CN114987244A - Intelligent movement robot that charges - Google Patents
Intelligent movement robot that charges Download PDFInfo
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- CN114987244A CN114987244A CN202210779735.3A CN202210779735A CN114987244A CN 114987244 A CN114987244 A CN 114987244A CN 202210779735 A CN202210779735 A CN 202210779735A CN 114987244 A CN114987244 A CN 114987244A
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- domain controller
- intelligent mobile
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- 230000033001 locomotion Effects 0.000 title claims description 6
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000004146 energy storage Methods 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 18
- 238000001179 sorption measurement Methods 0.000 claims description 13
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 4
- 238000003745 diagnosis Methods 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001453 impedance spectrum Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an intelligent mobile charging robot, which comprises a whole vehicle domain controller, a charging device and a mobile device, wherein the charging device and the mobile device are connected with corresponding ports of the whole vehicle domain controller; the charging device comprises a ground and satellite communication positioning module used for positioning the position of the robot and a power supply unit used for supplying power to external equipment, the whole vehicle area controller and the charging device are both arranged on the mobile device, and the whole vehicle area controller obtains positioning signals of the ground and satellite communication positioning module and controls the mobile device to move to a set position. The intelligent mobile charging robot can autonomously move and charge a target vehicle according to the requirement of the target vehicle, meanwhile, the battery is rapidly replaced in a modularized mode, a user can remotely schedule the intelligent mobile charging robot through cloud level, and meanwhile, the battery of the electric automobile can be subjected to health diagnosis in the charging process. The problem of new forms of energy car inconvenient that charges is solved, can solve electric automobile and popularize fast and the fixed problem of filling the not enough and position of electric pile and injecing.
Description
Technical Field
The invention relates to the technical field of artificial intelligence and energy storage power stations, in particular to an intelligent mobile charging robot.
Background
Along with new energy automobile is becoming popular day by day, the problem that must solve is the battery charging of electric automobile, because fixed electric pile quantity is not enough, in addition fixed electric pile place construction wastes time and energy. There is a need for a mobile energy storage charging station to serve electric vehicles, and meanwhile, the motion management of the robot is realized through an artificial intelligence technology.
Disclosure of Invention
In order to solve the existing problems, the invention provides an intelligent mobile charging robot, which has the following specific scheme:
an intelligent mobile charging robot comprises a whole vehicle area controller, a charging device and a mobile device, wherein the charging device and the mobile device are connected with corresponding ports of the whole vehicle area controller; the charging device comprises a ground and satellite communication positioning module used for positioning the position of the robot and a power supply unit used for supplying power to external equipment, the whole vehicle domain controller and the charging device are both arranged on the mobile device, and the whole vehicle domain controller obtains positioning signals of the ground and satellite communication positioning module and controls the mobile device to move to a set position.
Preferably, the whole vehicle domain controller is communicated with the cloud platform through a ground and satellite communication positioning module.
Preferably, the power supply unit further comprises an energy storage battery pack, a PCS module, a battery detection circuit, an energy management BMS module, and an electric energy output module;
the whole domain controller is respectively and electrically connected with the PCS module, the battery detection circuit and the energy management BMS module;
the energy storage battery pack is electrically connected with the battery detection circuit, the energy management BMS module and the PCS module respectively, and the PCS module is electrically connected with the electric energy output module.
Preferably, the PCS module comprises a charging module and a control and regulation module;
the energy storage battery pack, the charging module, the control and regulation module and the electric energy output module are electrically connected in sequence; the control and regulation module is communicated with the electric automobile.
Preferably, the battery detection circuit is electrically connected with the energy management BMS module and the control and regulation module, respectively.
Preferably, the whole domain controller is a multi-core multi-thread processing unit.
Preferably, the moving device comprises a fixed frame and a lifting platform; the fixed frame comprises a vertical rail, and the lifting platform bears the energy storage battery pack and moves up and down along the vertical rail.
Preferably, the fixing frame further comprises a horizontal fixing plate fixed on the vertical rail; the horizontal fixing plate is provided with a plurality of positioning pins, and the bottom of the energy storage battery pack is provided with positioning holes matched with the positioning pins for limiting; and after the lifting platform moves to the position of the horizontal fixing plate along the vertical track, the positioning pin is inserted into the positioning hole.
Preferably, the elevating platform is L type, including limiting plate and the electromagnetic adsorption board that mutually perpendicular set up, just the electromagnetic adsorption board electricity is connected whole car domain controller.
