CN117341514B - Movable charging device and control method thereof - Google Patents

Movable charging device and control method thereof Download PDF

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Publication number
CN117341514B
CN117341514B CN202311344809.1A CN202311344809A CN117341514B CN 117341514 B CN117341514 B CN 117341514B CN 202311344809 A CN202311344809 A CN 202311344809A CN 117341514 B CN117341514 B CN 117341514B
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CN
China
Prior art keywords
charging
telescopic
base
vehicle
cross beam
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Active
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CN202311344809.1A
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Chinese (zh)
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CN117341514A (en
Inventor
黄志明
曹光宇
兰天
狄士春
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Shanghai Zhida Technology Development Co ltd
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Shanghai Zhida Technology Development Co ltd
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Priority to CN202311344809.1A priority Critical patent/CN117341514B/en
Publication of CN117341514A publication Critical patent/CN117341514A/en
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Classifications

    • 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
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • 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
    • B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging 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
    • B60L53/30—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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and 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
    • B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D25/00—Superstructure or monocoque structure sub-units; Parts or details thereof not otherwise provided for
    • B62D25/24—Superstructure sub-units with access or drainage openings having movable or removable closures; Sealing means therefor
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/12—Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a movable charging device and a control method thereof. Comprising the following steps: the travelling mechanism is arranged at the bottom of the portal frame; the portal frame comprises a telescopic cross beam and a supporting component, the telescopic cross beam is arranged on the supporting component, and the travelling mechanism is arranged at the bottom of the supporting component; the charging assembly is arranged on the portal frame; the movable charging device is used for executing a first running mode according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body when receiving a charging or discharging command, and automatically navigating and running to a parking space where the vehicle is parked; and executing a second walking mode, and then positioning a charging port of the vehicle and controlling the first charging gun to be connected into the charging port through the charging assembly. According to the embodiment of the invention, the movable charging device is formed by the portal frame, the travelling mechanism and the charging assembly, and the operation of plugging and unplugging the charging gun of any vehicle type can be realized by combining different travelling modes, so that the operation efficiency of the movable charging device is improved.

Description

Movable charging device and control method thereof
Technical Field
The invention relates to the field of charging piles, in particular to a movable charging device and a control method thereof.
Background
With the continuous development of new energy automobiles, electric energy driven automobiles are widely applied, and electric energy driven automobiles are required to be continuously charged to meet the use requirements, so that the intelligent requirements on charging devices are higher and higher.
In the prior art, a mobile charging pile or a distributed energy storage scene is adopted, when a vehicle has a charging requirement, a charging device is connected with a vehicle charging interface through a charging gun, and the vehicle with the requirement is charged.
However, under unmanned condition, because can't pull out or withdraw the rifle that charges, cause the vehicle to occupy charging device always, other vehicles that have the demand of charging can't charge, and conventional charging device is because the automobile body is wider moreover, can't get into between two cars and realize inserting the rifle or pull out the rifle operation, has reduced the utilization ratio of filling electric pile.
Disclosure of Invention
The invention provides a movable charging device and a control method thereof, which aim to solve the problem that no matter what vehicle type is, the charging port is positioned, the operation of plugging and unplugging a charging gun can be realized, and the operation efficiency of the charging device is improved.
According to an aspect of the present invention, there is provided a mobile charging device including:
The travelling mechanism is arranged at the bottom of the portal frame; the portal frame comprises a telescopic cross beam and a supporting component, the telescopic cross beam is arranged on the supporting component, and the travelling mechanism is arranged at the bottom of the supporting component;
the charging assembly is arranged on the portal frame;
The movable charging device is used for executing a first running mode according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body when receiving a charging or discharging command, and automatically navigating and running to a parking space where the vehicle is parked; executing a second walking mode, positioning a charging port of the vehicle, controlling a first charging gun to be connected to the charging port through a charging assembly, and arranging the first charging gun on a fixed charging pile;
Wherein the first travel pattern includes: controlling the telescopic cross beam to retract to the shortest state and lock, and controlling the supporting component to retract to the shortest state and lock; controlling the travelling mechanism to travel along the direction of telescopic movement of the telescopic cross beam;
the second walking mode includes: controlling the extending length of the telescopic cross beam to be larger than the length of the vehicle and locking, and controlling the extending height of the supporting component to be higher than the height of the vehicle and locking; the travelling mechanism is controlled to travel along the direction perpendicular to the telescopic movement of the telescopic cross beam.
