the gun jumping is detected, and operating the charging gun by the control mechanical arm to perform the gun pulling and inserting action, the vehicle is automatically recharged without manual monitoring and manual operation, so that not only the gun jumping problem in the charging process is effectively solved, but also the user charging experience is improved.

[0129] [Charging end operation of the charging system / equipment of the vehicle of the application]

[0130] Referring to FIG. 11 and FIGS. 1B to 8, the control flow of the charging end operation of the charging system / equipment of the vehicle of the application is described. Specifically, the following steps are included:

[0131] Step 1, when the vehicle is detected to be fully charged (e.g. charged to a predetermined value), the charging is ended, i.e. the charging host 50 is notified to end charging (step S1101). After receiving the information, the charging host 50 is powered off, and the charging of the vehicle is ended (step S1102). The billing is ended and an order is generated and sent to the vehicle owner (step S1103). Among them, step S1101 and step S1103 can be performed at the same time.

[0132] Step 2, it is detected whether the parking fixed beam (target parking fixed beam) of the target charging base station corresponding to the parking space where the fully charged vehicle is parked is occupied (step S1104), if not, it is proceeded to step 4 to notify the mechanical arm mounting platform 20 to move to the target charging base station 6 side to perform the end charging service operation (step S1110). If it is occupied, it is judged whether the charging host mounting platform 30 or the mechanical arm mounting platform 20 is occupied (step S1105). If the mechanical arm mounting platform 20 is occupied, it is proceeded to step 5 to start the gun pulling operation (step S1117), if the charging host mounting platform 30 is occupied, it is proceeded to step 3 to move the charging host mounting platform 30 to the parking fixed beam (free parking fixed beam) 602 of the nearest idle charging base station (step S1107).

[0133] Step 3, the positioning module 303 on the charging host mounting platform 30 is retracted to release the parking fixed beam 602, and the locking state with the charging base station 6 is released (step S1106). The walking module 301 on the charging host mounting platform 30 drives the platform to move along the walking guide rail 101 to the parking fixed beam (free parking fixed beam) 602 of the nearest idle charging base station (step S1107). The base station position identifier 401 of the sensing device 40 (the base station position identifier 401 of the charging host mounting platform 30) accurately identifies the position of the charging base station 6, and after adjusting the relative position to reach the target position, the positioning module 303 locks the parking fixed beam 602 of the target position to form a locking state with the corresponding charging base station (step S1108), and the state of the charging host mounting platform is changed to idle (step S1109).

[0134] Step 4, the server 7 notifies the mechanical arm mounting platform 20 to move to the target charging base station 6 to perform the end charging service operation (step S1110). The mechanical arm mounting platform 20 moves to the target charging base station 6 (step S1111), and the base station position identifier 401 of the sensing device 40 (the base station position identifier 401 of the mechanical arm mounting platform 20) accurately identifies the position of the charging base station 6, and after adjusting the relative position to reach the target position (aligning with each other), the positioning module 203 locks the parking fixed beam 602 of the target position to form a locking state with the target charging base station 6 (step S1112).

[0135] Step 5, the mechanical arm 210 is extended (step S1113), and the charging gun grabbing module 206 is docked with the charging gun 502 through the positioning of the mechanical arm end vision positioning device 403 (step S1114). It is determined whether the docking is successful (step S1115), if it is determined that the docking is successful, it is locked (step S1115 "yes"). If it is determined that it is not successful, it is returned to step S1114 to re-dock.

[0136] Step 6, the charging gun 502 is released from the locked state with the charging interface (step S1116), the mechanical arm 210 operates the charging gun to perform the gun pulling operation, that is, the charging gun 502 is pulled off the vehicle (step S1117), and through the positioning of the mechanical arm end vision positioning device 403, the mechanical arm 210 inserts the charging gun 502 into the charging gun storage mechanism 503 (step S1118). The charging gun storage mechanism 503 realizes assisted alignment when the charging gun is inserted through the cooperation of the left and right guide rails with the charging gun 502. The assisted alignment mechanism can be a guide rail that cooperates with the charging gun to assist in aligning the posture of the inserted charging gun. The charging gun 502 and the charging gun storage mechanism 503 automatically form a locked state (step S1119), the charging gun grabbing module 206 releases the locking of the charging gun 502, and releases the charging gun 502 (step S1120), the mechanical arm 210 is recovered to the side of the mechanical arm mounting platform 20 (step S1121) and the mechanical arm returns to the initial state (step S1122).

[0137] Step 7, the charging line is retracted by the charging line module 501 (step S1123), and when it is determined that it is all retracted (step S1124 "yes"), the mechanical arm mounting platform 20 is changed to an idle state (step S1125), and the charging operation ends.

[0138] As described above, by detecting full charging and powering off the charging host, and performing the gun pulling action by the mechanical arm, the user experience is improved without manual operation, and by sending a billing notification to the user, the user can be timely notified to end the charging, and the problem of occupying the space after the new energy vehicle is charged can be effectively solved, the parking space utilization rate is improved, and the charging experience of the vehicle owner is improved.

[0139] Although the present application has been described with reference to the example embodiments, the above embodiments are only for illustrating the technical concept and characteristics of the present application, and cannot limit the protection scope of the present application. Any equivalent variations or modifications made according to the spirit and essence of the present application should be covered within the protection scope of the present application.

