CN115027312A - Control system and method for automatically distributing charging piles - Google Patents

Control system and method for automatically distributing charging piles Download PDF

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Publication number
CN115027312A
CN115027312A CN202210709463.XA CN202210709463A CN115027312A CN 115027312 A CN115027312 A CN 115027312A CN 202210709463 A CN202210709463 A CN 202210709463A CN 115027312 A CN115027312 A CN 115027312A
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China
Prior art keywords
robot
charging
charging pile
idle
information
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CN202210709463.XA
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Chinese (zh)
Inventor
张大伟
何军伟
林欢
任路
陈自龙
张欢欢
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Yijiahe Technology Co Ltd
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Yijiahe Technology Co Ltd
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Priority to CN202210709463.XA priority Critical patent/CN115027312A/en
Publication of CN115027312A publication Critical patent/CN115027312A/en
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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
    • B60L53/60—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
    • B60L53/30—Constructional details of charging stations
    • B60L53/31—Charging columns specially adapted for electric vehicles
    • 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
    • B60L53/66—Data transfer between charging stations and vehicles
    • 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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a control system and a method for automatically distributing charging piles, wherein the system comprises a robot, a track, a central control system, a plurality of charging piles and fixed sockets, wherein the track and the fixed sockets are arranged according to the parking space layout of a parking lot, the charging piles are placed at preset positions on two sides of the track, the robot is movably arranged on the track, the central control system is in communication connection with the robot, the charging piles are transported to target parking spaces through the robot, and the connection or disconnection operation between the charging piles and the fixed sockets is executed. According to the invention, the central control system controls the robot to carry the charging piles, manages a plurality of charging piles, provides charging service for parking spaces in a plurality of parking areas, and improves the safety, economy and portability of the charging system.

Description

Control system and method for automatically distributing charging piles
Technical Field
The invention belongs to the technical field of charging piles, and particularly relates to a control system and method for automatically distributing charging piles.
Background
The market scale of the current Chinese new energy automobile is continuously enlarged, but the development of the new energy automobile charging facilities closely related to the market has certain hysteresis, and the acceptance degree of consumers on the new energy automobile is influenced.
At present, although a large number of centralized charging facilities are established in the society, portable charging piles are introduced into a parking lot in a residential area in succession, the problems that charging parking spaces are occupied, the number of independent parking spaces of new energy automobiles is short, the circuit transformation demand management and control of the individual parking spaces in the residential area are complex, the charging queuing time is long and the like still exist.
Disclosure of Invention
The technical purpose is as follows: aiming at the technical problems, the invention provides a control system and a control method for automatically distributing charging piles.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:
the utility model provides an automatic control system who fills electric pile distributes which characterized in that: including robot, track, central control system, a plurality of electric pile and fixed socket of filling, wherein, track and fixed socket arrange according to the parking stall overall arrangement in parking area, fill electric pile and place on the preset position of track both sides, the movably installation of robot is on the track, central control system and robot communication connection, the robot is used for carrying out the multiple control command that central control system sent, fills electric pile and carries to the target parking stall through the robot, carries to fill electric pile and fixed socket's connection or disconnection operation.
Preferably, the central control system comprises an order scheduler and an order executor, the order scheduler is used for making the order to be processed, the order executor is used for converting the order to be processed into a task instruction and then sending the task instruction to the robot, wherein,
the order scheduler is used for collecting the robot state information, the charging pile information and the order information of the charging request sent by the charging requester and processing the collected information;
the order scheduler classifies the robots according to the robot state information to obtain a normally schedulable robot set and an un-schedulable robot set, wherein the normally schedulable robot set comprises idle robots, and the un-schedulable robot set comprises running robots and abnormal robots;
the order scheduler classifies the charging piles according to the charging pile information to obtain a normally-scheduled charging pile set and an un-schedulable charging pile set, wherein the normally-scheduled charging pile set comprises idle charging piles, and the un-schedulable charging pile set comprises occupied charging piles and fault charging piles;
the order scheduler matches the schedulable robot with the charging order when an idle charging pile and an idle robot are available at the same time according to the order information, calculates an optimal charging pile for executing the charging order, obtains a complete order to be processed, and sends the complete order to the order executor; if an idle charging pile exists and no idle robot exists, adding order information into a queue to wait for processing when the idle robot appears; and if no idle charging pile exists, sending the feedback information of the current no-idle charging pile to the charging requester.