Optionally, the support assembly includes a first support assembly and a second support assembly; the travelling mechanism comprises a first travelling wheel and a second travelling wheel which can turn;
The first walking wheel sets up in the bottom of first supporting component, and the second walking wheel sets up in the bottom of second supporting component, but the both ends of scalable crossbeam are connected respectively at the top of first supporting component and the top of second supporting component.
Optionally, the first support component comprises a first telescopic support column, a first column base, a first base telescopic arm and a second base telescopic arm, wherein the first base telescopic arm and the second base telescopic arm are arranged at two ends of the first column base; the first telescopic supporting upright post is arranged on the first upright post base;
the first travelling wheel is arranged at the bottoms of the first base telescopic arm and the second base telescopic arm;
The second support assembly comprises a second telescopic support column, a second column base, a third base telescopic arm and a fourth base telescopic arm which are arranged at two end parts of the second column base; the second telescopic supporting upright post is arranged on the second upright post base;
the second walking wheel is arranged at the bottoms of the third base telescopic arm and the fourth base telescopic arm.
Optionally, the charging assembly comprises a mechanical arm lifting platform, a mechanical arm and a grabbing paw, wherein the mechanical arm is connected with the mechanical arm lifting platform and the grabbing paw;
the movable charging device is used for connecting the first charging gun into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing paw.
Optionally, the arm is installed on the arm elevating platform, and the arm elevating platform is installed on the guide rail of scalable crossbeam, and the arm elevating platform can be followed the flexible direction of motion of scalable crossbeam and moved.
Optionally, the charging assembly further comprises a second charging gun and an energy storage module, and the second charging gun is connected with the energy storage module; the energy storage module is arranged on the telescopic cross beam and/or the supporting component;
The movable charging device is used for connecting the second charging gun into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing claw if the fixed charging pile is not installed on the parking space where the vehicle is requested.
According to another aspect of the present invention, there is provided a control method of a mobile charging device including: the travelling mechanism is arranged at the bottom of the portal frame; the portal frame comprises a telescopic cross beam and a supporting component, the telescopic cross beam is arranged on the supporting component, and the travelling mechanism is arranged at the bottom of the supporting component; a charging assembly; the device is arranged on the portal frame;
the control method comprises the following steps:
When a charging or discharging command is received, a first running mode is executed according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body, and the vehicle automatically navigates and walks to a parking space where the vehicle requiring charging is parked;
executing a second walking mode, positioning a charging port of the vehicle, controlling a first charging gun to be connected to the charging port through a charging assembly, and arranging the first charging gun on a fixed charging pile;
Wherein the first travel pattern includes: controlling the telescopic cross beam to retract to the shortest state and lock, and controlling the supporting component to retract to the shortest state and lock; controlling the travelling mechanism to travel along the direction of telescopic movement of the telescopic cross beam;
the second walking mode includes: controlling the extending length of the telescopic cross beam to be larger than the length state of the vehicle and locking, wherein the extending height of the supporting component is higher than the height of the vehicle and locking; the travelling mechanism is controlled to travel along the direction perpendicular to the telescopic movement of the telescopic cross beam.
Optionally, the support assembly includes a first support assembly and a second support assembly; the travelling mechanism comprises a first travelling wheel and a second travelling wheel which can turn; the first travelling wheel is arranged at the bottom of the first supporting component, the second travelling wheel is arranged at the bottom of the second supporting component, and the top of the first supporting component and the top of the second supporting component are respectively connected with two ends of the telescopic cross beam; the first support assembly comprises a first telescopic support column, a first column base, a first base telescopic arm and a second base telescopic arm, wherein the first base telescopic arm and the second base telescopic arm are arranged at two end parts of the first column base; the first travelling wheel is arranged at the bottoms of the first base telescopic arm and the second base telescopic arm;
The second support assembly comprises a second telescopic support column, a second column base, a third base telescopic arm and a fourth base telescopic arm which are arranged at two end parts of the second column base; the second travelling wheel is arranged at the bottoms of the third base telescopic arm and the fourth base telescopic arm;
before executing the second walking mode, further comprising:
controlling the telescopic arms of the third base and the fourth base to retract to the shortest state, controlling the second upright base to rotate to be perpendicular to the first upright base, and enabling the second upright base to be parallel to the telescopic direction of the telescopic cross beam; controlling the telescopic arms of the first base and the telescopic arms of the second base to extend to the longest state, controlling the extending length of the telescopic cross beam to be larger than the length state of the vehicle and locking, and controlling the extending height of the supporting component to be higher than the height of the vehicle and locking; controlling the first travelling wheel and the second travelling wheel to travel along the direction of telescopic movement of the telescopic cross beam;
Executing the second walking mode includes: a second travel mode is performed across the vehicles into between the two vehicles.