Preferably, a driving wheel, a driven wheel, a motor controller, a forward motor, a steering motor and a lifting motor which are electrically connected with the motor controller are fixed at the bottom of the horizontal fixing plate or the lifting platform;
the forward motor and the steering motor are used for controlling the driving wheels to move forward and backward and to steer;
the lifting motor is arranged on the lifting platform and used for controlling the lifting platform to move up and down along the vertical guide rail;
and the motor controller is electrically connected with the whole vehicle domain controller.
The invention has the beneficial effects that:
the intelligent mobile charging robot can autonomously move according to the requirements of target vehicles and charge the target vehicles, meanwhile, batteries are quickly replaced in a modular form of energy storage battery packs, a user can remotely schedule the intelligent mobile charging robot through a cloud platform, and meanwhile, the battery of an electric automobile can be diagnosed healthily in the charging process. The problem of new forms of energy car inconvenient that charges is solved, can solve electric automobile and popularize fast and fixed not enough and the position of filling electric pile is injectd is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a side view of the intelligent mobile charging robot of the present invention;
fig. 3 is a schematic perspective view of the fixing frame and the lifting platform of the present invention.
The reference numbers are as follows:
1. the device comprises a fixed frame, 101, a vertical guide rail, 102, a horizontal fixing plate, 2, a lifting platform, 201, an electromagnetic adsorption plate, 202, a limiting plate, 203, a positioning pin, 3, a front driving wheel, 4, an auxiliary wheel, 5, a driven wheel, 6, a whole vehicle area controller, 7, a PCS module, 8, a ground and satellite communication positioning module, 9, a battery detection circuit, 10, an energy management BMS module, 11, an energy storage battery pack, 12 and an electric energy output module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, an intelligent mobile charging robot includes a vehicle domain controller 6, a charging device connected to a corresponding port of the vehicle domain controller 6, and a mobile device.
The whole domain controller 6 is a multi-core multi-thread processing unit.
The charging device comprises a ground and satellite communication positioning module 8 for positioning the position of the robot and a power supply unit for supplying power to external equipment.
The whole vehicle domain controller 6 and the charging device are both arranged on the mobile device.
A user utilizes the cloud platform, and the position information and the charging instruction of a target vehicle are issued to the whole vehicle domain controller 6 through the ground and satellite communication positioning module 8. And after receiving the information, the whole vehicle area controller 6 controls the mobile device to bear the whole vehicle area controller 6 and the charging device to move to the position of the target vehicle and charge the target vehicle.
Ground and satellite communication location module 8 can guarantee the mutual data reliability of intelligent movement charging robot and cloud platform, adopt bimodulus communication, ground network and satellite link binary channels communication realize intelligent movement charging robot and cloud platform zero clearance and be connected to give cloud platform real-time position information feedback, be used for cloud platform map show, and through centimetre level location realize the accurate location of traveling when changing the battery package.
The power supply unit further includes an energy storage battery pack 11, a PCS module 7, a battery detection circuit 9, an energy management BMS module 10, and an electric energy output module 12. Specifically, the power output module 12 in the figure is a charging gun.
The whole domain controller 6 is respectively and electrically connected with the PCS module 7, the battery detection circuit 9 and the energy management BMS module 10.
The energy storage battery pack 11 comprises an energy storage battery core, the energy storage battery core is connected with the battery together in a multi-parallel and multi-string mode, the voltage reaches a certain value, and then the fuse is connected in series to output electric energy. The energy storage battery pack 11 is electrically connected with the battery detection circuit 9, the energy management BMS module 10 and the PCS module 7 respectively, and the PCS module 7 is electrically connected with the electric energy output module 12.
The PCS module 7 comprises a charging module and a control and regulation module. The energy storage battery pack 11, the charging module, the control and regulation module and the electric energy output module 12 are electrically connected in sequence, the control and regulation module is communicated with the electric automobile, and the output power is regulated according to a protocol.
The battery detection circuit 9 is electrically connected with the energy management BMS module 10 and the control and regulation module, respectively. When the electric vehicle is charged, the battery detection circuit 9 and the energy management BMS module 10 can actively detect the battery health state of the electric vehicle, dynamically adjust the charging current, perform energy real-time monitoring and management, and ensure the charging and discharging safety. Through the electrical impedance spectrum and the pulse type measuring technology of the battery detection circuit 9, the active detection of the health state of the battery of the electric automobile is realized in the charging process of the electric automobile through the PCS module 7.
The mobile device comprises a fixed frame 1 and a lifting platform 2; the fixed frame 1 comprises a vertical track, and the lifting platform 2 bears the energy storage battery pack 11 and moves up and down along the vertical track.