Preferably, the robot state information includes an occupancy state of the robot, electric quantity information and robot fault information;
the order information comprises a calling charging parking space and reserved using time;
the charging pile information comprises charging pile positions, occupation states and charging pile fault information.
Preferably, the central control system comprises an idle scheduler and an exception handler, and a robot charging potential is arranged on the track;
an idle scheduler for transmitting an idle scheduling instruction to a robot, comprising:
when a charging pile fault occurs, sending a maintenance and transportation instruction to a robot in an idle state;
sending a video patrol command, an idle-time charging command or a two-dimensional code refreshing command to the robot in an idle state;
an exception handler for issuing exception scheduling instructions, comprising:
when the low-power robot is identified, a robot charging instruction is sent to the low-power robot;
when the robot with damaged hardware is identified, the robot gives out sound and light alarm and sends alarm information to operation and maintenance personnel.
Preferably, the robot is provided with a two-dimensional code recognition camera and is used for scanning two-dimensional codes arranged on the charging pile and the fixed socket when receiving a two-dimensional code refreshing instruction.
Preferably, the robot comprises a walking module, a positioning module, a pre-positioning module, a clamping module and a video monitoring module, wherein,
the walking module is used for controlling the robot to walk on the track;
the positioning module is used for controlling the robot to reach a target parking space;
the pre-positioning module is used for controlling the charging pile to be inserted into a fixed socket at a target parking space;
and the clamping module is used for clamping the charging pile by the robot.
A control method for automatically distributing charging piles is characterized in that a central control system executes the steps of:
acquiring robot state information, charging pile information and order information of a charging request sent by a charging requester of a parking lot;
processing the robot state information to obtain a normally schedulable robot set and an un-schedulable robot set, wherein the normally schedulable robot set comprises idle robots, and the un-schedulable robot set comprises running robots and abnormal robots;
processing the charging pile information to obtain a normally schedulable charging pile set and an un-schedulable charging pile set, wherein the normally schedulable charging pile set comprises idle charging piles, and the un-schedulable charging pile set comprises occupied charging piles and fault charging piles;
processing the order information, matching the schedulable robot with the charging order when an idle charging pile and an idle robot exist at the same time, calculating the optimal charging pile for executing the charging order, obtaining a complete order to be processed, and entering the next step; if an idle charging pile exists and no idle robot exists, adding order information into a queue to wait for processing when the idle robot appears; if no idle charging pile exists, sending feedback information of the current no-idle charging pile to a charging requester;
and converting the charging order to be processed into a task instruction sent to the robot.
Preferably, when the robot state information and the charging pile information are processed, the central control system selects whether to send any one of the following control commands to the robot according to the information analysis result: a maintenance delivery instruction, a robot charging instruction, or a video patrol instruction.
Preferably, the control instructions received by the robot from the central control system comprise charging task instructions of the charging pile, maintenance and transportation instructions, robot charging instructions and video patrol instructions; the robot performs the steps comprising:
and when the robot receives a charging task instruction of the charging pile, the charging pile is carried to a target parking space, and the connection or disconnection operation of the charging pile and the fixed socket is executed.
When the robot receives a maintenance and transportation instruction, transporting the abnormal charging pile with a fault to an area to be maintained, marking the abnormal charging pile, and not calling the abnormal charging pile any more before maintenance is finished;
the robot receives a robot charging instruction, and goes to a robot charging position for charging to recover the electric quantity;
and after receiving the video patrol command, the robot performs video patrol along the track to monitor and record the parking environment.
A storage medium, characterized in that the storage medium stores one or more programs, and the one or more programs, when executed, implement the control method for automatically allocating charging piles.