Optionally, the charging mouth of location vehicle and pass through the first rifle that charges of charging assembly control and insert the charging mouth, first rifle that charges sets up on fixed electric pile that fills, include:
And positioning the space pose of the first charging gun, adjusting the pose of the tail end of the mechanical arm, automatically grabbing the first charging gun, and then controlling the movement track of the mechanical arm to pull out the first charging gun so as to perform charging operation.
Optionally, the charging assembly further comprises a second charging gun and an energy storage module, and the second charging gun is connected with the energy storage module; the energy storage module is arranged on the telescopic cross beam and/or the supporting component; the control method further comprises the following steps:
and if the fixed charging pile is not installed on the parking space of the vehicle, the second charging gun is connected into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing claw.
According to the technical scheme, the portal frame and the travelling mechanism are arranged, the movable charging device is formed by combining the charging assembly, the charging or discharging instruction is received, the automatic navigation to the car body or the running mode crossing the car body is executed according to the positions of the charging ports of the parking space and the car, the problem that the charging gun can be plugged and unplugged no matter what car type the charging port is located is solved, and the beneficial effect of improving the operation efficiency of the charging device is achieved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a mobile charging device according to an embodiment of the present invention.
Fig. 2 is a schematic view of structural expansion, rotation and movement of a movable charging device according to an embodiment of the present invention.
Fig. 3 is a flowchart of a control method of a mobile charging device according to an embodiment of the present invention.
Fig. 4 is a specific flowchart of a control method of a mobile charging device according to an embodiment of the present invention.
In fig. 1: 40. a mechanical arm lifting table; 50. a mechanical arm; 60. grabbing a paw; 100. a retractable cross beam; 101. a first telescopic support column; 102. a first upright base; 103. a first base telescoping arm; 104. a second base telescoping arm; 105. a second telescopic support column; 106. a second column base; 107. a third base telescoping arm; 108. a fourth base telescoping arm; 201. a first traveling wheel; 202. a second travelling wheel; 300. fixing the charging pile; 301. a first charging gun; 302. a second charging gun; 303. and an energy storage module.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic structural diagram of a mobile charging device according to an embodiment of the present invention. As shown in fig. 1, a mobile charging device includes:
The travelling mechanism is arranged at the bottom of the portal frame; the portal frame comprises a telescopic cross beam 100 and a supporting component, wherein the telescopic cross beam 100 is arranged on the supporting component, and the travelling mechanism is arranged at the bottom of the supporting component;
the charging assembly is arranged on the portal frame;
The movable charging device is used for executing a first running mode according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body when receiving a charging or discharging command, and automatically navigating and running to a parking space where the vehicle is parked; executing a second walking mode, positioning a charging port of the vehicle, controlling a first charging gun 301 to be connected to the charging port through a charging assembly, and setting the first charging gun 301 on a fixed charging pile 300;
Wherein the first travel pattern includes: controlling the telescopic cross beam 100 to retract to the shortest state and lock, and the support assembly to retract to the shortest state and lock; controlling the travelling mechanism to travel along the direction of telescopic movement of the telescopic cross beam 100;
the second walking mode includes: the telescopic cross beam 100 is controlled to extend to a length longer than the length of the vehicle and locked, and the supporting assembly extends to a height higher than the height of the vehicle and locked; the travel mechanism is controlled to travel in a direction perpendicular to the telescopic movement of the telescopic cross beam 100.