The fixed frame 1 further comprises a horizontal fixed plate 102 fixed on the vertical rail; a plurality of positioning pins 203 are arranged on the horizontal fixing plate 102, and positioning holes matched with the positioning pins 203 for limiting are formed in the bottom of the energy storage battery pack 11; after the elevating table 2 moves to the position of the horizontal fixing plate 102 along the vertical rail, the positioning pin 203 is inserted into the positioning hole.
The lifting platform 2 is L-shaped and comprises a limiting plate 202 and an electromagnetic adsorption plate 201 which are perpendicular to each other, and the electromagnetic adsorption plate 201 is electrically connected with the whole vehicle area controller 6. Specifically, the limiting plate 202 in the figure is vertically arranged, and the electromagnetic adsorption plate 201 is horizontally arranged. In the figure, 2 vertical rails are arranged on two sides of the limiting plate 202, and the limiting plate 202 is matched with the vertical rails and drives the electromagnetic adsorption plate 201 to move up and down. With 2 vertical tracks on, set up 2 horizontal fixation plate 102 perpendicularly, and all be provided with a plurality of locating pin 203 on 2 horizontal fixation plate 102, when electromagnetic adsorption board 201 moved to horizontal fixation plate 102 on, locating pin 203 injects the locating hole in, carries out energy storage battery package 11 spacing.
The driving wheel, the driven wheel 5, the motor controller, and a forward motor, a steering motor and a lifting motor electrically connected with the motor controller are fixed at the bottom of the horizontal fixing plate 102 or the lifting platform 2. The driving wheels comprise a front driving wheel 3 and an auxiliary wheel 4.
The forward motor and the steering motor are used for controlling the driving wheels to move forward and backward and to steer. The lifting motor is arranged on the lifting platform 2 and used for controlling the lifting platform 2 to move up and down along the vertical guide rail 101. The motor controller is electrically connected with the whole vehicle area controller 6 through a CAN bus.
The working principle is as follows:
when the target vehicle needs to be charged, a client of the target vehicle sends the position of the target vehicle and a charging instruction to the whole vehicle domain controller 6 through the cloud platform, and the whole vehicle domain controller 6 controls the advancing motor and the steering motor to drive the robot to move to the place where the target vehicle is located through the motor controller and perform charging operation.
When charging, the energy storage battery pack 11 provides current through the charging module, controls the adjusting module to communicate with the electric automobile according to the national standard protocol, and dynamically adjusts the charging current of the charging module according to the electric automobile demand current. Meanwhile, the control and regulation module is electrically connected with the battery cell detection circuit and the energy management BMS module respectively. And the battery detection circuit 9 and the energy management BMS module 10 can actively detect the battery health state of the electric vehicle when the electric vehicle is charged, dynamically adjust the charging current, perform real-time energy monitoring and management, and ensure the charging and discharging safety.
When the battery pack needs to be replaced, the whole domain controller 6 sends an instruction to the motor controller, and the advancing motor and the steering motor drive the robot to move to the destination. Then, the motor controller controls the lifting motor, and the lifting motor drives the lifting platform 2 to move upwards along the vertical rail, thereby disengaging from the positioning pin 203 on the horizontal fixing plate 102. Meanwhile, the whole domain controller 6 controls the electromagnetic adsorption plate 201 to be demagnetized when the power is off. The positioning pin 203 is connected with the electromagnetic adsorption mode, so that after the whole vehicle area controller 6 receives an instruction for replacing the battery pack, the vehicle travels to a destination according to the position accurately positioned, electromagnetic adsorption release is completed, and the battery pack is quickly replaced.
The intelligent mobile charging robot can autonomously move according to the requirements of target vehicles and charge the target vehicles, meanwhile, batteries are quickly replaced in a modular mode of the energy storage battery pack 11, a user can remotely schedule the intelligent mobile charging robot through cloud level, and meanwhile, the batteries of electric vehicles can be diagnosed healthily in the charging process. The problem of new forms of energy car inconvenient that charges is solved, can solve electric automobile and popularize fast and fixed not enough and the position of filling electric pile is injectd is solved.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an intelligent movement charging robot which characterized in that: the system comprises a whole vehicle domain controller, a charging device and a mobile device, wherein the charging device and the mobile device are connected with corresponding ports of the whole vehicle domain controller; the charging device comprises a ground and satellite communication positioning module used for positioning the position of the robot and a power supply unit used for supplying power to external equipment, the whole vehicle domain controller and the charging device are both arranged on the mobile device, and the whole vehicle domain controller obtains positioning signals of the ground and satellite communication positioning module and controls the mobile device to move to a set position.
2. The intelligent mobile charging robot of claim 1, wherein: and the whole vehicle domain controller is communicated with the cloud platform through a ground and satellite communication positioning module.