Has the advantages that: due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the control method for automatically distributing the charging piles, after the charging demands from a certain parking place are received, the charging task flow can be automatically processed, the charging piles are automatically distributed to the parking places needing to be charged by means of the high maneuverability of the rail-mounted robot, the problems that the utilization rate of charging facilities of an electric automobile is low, the workload of scattered point type personal parking place circuit transformation is large and the like can be solved, the quantity ratio of the charging piles to the parking places is reduced, and the pile searching efficiency and the convenience of a new energy automobile are improved.
Drawings
Fig. 1 is a schematic diagram of an automatic distribution charging pile control system according to a first embodiment;
fig. 2 is a flowchart of a control method of an automatic distribution charging pile control system according to a first embodiment;
fig. 3 is an information processing flowchart of the central control system for automatically allocating charging piles according to the second embodiment;
the figure includes:
101-a robot; 102-charging pile; 103-a fixed socket; 104-track; 105-central control system.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
Example one
As shown in fig. 1, taking a row of parking spaces and a track as an example, the present embodiment provides an automatic distribution charging pile control system, and in fact, the track 104 may be set in any number of parking spaces, and a loop may be set. The system can be used as a local charging area, and can also be used for arranging a track on the whole parking lot.
In this embodiment, automatic distribution fills electric pile control system includes: robot 101, charging pile 102, fixed socket 103, track 104, central control system 105. Wherein the central control system 105 is in communication connection with the robot 101. The track 104 is arranged according to the parking stall layout, the fixed socket 103 is arranged near the parking stall along the track, the track type robot 101 can walk on the track 104, the charging pile 102 is placed at the fixed socket 103 of the parking stall, or other positions where the distributable charging pile 102 can be placed.
In practical application, the robot 101 is a rail-type robot, and the rail 104 can be arranged on the ground beside the parking space, or can be arranged above the parking space by adopting an aerial rail scheme, so that precious ground space is avoided being occupied, and the collision risk can be reduced. Along walking track 104, arrange fixed socket 103 in all parking stall outsides that probably need charge, park the vehicle quantity that needs charge according to actual probably same period, put in and fill electric pile quantity, the actual quantity that fills electric pile can be less than parking stall quantity far away, just can guarantee the demand of charging of certain vehicle.
The automatic distribution charging pile control system of the embodiment is provided with the track 104 and the robot 101 along the parking space, so that the robot 101 can move on the track 104 alone or carry the charging pile 102 together, and the charging pile 102 is not required to be fixed at the same parking space. When the target parking space needs to use the charging function, the central control system 105 sends a task to the robot 101, and the robot 101 carries the distributable charging pile 102 to the target parking space according to the received task and powers on the charging pile 102, so that the common parking space becomes a charging parking space; when the parking space has no charging demand, central control system 105 moves charging pile 102 to the parking space requiring charging according to the policy. Consequently, realized filling electric pile according to the demand and transferring appointed parking stall with idle, can charge, need not distinguish ordinary parking stall and the parking stall that charges.
Further, a certain distance is set between the track 104 and the fixed socket 103, when the robot 101 docks the charging pile 102 to the fixed socket 103, the distributable charging pile 102 is at a certain distance from the robot 101, the track 104 can run smoothly, and the robot 101 can run on the whole track 104 without obstruction.
1. Central control system
As shown in fig. 2, the central control system in the present embodiment includes:
(1) order scheduler
And the order scheduler is used for collecting the state information of the robot, the order information and the charging pile information sent by the charging requester. The robot state information comprises the occupation state of the robot, electric quantity information and robot fault information; the order information comprises calling charging parking places and reserved using time; the charging pile information comprises charging pile positions, occupation states and charging pile fault information.
The order scheduler classifies the robots according to the robot state information to obtain a normally schedulable robot set and an un-schedulable robot set, wherein the normally schedulable robot set comprises idle robots, and the un-schedulable robot set comprises running robots and abnormal robots.
The order scheduler classifies the charging piles according to the charging pile information to obtain a normally-scheduled charging pile set and an un-schedulable charging pile set, wherein the normally-scheduled charging pile set comprises idle charging piles, and the un-schedulable charging pile set comprises occupied charging piles and fault charging piles;
the order scheduler matches the schedulable robot with the charging order when an idle charging pile and an idle robot are available at the same time according to the order information, calculates an optimal charging pile for executing the charging order, obtains a complete order to be processed, and sends the complete order to the order executor; if an idle charging pile exists and no idle robot exists, adding order information into a queue to wait for processing when the idle robot appears; and if no idle charging pile exists, sending feedback information of the current no-idle charging pile to a charging requester.