In this embodiment, the portal frame is a portal frame composed of two upright posts and one cross beam. The travelling mechanism is a structure with a travelling function. The advancing mechanism is arranged at the bottom of the portal frame, and the advancing mechanism and the portal frame are combined to realize free movement of the charging device. The portal frame comprises a telescopic cross beam 100 and supporting components, wherein two ends of the telescopic cross beam 100 are connected with one ends of the two supporting components, and the other ends of the supporting components are connected with the travelling mechanism to form a movable portal frame structure. The charging gun is divided into a direct current gun and an alternating current gun, wherein the direct current gun is a high-current and high-power charging gun and is generally arranged at a quick charging station of a new energy automobile, and the alternating current gun is generally used for household use. The charging assembly is mounted on the portal frame. The portal frame, the travelling mechanism and the charging assembly form a movable charging device, and when the movable charging device is used for receiving a charging or discharging command, a first travelling mode is executed according to the parking space coordinates and the position information of a charging port of a vehicle on a vehicle body, specifically: the telescopic cross beam 100 is controlled to retract to the shortest state and locked, the supporting component is controlled to retract to the shortest state and locked, the travelling mechanism is controlled to travel along the telescopic movement direction of the telescopic cross beam 100, and the vehicle automatically navigates and travels to a parking place where the vehicle is parked; when the movable charging device walks to a position where the vehicle to be charged is stopped, a second walking mode is executed, specifically: the extension length of the telescopic cross beam 100 is controlled to be larger than the length of the vehicle and locked, the extension height of the supporting component is higher than the height of the vehicle and locked, the travelling mechanism is controlled to travel along the direction perpendicular to the telescopic movement of the telescopic cross beam 100, then the charging port of the vehicle is positioned, the first charging gun 301 is controlled to be connected into the charging port through the charging component, and the charging operation is completed. For example, the length of the vehicle is 4 meters and the height is 2 meters, and then the length of the telescopic cross beam 100 extending is 5 meters, and the height of the supporting component extending is 2.5 meters, which meets the requirement, and no scratch occurs with the vehicle body. The first charging gun 301 is disposed on the fixed charging pile 300, and when the fixed charging pile accessory vehicle has a charging requirement, the first charging gun 301 on the fixed charging pile can be connected with a charging port of the vehicle. The realization is no matter what type the vehicle that waits to charge, and the position that the mouth is located the automobile body charges, and portable charging device can both remove to charge mouthful one side, is connected first rifle 301 with the mouth that charges. Also, if the vehicle is charged, and there is a need to remove the charging gun, the operation can be completed according to the above.
According to the technical scheme of the embodiment, the movable charging device is formed by the portal frame, the advancing mechanism and the charging assembly, when the movable charging device receives a charging or discharging command, the retractable cross beam is controlled to retract to the shortest state and lock according to the parking space coordinates and the position information of the charging port of the vehicle on the vehicle body, the supporting assembly is controlled to retract to the shortest state and lock, the advancing mechanism is controlled to travel along the direction of the retractable cross beam in a retractable motion mode, the movable charging device automatically navigates and walks to the parking space where the vehicle stops, the extending length of the retractable cross beam is controlled to be greater than the length of the vehicle and lock, the extending height of the supporting assembly is controlled to be greater than the height of the vehicle and lock, the advancing mechanism is controlled to travel along the direction perpendicular to the retractable motion of the retractable cross beam, the charging port of the vehicle is positioned, the charging port of the vehicle is controlled to be accessed to or pulled out from the charging port by the charging assembly, the charging or discharging operation is completed, no matter what vehicle type the vehicle is positioned on the vehicle, the charging port is positioned on one side of the charging port, the movable charging device can be moved to the charging port side, the charging port is realized, and the operation efficiency of the movable charging device is improved.
On the basis of the technical scheme, referring to the content shown in fig. 1, the support assembly comprises a first support assembly and a second support assembly; the travelling mechanism comprises a first travelling wheel 201 and a second travelling wheel 202 which can be turned;
the first travelling wheel 201 is arranged at the bottom of the first supporting component, the second travelling wheel 202 is arranged at the bottom of the second supporting component, and the top of the first supporting component and the top of the second supporting component are respectively connected with two ends of the telescopic cross beam 100.
In this embodiment, the top parts of the first support assembly and the second support assembly are respectively connected to two ends of the telescopic beam 100, and the bottom ends of the first support assembly and the second support assembly are respectively connected to the first travelling wheel 201 and the second travelling wheel 202. The first travelling wheel 201 and the second travelling wheel 202 are steerable wheels, and the first travelling wheel 201 and the second travelling wheel 202 can rotate 90 degrees according to actual requirements to realize reversing travelling.