3. The intelligent mobile charging robot of claim 1, wherein: the power supply unit also comprises an energy storage battery pack, a PCS module, a battery detection circuit, an energy management BMS module and an electric energy output module;
the whole domain controller is respectively and electrically connected with the PCS module, the battery detection circuit and the energy management BMS module;
the energy storage battery pack is electrically connected with the battery detection circuit, the energy management BMS module and the PCS module respectively, and the PCS module is electrically connected with the electric energy output module.
4. The intelligent mobile charging robot of claim 2, wherein: the PCS module comprises a charging module and a control and regulation module;
the energy storage battery pack, the charging module, the control and regulation module and the electric energy output module are electrically connected in sequence; the control and regulation module is communicated with the electric automobile.
5. The intelligent mobile charging robot of claim 3, wherein: the battery detection circuit is electrically connected with the energy management BMS module and the control and regulation module respectively.
6. The intelligent mobile charging robot of claim 1, wherein: the whole domain controller is a multi-core multi-thread processing unit.
7. The intelligent mobile charging robot of claim 1, wherein: the mobile device comprises a fixed frame and a lifting platform; the fixed frame comprises a vertical rail, and the lifting platform bears the energy storage battery pack and moves up and down along the vertical rail.
8. The intelligent mobile charging robot of claim 7, wherein: the fixing frame also comprises a horizontal fixing plate fixed on the vertical track; a plurality of positioning pins are arranged on the horizontal fixing plate, and positioning holes matched with the positioning pins for limiting are formed in the bottom of the energy storage battery pack; and after the lifting platform moves to the position of the horizontal fixing plate along the vertical track, the positioning pin is inserted into the positioning hole.
9. The intelligent mobile charging robot of claim 7 or 8, wherein: the elevating platform is L type, including limiting plate and the electromagnetic adsorption board that mutually perpendicular set up, just the electromagnetic adsorption board electricity is connected whole car domain controller.
10. The intelligent mobile charging robot of claim 6, wherein: a driving wheel, a driven wheel, a motor controller, a forward motor, a steering motor and a lifting motor which are electrically connected with the motor controller are fixed at the bottom of the horizontal fixing plate or the lifting platform;
the forward motor and the steering motor are used for controlling the driving wheels to move forward and backward and to steer;
the lifting motor is arranged on the lifting platform and used for controlling the lifting platform to move up and down along the vertical guide rail;
and the motor controller is electrically connected with the whole vehicle domain controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210779735.3A CN114987244A (en) | 2022-07-04 | 2022-07-04 | Intelligent movement robot that charges |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210779735.3A CN114987244A (en) | 2022-07-04 | 2022-07-04 | Intelligent movement robot that charges |
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| Publication Number | Publication Date |
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| CN114987244A true CN114987244A (en) | 2022-09-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210779735.3A Pending CN114987244A (en) | 2022-07-04 | 2022-07-04 | Intelligent movement robot that charges |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016192123A1 (en) * | 2015-06-05 | 2016-12-08 | 深圳市华宝新能源股份有限公司 | Mobile power storage and charging device and mobile power storage and charging system |
| CN108481298A (en) * | 2018-05-29 | 2018-09-04 | 国网湖南省电力有限公司 | A kind of robot and its application process of intellectual access live working tools |
| CN109841002A (en) * | 2019-01-31 | 2019-06-04 | 至玥腾风科技投资集团有限公司 | A kind of mobile charging method of servicing, system and electronic equipment |
| US20200238846A1 (en) * | 2017-04-28 | 2020-07-30 | Nio Nextev Limited | Mobile charging method and device |
| CN215590513U (en) * | 2021-04-22 | 2022-01-21 | 国网广汇(上海)电动汽车服务有限公司 | Intelligent movement charging device |
-
2022
- 2022-07-04 CN CN202210779735.3A patent/CN114987244A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016192123A1 (en) * | 2015-06-05 | 2016-12-08 | 深圳市华宝新能源股份有限公司 | Mobile power storage and charging device and mobile power storage and charging system |
| US20200238846A1 (en) * | 2017-04-28 | 2020-07-30 | Nio Nextev Limited | Mobile charging method and device |
| CN108481298A (en) * | 2018-05-29 | 2018-09-04 | 国网湖南省电力有限公司 | A kind of robot and its application process of intellectual access live working tools |
| CN109841002A (en) * | 2019-01-31 | 2019-06-04 | 至玥腾风科技投资集团有限公司 | A kind of mobile charging method of servicing, system and electronic equipment |
| CN215590513U (en) * | 2021-04-22 | 2022-01-21 | 国网广汇(上海)电动汽车服务有限公司 | Intelligent movement charging device |
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