The order scheduler can also collect the electric quantity, fault information, occupation state and the like of the robot, and collect all charging pile positions, occupation states and the like.
(2) Order executor
The order executor processes the order to be processed, converts the order to be processed into a task instruction and then sends the task instruction to the robot. The task instruction comprises position information of the target parking space, position information of the target charging pile, charging use demand information of the target parking space and the like. After the corresponding robot receives the instruction, the robot runs on the track, the target charging pile is clamped, and then the charging pile is conveyed to the target parking space.
(3) Idle scheduler
An idle scheduler for sending idle scheduling instructions to the robot, including but not limited to: when a charging pile fault occurs, sending a maintenance and transportation instruction to a robot in an idle state; and sending a video patrol command, an idle-time charging command or a two-dimensional code refreshing command and the like to the robot in the idle state.
The idle scheduler preferably adopts chain processing, a series of processing units are cascaded inside the idle scheduler, and basic processing units comprise functional units for exception stub processing, video patrol, two-dimensional code refreshing, idle charging and the like. Due to the chain structure, the cascade connection can be continuously realized. Wherein, unusual stake processing unit is responsible for handling the electric pile that fills who breaks down, carries reserve socket with it from the parking stall top socket that charges, avoids influencing the use of charging of this parking stall. The video patrol processing unit is responsible for the robot to issue patrol tasks, and monitors and records the environment of the parking lot by using a camera of the video patrol processing unit while walking around the track. The two-dimension code refreshing processing unit is responsible for issuing a two-dimension code refreshing task to the robot, and the two-dimension code of the track socket and the two-dimension code of the charging pile are recognized and verified through a two-dimension code recognition camera arranged on the two-dimension code refreshing processing unit, so that the consistency of actual data and database storage data is ensured. The idle charging processing unit is responsible for issuing a robot charging instruction after the robot is idle for a period of time, so that the robot goes to a charging position and enters a charging standby mode.
(4) Exception handler
And the exception handler is used for sending an exception scheduling instruction, screening out abnormal robots such as low electric quantity and hardware faults from the non-schedulable robots, and respectively handling the abnormal situations. Including but not limited to: when the robot with low power is identified, a robot charging instruction is sent to the robot with low power; and when the robot with damaged hardware is identified, alarm information is sent to operation and maintenance personnel.
The exception handler is used for issuing a charging instruction to the low-power robot so as to charge the low-power robot as soon as possible and recover the electric quantity; for the hardware fault robot, acousto-optic alarm is required to be immediately carried out, and meanwhile, operation and maintenance personnel are reported.
2. Robot
Specifically, the robot 101 in this embodiment may adopt a rail-mounted robot, and includes a walking module, a positioning module, a pre-positioning module, a clamping module, and a video monitoring module. The walking module controls the robot to walk on the track, the positioning module is used for the robot to reach a designated position, the pre-positioning module is used for controlling the robot and a socket which needs to be inserted into a charging pile to be effectively connected, the clamping module is used for taking and delivering the charging pile, and the video monitoring module is used for monitoring and recording a video of a parking lot when the space robot patrols along the track. Preferably, the robot has the function of powering on and off the charging pile without moving the charging pile.
According to the control system, only one or more than one robot can be arranged on the track to stand by, the track traffic jam cannot be caused, each charging pile is transferred through the robot, so that a driving device does not need to be independently installed for each charging pile, the equipment cost is saved, the number of the arranged charging piles can be far smaller than that of parking spaces, and the requirement can be met only by ensuring the number of the charging piles in the same time period, so that a large number of fixed charging parking spaces can be avoided, and the resource waste caused by low use frequency of the charging piles is avoided. Meanwhile, the situation that vehicles which really need to be charged cannot use the charging pile after the charging parking spaces are occupied can be avoided, and the automatic distribution charging pile control system provided by the invention can avoid the occurrence of parking contradiction.