On the basis of the above technical solution, continuing to refer to the content shown in fig. 1, the first support assembly includes a first telescopic support column 101, a first column base 102, a first base telescopic arm 103 and a second base telescopic arm 104 disposed at two ends of the first column base; the first telescopic support column 101 is arranged on the first column base 102;
The first travelling wheel 201 is arranged at the bottoms of the first base telescopic arm 103 and the second base telescopic arm 104;
The second support assembly comprises a second telescopic support column 105, a second column base 106, a third base telescopic arm 107 and a fourth base telescopic arm 108 which are arranged at two ends of the second column base; the second telescopic support column 105 is arranged on the second column base 106;
The second travelling wheel 202 is provided at the bottom of the third base telescopic arm 107 and the fourth base telescopic arm 108.
In the present embodiment, the first telescopic support column 101 and the second telescopic support column 105 are respectively disposed on the first column base 102 and the second column base 106, and the first column base 102 has the first base telescopic arm 103 and the second base telescopic arm 104 at both ends, and the second column base 106 has the third base telescopic arm 107 and the fourth base telescopic arm 108 at both ends. Walking wheels are connected below the four telescopic arms of the base. Based on this structure, not only can realize movable effect, can realize the direction of rotation walking again.
On the basis of the above technical solution, continuing to refer to the content shown in fig. 1, the charging assembly comprises a mechanical arm lifting platform 40, a mechanical arm 50 and a grabbing hand claw 60, wherein the mechanical arm 50 is connected with the mechanical arm lifting platform 40 and the grabbing hand claw 60;
The movable charging device is used for connecting the first charging gun 301 to a charging port through the mechanical arm lifting platform 40, the mechanical arm 50 and the grabbing hand 60.
In the present embodiment, the robot arm lifting table 40 is a device that can move the robot arm up and down. The grip pawl 60 can perform the operation of gripping the charging gun and inserting or extracting the charging gun into or from the charging port by control. The arm lift 40, the gripper 60, and the arm 50 are connected.
On the basis of the above technical solution, continuing to refer to what shown in fig. 1, the mechanical arm 50 is mounted on the mechanical arm lifting platform 40, the mechanical arm lifting platform 40 is mounted on the guide rail of the telescopic cross beam 100, and the mechanical arm lifting platform 40 can move along the telescopic movement direction of the telescopic cross beam 100.
In the present embodiment, the arm lift 40 is mounted on the guide rail of the telescopic beam 100, so that the arm 50 can move up and down along with the arm lift 40 and also move in the telescopic direction of the telescopic beam 100.
On the basis of the above technical solution, reference should still be made to what is shown in fig. 1, and the charging assembly further includes a second charging gun 302 and an energy storage module 303, where the second charging gun 302 is connected to the energy storage module 303; the energy storage module 303 is disposed on the telescopic beam 100 and/or the support assembly 102;
the movable charging device is used for connecting the second charging gun 302 to the charging port through the mechanical arm lifting platform 40, the mechanical arm 50 and the grabbing hand 60 if the fixed charging pile 300 is not installed on the parking space of the requested vehicle.
Fig. 2 is a schematic view of structural expansion, rotation and movement of a movable charging device according to an embodiment of the present invention. As shown in fig. 1 and 2, a movable charging device operates on the principle that: when a vehicle has a charging request, a movable charging device receives a charging command, according to the position information of a parking space coordinate and a charging port of the vehicle on the vehicle body, controls the telescopic cross beam to retract to the shortest state and lock, controls the first telescopic support upright post 101 and the second telescopic support upright post 105 to retract to the shortest state and lock, controls the travelling wheel to walk along the telescopic movement direction of the telescopic cross beam 100, automatically navigates and walks to a parking space where the vehicle stops, then controls the extending length of the telescopic cross beam 100 to be longer than the length of the vehicle and lock, controls the extending height of the first telescopic support upright post 101 and the second telescopic support upright post 105 to be higher than the height of the vehicle and lock, controls the travelling wheel to walk along the telescopic movement direction perpendicular to the telescopic cross beam 100, positions the charging port of the vehicle, controls the mechanical arm 50 and the grabbing claw 60 to grab a first charging gun 301 on the fixed charging pile 300 through the up-down or left-right movement of the mechanical arm lifting platform 40, and the first charging gun 301 is accessed to the charging port to complete the charging operation; if the fixed charging pile 300 is not installed on the parking space, the mechanical arm 50 and the grabbing claws 60 are controlled to grab the second charging gun 302 of the movable charging device through the up-down or left-right movement of the mechanical arm lifting table 40, and the second charging gun 302 is connected to a charging port to complete the charging operation.