Claims

1. A charging control method of a vehicle charging device mounted on a traveling rail suspended on the top of a parking lot, a plurality of charging bases being arranged in correspondence with the positions of parking spaces of the parking lot along the traveling rail, the vehicle charging device comprising: The mechanical arm mounting platform and the charging host mounting platform can be mounted on the walking guide rail and run independently, and the charging control method comprises the following steps: A pile taking step, which makes the charging host mounting platform mounted with the charging host run to the target charging base station and makes the charging host electrically connected with the target charging base station; A mechanical arm conveying step, which makes the mechanical arm mounting platform mounted with the mechanical arm and movable between the charging base stations run to the target charging base station and electrically connected with the target charging base station; A mechanical arm action step, which makes the mechanical arm mounting platform release the mechanical arm and adjusts the posture of the mechanical arm to make the mechanical arm operate the charging gun corresponding to the target charging base station to perform the action of inserting or pulling out the charging gun to the vehicle to be charged.

2. The charge control method according to claim 1, further comprising: A pile searching step, which makes the charging host mounting platform find the idle charging host and mount the charging host thereon.

3. The charge control method according to claim 1 or 2, wherein, The mechanical arm action step further comprises the following steps: The mechanical arm mounting platform releases the mechanical arm and guides the charging gun grabbing module to dock with and lock the charging gun; The mechanical arm mounting platform releases the charging wire and ends the locking of the charging gun to the charging host; The mechanical arm takes down the charging gun from the charging host and adjusts the posture of the charging gun relative to the charging interface to insert the charging gun into the charging interface.

4. The charge control method according to claim 1 or 2, wherein, The pile taking step further comprises the following steps: The charging host mounting platform mounted with the charging host runs to the target charging base station; The charging host is pushed to the target charging base station to form an electrical connection therewith; The charging host mounting platform unloads the charging host and runs to the adjacent idle base station.

5. The charge control method according to claim 1 or 2, wherein, The mechanical arm conveying step further comprises the following steps: The mechanical arm mounting platform receives the notification of performing the charging task to the side of the target charging base station; The mechanical arm mounting platform releases the locking state with the charging base station which is currently electrically connected; The mechanical arm mounting platform moves to the target charging base station via the walking guide rail; The mechanical arm mounting platform senses the position of the charging base station through the sensing device and adjusts the position to align with the charging base station; The mechanical arm mounting platform forms the locking state with the target charging base station and forms the electrical connection therewith.

6. The charging control method according to claim 1 or 2, further comprising a jump shot resolution step in which, The gun jumping solution step further comprises: The mechanical arm mounting platform is notified to run to the target charging base station to handle the gun jumping problem; The mechanical arm mounting platform moves to the target charging base station and forms the locking state therewith after receiving the notification; The mechanical arm is extended and the posture of the mechanical arm is adjusted to dock with and lock the charging gun; The locking state of the charging gun with the vehicle charging interface is released, The mechanical arm operates the charging gun to perform the gun pulling and inserting actions to recharge the vehicle.

7. The charging control method according to claim 1 or 2, further comprising a charging end step in which, The charging end step further comprises: The charging host is powered off when it is detected that the vehicle is fully charged; The mechanical arm mounting platform is notified to perform the end charging service operation; The mechanical arm mounting platform moves to the target charging base station and forms the locking state therewith; The mechanical arm is extended and the posture of the mechanical arm is adjusted to dock with and lock the charging gun; The locking state of the charging gun with the vehicle charging interface is released, The mechanical arm operates the charging gun to perform the gun pulling operation for the vehicle.

8. A charging control device of a vehicle charging device, the vehicle charging device being mounted on a traveling rail suspended on the top of a parking lot, a plurality of charging bases being arranged along the traveling rail in correspondence with the positions of parking spaces of the parking lot, the vehicle charging device comprising a mechanical arm mounting platform and a charging host mounting platform which are independently mountable on the traveling rail and independently operable, the charging control device comprising: a pile searching unit which causes the charging host mounting platform on which the charging host is mounted to travel to a target charging base and causes the charging host to be electrically connected to the target charging base; a mechanical arm conveying unit which causes the mechanical arm mounting platform on which the mechanical arm is mounted and which is movable between the charging bases to travel to the target charging base and to be electrically connected to the target charging base; a mechanical arm operating unit which controls the mechanical arm mounting platform to extend the mechanical arm and adjusts the posture of the mechanical arm so that the mechanical arm operates a charging gun corresponding to the target charging base to perform an operation of inserting or extracting the charging gun into or from a vehicle to be charged.

9. The charging control device of claim 8, further comprising: a pile searching unit which causes the charging host mounting platform to find an idle charging host and mounts the charging host thereon.

10. The charge control device according to claim 8, further comprising a jump gun resolution section, wherein, The gun jumping solution unit further comprises: a notification unit which notifies the mechanical arm mounting platform to travel to the target charging base to deal with the gun jumping problem; a moving unit which causes the mechanical arm mounting platform to move to the target charging base and form a locked state with the target charging base after receiving the notification; a mechanical arm posture adjusting unit which extends the mechanical arm and adjusts the posture of the mechanical arm to be connected to the charging gun and locked; a charging gun releasing unit which releases the locked state of the charging gun and the vehicle charging interface, a charging gun operating unit which causes the mechanical arm to operate the charging gun to perform the gun extraction and insertion operation to recharge the vehicle.

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