Example two
The embodiment provides a control method for automatically distributing charging piles. Referring to fig. 3, a user sends a call charging request, where the charging request includes target parking space information; the central control system selects an optimal charging pile, judges whether the charging pile is in a target parking space or not, and moves the optimal charging pile to the target parking space through the robot if the charging pile is in the target parking space and not in the target parking space; then will fill electric pile and insert the socket and supply power, then release the rifle line, wait for the user to insert the rifle and charge. The specific control method is described in detail below.
1. The central control system executes the steps of:
acquiring robot state information, charging pile information and order information of a charging request sent by a charging requester of a parking lot;
processing the robot state information to obtain a normally schedulable robot set and an un-schedulable robot set, wherein the normally schedulable robot set comprises idle robots, and the un-schedulable robot set comprises running robots and abnormal robots;
processing the charging pile information to obtain a normally schedulable charging pile set and an un-schedulable charging pile set, wherein the normally schedulable charging pile set comprises idle charging piles, and the un-schedulable charging pile set comprises occupied charging piles and fault charging piles;
processing the order information, matching the schedulable robot with the charging order when an idle charging pile and an idle robot exist at the same time, calculating the optimal charging pile for executing the charging order, obtaining a complete order to be processed, and entering the next step; if an idle charging pile exists and no idle robot exists, adding order information into a queue to wait for processing when the idle robot appears; if no idle charging pile exists, sending feedback information of the current no-idle charging pile to a charging requester;
and converting the charging order to be processed into a task instruction which is sent to the robot.
Specifically, when the state information of the robot and the charging pile information are processed, the central control system selects whether to send any one of the following control instructions to the robot according to the information analysis result: a maintenance delivery instruction, a robot charging instruction, or a video patrol instruction.
The control method can be used for the control system in the first embodiment, and the central control system realizes the following functions:
(1) the central control system 105 controls collection of information of robots and charging piles of the entire parking lot.
The central control system 105 is responsible for collecting robot status information, order information, and charging pile status information. The robot state information includes: occupancy state, power information, and fault information. And judging an idle robot, an abnormal robot and a running robot. The order information includes: calling a charging parking place and reserving the use time. Fill electric pile information and include: fill electric pile position, occupation state, fault information.
(2) The central control system 105 is responsible for the operation of the robots and charging piles of the entire parking lot.
After receiving the charging request instruction, the central control system 105 will determine whether there are any idle charging piles and idle robots, if so, match the robots with the order, calculate and execute the most appropriate charging pile for the charging order, and obtain the charging order to be processed. And the order executor in the central control system 105 processes the order, converts the order into a robot task instruction and sends the robot task instruction to the robot for execution. If there are no free charging posts, the charging requester is fed back by the central control system 105. And if the idle charging pile does not have the idle robot, adding the task into the queue and executing the task by the last robot for completing the task.
(3) The central control system 105 controls the scheduling of the free robots throughout the parking lot.
The central control system 105 can also control the idle robot to process the abnormal charging pile, the robot receives the instruction and then transports the charging pile to an area to be maintained, the abnormal charging pile is marked, and the charging pile is not called before maintenance is completed.
The central control system 105 can also control the idle robot to perform video patrol along the walking track, and monitor and record the parking environment with its own camera for monitoring the state of the parking lot.
The central control system 105 issues a two-dimensional code refreshing task to the idle robot, periodically scans two-dimensional codes which are located on the charging piles and the fixed sockets and used for positioning and recognizing through two-dimensional code recognition cameras of the robot, recognizes and verifies, updates the states of each charging pile and each parking place with the fixed sockets, and ensures that world data are consistent with database storage data.
The central control system 105 issues an instruction to the idle robot, controls the robot with insufficient electric quantity to go to a charging position, automatically charges, and goes to a standby state.
(4) The central control system 105 controls the abnormality processing of the abnormal robot.
The central control system 105 may also identify and control an abnormal robot, for example, when a low power robot is identified, send an instruction to the low power robot to go to a charging station for charging, and recover the power; when the robot with the damaged hardware is identified, alarming is started, and information is reported to operation and maintenance personnel.