When the vehicle is charged, the vehicle requests to stop charging, the movable charging device controls the telescopic beam 100 to retract to the shortest state and lock according to the position information of the parking space coordinates and the charging opening of the vehicle on the vehicle body, the first telescopic supporting column 101 and the second telescopic supporting column 105 retract to the shortest state and lock, the travelling wheel is controlled to walk along the telescopic movement direction of the telescopic beam 100, the vehicle automatically navigates and walks to the parking space where the vehicle stops, then the telescopic beam 100 is controlled to extend longer than the length of the vehicle and lock, the first telescopic supporting column 101 and the second telescopic supporting column 105 extend higher than the height of the vehicle and lock, the travelling wheel is controlled to walk along the direction perpendicular to the telescopic movement direction of the telescopic beam 100, the charging opening position of the vehicle is positioned, if the fixed charging pile 300 is installed on the parking space, the mechanical arm 50 and the grabbing hand claw 60 are controlled to grab the first charging gun 301, and the first charging gun 301 is placed at the original position of the fixed charging pile 300; if the fixed charging pile 300 is not installed on the parking space, the mechanical arm 50 and the grabbing claws 60 are controlled to grab the second charging gun 302 by moving the mechanical arm lifting table 40 up and down or left and right, and the second charging gun 302 is placed at the original position of the movable charging pile, so that the charging gun inserting and pulling operations are completed.
In the same way, the vehicle can be regarded as a distributed energy storage unit, the discharge can be carried out outside, and the principle and process of the gun inserting and pulling of the discharge are the same as those of the scheme.
In the technical scheme of the embodiment, when the movable charging device receives a charging instruction, according to the parking space coordinates and the position information of a vehicle charging port on a vehicle body, the telescopic cross beam is controlled to retract to the shortest state and locked, the first telescopic support column and the second telescopic support column retract to the shortest state and locked, the travelling wheel is controlled to travel along the telescopic movement direction of the telescopic cross beam, the movable charging device automatically navigates and travels to the parking space where the vehicle stops, afterwards, the extending length of the telescopic cross beam is controlled to be greater than the length of the vehicle and locked, the extending height of the first telescopic support column and the second telescopic support column is higher than the height of the vehicle and locked, the travelling wheel is controlled to travel along the telescopic movement direction of the telescopic cross beam, the charging port position of the vehicle is positioned, the mechanical arm and the grabbing paw are controlled to grab a charging gun and access the charging port through the mechanical arm lifting table, the charging operation is completed, no matter what vehicle type the charging port is located at what position of the vehicle body, the movable charging device can be moved to one side of the charging port, the gun inserting or pulling operation is realized, and the movable charging device and the charging device with the lifting of the vehicle body is ensured not to be rubbed, and the operation efficiency of the movable device is ensured.
Fig. 3 is a flowchart of a control method of a mobile charging device according to an embodiment of the present invention. The present embodiment is applicable to a case of controlling a mobile charging device, and the method may be performed by a mobile charging device provided in any of the embodiments of the present invention. As shown in fig. 1 and 3, the movable charging device includes: the travelling mechanism is arranged at the bottom of the portal frame; the portal frame comprises a telescopic cross beam 100 and a supporting component, wherein the telescopic cross beam 100 is arranged on the supporting component, and the travelling mechanism is arranged at the bottom of the supporting component; a charging assembly; is arranged on the portal frame.
The structure and composition of the movable charging device are explained in the above embodiments, and are not described herein.
The control method of the movable charging device comprises the following steps:
And S110, when a charging or discharging command is received, executing a first traveling mode according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body, and automatically navigating and traveling to a parking space where the vehicle requiring charging is parked.
Wherein the first travel pattern includes: controlling the telescopic cross beam to retract to the shortest state and lock, and controlling the supporting component to retract to the shortest state and lock; the travelling mechanism is controlled to travel along the direction of the telescopic movement of the telescopic cross beam.
S120, executing a second walking mode, then positioning a charging port of the vehicle, controlling a first charging gun to be connected into the charging port through a charging assembly, and setting the first charging gun on a fixed charging pile.