2. The robot performs the steps comprising:
the robot receives control instructions of the central control system, wherein the control instructions comprise charging task instructions of the charging pile, maintenance and transportation instructions, robot charging instructions and video patrol instructions, and the priority of the charging task instructions of the charging pile is highest;
and when receiving a charging task instruction of the charging pile, the robot carries the charging pile to a target parking space and executes the connection or disconnection operation of the charging pile and the fixed socket.
When the robot receives a maintenance and transportation instruction, transporting the abnormal charging pile with a fault to an area to be maintained, marking the abnormal charging pile, and not calling the abnormal charging pile any more before maintenance is completed;
the robot receives a robot charging instruction, and goes to a robot charging position for charging to recover the electric quantity;
and after receiving the video patrol command, the robot performs video patrol along the track to monitor and record the parking environment.
The charging pile does not need to have the movement capability and is carried by the robot, so that the volume and the cost of the charging pile are greatly reduced, and the robot is used for receiving information and controlling a plurality of charging piles which cannot move actively, so that the charging pile is more economical. The problems that the equipment cost is increased, the design redundancy is high and the like because a control module and a motion module are required to be designed independently to realize active movement in the charging pile in the prior art are solved. When the robot is in the state of executing other non-main tasks such as patrol, current charging and the like, when a charging demand is received, the non-main tasks are interrupted, and the charging task is preferentially executed. After the current task is finished, the new task is executed again according to the instruction of the central controller, and the last task is not needed to be linked up. The robot executes the charging task nearby, and track traffic jam can not be caused.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (10)

1. The utility model provides an automatic distribution fills control system of electric pile which characterized in that: including robot, track, central control system, a plurality of electric pile and fixed socket of filling, wherein, track and fixed socket arrange according to the parking stall overall arrangement in parking area, fill electric pile and place on the preset position of track both sides, the movably installation of robot is on the track, central control system and robot communication connection, the robot is used for carrying out the multiple control command that central control system sent, fills electric pile and carries to the target parking stall through the robot, carries to fill electric pile and fixed socket's connection or disconnection operation.
2. The control system for automatically distributing charging piles according to claim 1, wherein: the central control system comprises an order scheduler and an order executor, wherein the order scheduler is used for making a to-be-processed order, the order executor is used for converting the to-be-processed order into a task instruction and then sending the task instruction to the robot, wherein,
the order scheduler is used for collecting the robot state information, the charging pile information and the order information of the charging request sent by the charging requester and processing the collected information;
the order scheduler classifies the robots according to the robot state information to obtain a normally schedulable robot set and an un-schedulable robot set, wherein the normally schedulable robot set comprises idle robots, and the un-schedulable robot set comprises running robots and abnormal robots;
the order scheduler classifies the charging piles according to the charging pile information to obtain a normally-scheduled charging pile set and an un-schedulable charging pile set, wherein the normally-scheduled charging pile set comprises idle charging piles, and the un-schedulable charging pile set comprises occupied charging piles and fault charging piles;
according to the order information, when an idle charging pile and an idle robot are available at the same time, the order scheduler matches the schedulable robot with the charging order, calculates an optimal charging pile for executing the charging order, obtains a complete order to be processed, and sends the complete order to the order executor; if an idle charging pile is available and no idle robot exists, adding order information into a queue to wait for the idle robot to process; and if no idle charging pile exists, sending the feedback information of the current no-idle charging pile to the charging requester.
3. The control system for automatically distributing charging piles according to claim 2, wherein:
the robot state information comprises an occupation state of the robot, electric quantity information and robot fault information;
the order information comprises a calling charging parking space and reserved use time;
the charging pile information comprises charging pile positions, occupation states and charging pile fault information.