Wherein the second walking mode includes: controlling the extending length of the telescopic cross beam to be larger than the length state of the vehicle and locking, wherein the extending height of the supporting component is higher than the height of the vehicle and locking; the travelling mechanism is controlled to travel along the direction perpendicular to the telescopic movement of the telescopic cross beam.
According to the technical scheme, the movable charging device is controlled, and specifically: when the movable charging device receives a charging or discharging command, the telescopic cross beam is controlled to retract to the shortest state and locked according to the parking space coordinates and the position information of the charging port of the vehicle on the vehicle body, the supporting component is controlled to retract to the shortest state and locked, the traveling mechanism is controlled to travel along the telescopic movement direction of the telescopic cross beam, the vehicle is automatically navigated and travels to the parking space where the vehicle requiring charging stops, the extending length of the telescopic cross beam is controlled to be larger than the length state of the vehicle and locked, the extending height of the supporting component is higher than the height of the vehicle and locked, the traveling mechanism is controlled to travel along the direction perpendicular to the telescopic cross beam, the charging port of the vehicle is positioned, and the first charging gun is controlled to be connected to the charging port through the charging component. The movable charging device can be controlled to move to one side of the charging port no matter what type of vehicle is, the gun inserting or pulling operation is realized, the movable charging device is not scratched with the vehicle, and the operation efficiency of the movable charging device is improved.
Fig. 4 is a specific flowchart of a control method of a mobile charging device according to an embodiment of the present invention. As shown in fig. 1 and 4, the support assembly includes a first support assembly and a second support assembly; the travelling mechanism comprises a first travelling wheel 201 and a second travelling wheel 202 which can be turned; the first travelling wheel 201 is arranged at the bottom of the first supporting component, the second travelling wheel 202 is arranged at the bottom of the second supporting component, and the top of the first supporting component and the top of the second supporting component are respectively connected with two ends of the telescopic cross beam 100; the first support assembly comprises a first telescopic support column 101, a first column base 102, a first base telescopic arm 103 and a second base telescopic arm 104 which are arranged at two ends of the first column base; the first travelling wheel 201 is arranged at the bottoms of the first base telescopic arm 103 and the second base telescopic arm 104;
The second support assembly comprises a second telescopic support column 105, a second column base 106, a third base telescopic arm 107 and a fourth base telescopic arm 108 which are arranged at two ends of the second column base; the second travelling wheel 202 is provided at the bottom of the third base telescopic arm 107 and the fourth base telescopic arm 108.
And S210, executing a first travel mode according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body when a charging or discharging command is received, and automatically navigating and traveling to a parking space where the vehicle requiring charging is parked.
Wherein the first travel pattern includes: controlling the telescopic cross beam to retract to the shortest state and lock, and controlling the supporting component to retract to the shortest state and lock; the travelling mechanism is controlled to travel along the direction of the telescopic movement of the telescopic cross beam.
Step 210 is the same as step 110, and the above embodiments are described and will not be repeated here.
S221, controlling the telescopic arms of the third base and the fourth base to retract to the shortest state, controlling the second upright base to rotate to be perpendicular to the first upright base, and enabling the second upright base to be parallel to the telescopic direction of the telescopic cross beam.
The movable charging device is controlled to walk along the telescopic direction of the telescopic cross beam, so that the movable charging device can walk between vehicles conveniently, and when the distance between the vehicles is smaller, the movable charging device can be controlled to walk between the two vehicles by the method.
S222, controlling the first base telescopic arm and the second base telescopic arm to extend to the longest state, controlling the extending length of the telescopic cross beam to be larger than the length state of the vehicle and locking, and controlling the extending height of the supporting component to be higher than the height of the vehicle and locking.
The telescopic boom of the first base and the telescopic boom of the second base are controlled to extend to the longest state, the extending length of the telescopic cross beam is larger than the length state of the vehicle and locked, and the extending height of the supporting component is higher than the height of the vehicle and locked, so that the state of being capable of walking by straddling the vehicle is achieved.
S223, controlling the first travelling wheel and the second travelling wheel to travel along the direction of the telescopic beam in a telescopic motion.
The first travelling wheel and the second travelling wheel travel along the direction of telescopic movement of the telescopic cross beam, so that travelling between two vehicles can be realized.
S224, executing a second walking mode to cross the vehicles and enter between the two vehicles.
Wherein the movable charging device is required to perform a second walking mode across the vehicle to the other side of the vehicle when the charging port of the vehicle is on the other side.