4. The control system for automatically distributing charging piles according to claim 2, wherein: the central control system comprises an idle scheduler and an exception handler, and a robot charging potential is arranged on a track;
an idle scheduler for transmitting an idle scheduling instruction to a robot, comprising:
when a charging pile fault occurs, sending a maintenance and transportation instruction to a robot in an idle state;
sending a video patrol command, an idle-time charging command or a two-dimensional code refreshing command to the robot in an idle state;
an exception handler for issuing exception scheduling instructions, comprising:
when the low-power robot is identified, a robot charging instruction is sent to the low-power robot;
when the robot with damaged hardware is identified, the robot gives out sound and light alarm and sends alarm information to operation and maintenance personnel.
5. The control system for automatically distributing charging piles according to claim 4, wherein: the robot is provided with a two-dimension code recognition camera and is used for scanning two-dimension codes arranged on the charging pile and the fixed socket when a two-dimension code refreshing instruction is received.
6. The control system for automatically distributing charging piles according to claim 1, wherein: the robot comprises a walking module, a positioning module, a pre-positioning module, a clamping module and a video monitoring module, wherein,
the walking module is used for controlling the robot to walk on the track;
the positioning module is used for controlling the robot to reach a target parking space;
the pre-positioning module is used for controlling the charging pile to be inserted into a fixed socket at a target parking space;
the clamping module is used for clamping the charging pile by a robot;
and the video monitoring module is used for monitoring and recording the environment.
7. A control method for automatically distributing charging piles is characterized in that a central control system executes the steps of:
acquiring robot state information, charging pile information and order information of a charging request sent by a charging requester of a parking lot;
processing the robot state information to obtain a normally schedulable robot set and an un-schedulable robot set, wherein the normally schedulable robot set comprises idle robots, and the un-schedulable robot set comprises running robots and abnormal robots;
processing the charging pile information to obtain a normally schedulable charging pile set and an un-schedulable charging pile set, wherein the normally schedulable charging pile set comprises idle charging piles, and the un-schedulable charging pile set comprises occupied charging piles and fault charging piles;
processing the order information, matching the schedulable robot with the charging order when the idle charging pile and the idle robot exist at the same time, calculating the optimal charging pile for executing the charging order, obtaining a complete order to be processed, and entering the next step; if an idle charging pile exists and no idle robot exists, adding order information into a queue to wait for processing when the idle robot appears; if no idle charging pile exists, sending feedback information of the current no-idle charging pile to a charging requester;
and converting the charging order to be processed into a task instruction sent to the robot.
8. The control method for automatically distributing charging piles according to claim 7, wherein:
when the state information of the robot and the charging pile information are processed, the central control system selects whether to send any one of the following control instructions to the robot or not according to the information analysis result: a maintenance delivery instruction, a robot charging instruction, or a video patrol instruction.
9. The control method for automatically distributing charging piles according to claim 7, wherein the control commands received by the robot from the central control system include charging pile charging task commands, maintenance delivery commands, robot charging commands and video patrol commands; the robot performs the steps comprising:
when the robot receives a charging task instruction of the charging pile, the charging pile is transported to a target parking space, and the connection or disconnection operation of the charging pile and a fixed socket is executed;
when the robot receives a maintenance and transportation instruction, transporting the abnormal charging pile with a fault to an area to be maintained, marking the abnormal charging pile, and not calling the abnormal charging pile any more before maintenance is completed;
the robot receives a robot charging instruction, and goes to a robot charging position for charging to recover the electric quantity;
and after receiving the video patrol command, the robot performs video patrol along the track to monitor and record the parking environment.
10. A storage medium storing one or more programs which, when executed, implement the control method for automatically allocating charging piles according to any one of claims 7 to 9.
CN202210709463.XA 2022-06-21 2022-06-21 Control system and method for automatically distributing charging piles Pending CN115027312A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116061731A (en) * 2023-03-10 2023-05-05 北京电有引力大数据科技有限公司 Parking lot charging system, control method and control device
CN116811632A (en) * 2023-08-25 2023-09-29 国网湖北省电力有限公司随州供电公司 Movable charging pile and method for moving charging pile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116061731A (en) * 2023-03-10 2023-05-05 北京电有引力大数据科技有限公司 Parking lot charging system, control method and control device
CN116811632A (en) * 2023-08-25 2023-09-29 国网湖北省电力有限公司随州供电公司 Movable charging pile and method for moving charging pile

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