Optionally, the charging mouth of location vehicle and pass through the first rifle that charges of charging assembly control and insert the charging mouth, first rifle that charges sets up on fixed electric pile that fills, include:
S225, positioning the space pose of the first charging gun, adjusting the pose of the tail end of the mechanical arm, automatically grabbing the first charging gun, and then controlling the motion track of the mechanical arm to pull out the first charging gun so as to perform charging operation.
Optionally, the charging assembly further includes a second charging gun 302 and an energy storage module 303, where the second charging gun 302 is connected to the energy storage module 303; the energy storage module 303 is disposed on the telescopic cross beam 100 and/or the support assembly.
The control method further comprises the following steps:
s230, if the fixed charging pile is not installed on the parking space of the vehicle, the second charging gun is connected into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing claw.
If the fixed charging pile is not installed on the parking space of the vehicle, the energy storage module of the movable charging device and the second charging gun are started, and the second charging gun is connected into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing paw, so that charging operation is completed.
According to the technical scheme, the movable charging device is controlled, and specifically: when the movable charging device receives a charging or discharging command, the telescopic cross beam is controlled to retract to the shortest state and locked according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body, the supporting component is controlled to retract to the shortest state and locked, the travelling mechanism is controlled to travel along the telescopic movement direction of the telescopic cross beam, and the vehicle is automatically navigated and travels to the parking space where the vehicle requiring charging is parked; controlling the telescopic arms of the third base and the fourth base to retract to the shortest state, controlling the second upright base to rotate to be perpendicular to the first upright base, and enabling the second upright base to be parallel to the telescopic direction of the telescopic cross beam; controlling the telescopic arms of the first base and the telescopic arms of the second base to extend to the longest state, controlling the extending length of the telescopic cross beam to be larger than the length state of the vehicle and locking, and controlling the extending height of the supporting component to be higher than the height of the vehicle and locking; controlling the first travelling wheel and the second travelling wheel to travel along the direction of telescopic movement of the telescopic cross beam; when the charging port of the vehicle is on the other side, the movable charging device needs to execute a second walking mode, and the vehicle is crossed to reach the other side of the vehicle; positioning the space pose of the first charging gun, adjusting the pose of the tail end of the mechanical arm, automatically grabbing the first charging gun, and then controlling the motion track of the mechanical arm to pull out the first charging gun so as to perform charging operation; and if the fixed charging pile is not installed on the parking space of the vehicle, the second charging gun is connected into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing claw. The movable charging device can be controlled to move to one side of the charging port no matter what type of vehicle is, the gun inserting or pulling operation is realized, the movable charging device is not scratched with the vehicle, and the operation efficiency of the movable charging device is improved.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (7)

1. A mobile charging device, comprising:
The device comprises a portal frame and a travelling mechanism, wherein the travelling mechanism is arranged at the bottom of the portal frame; the portal frame comprises a telescopic cross beam and a supporting component, wherein the telescopic cross beam is arranged on the supporting component, and the travelling mechanism is arranged at the bottom of the supporting component;
The charging assembly is arranged on the portal frame;
The movable charging device is used for executing a first running mode according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body when receiving a charging or discharging command, and automatically navigating and running to a parking space where the vehicle is parked; executing a second walking mode, positioning a charging port of the vehicle, and controlling a first charging gun to be connected to the charging port through the charging assembly, wherein the first charging gun is arranged on a fixed charging pile;
Wherein the first travel pattern includes: controlling the telescopic cross beam to retract to the shortest state and lock, and controlling the supporting component to retract to the shortest state and lock; controlling the travelling mechanism to travel along the telescopic movement direction of the telescopic cross beam;
The second walking mode includes: controlling the extension length of the telescopic cross beam to be larger than the length of the vehicle and locking, wherein the extension height of the supporting component is higher than the height of the vehicle and locking; controlling the travelling mechanism to travel along a direction perpendicular to the telescopic movement of the telescopic cross beam;
The support assembly comprises a first support assembly and a second support assembly; the travelling mechanism comprises a first travelling wheel and a second travelling wheel which can be turned;
the first travelling wheel is arranged at the bottom of the first supporting component, the second travelling wheel is arranged at the bottom of the second supporting component, and the top of the first supporting component and the top of the second supporting component are respectively connected with two ends of the telescopic cross beam;
the first support assembly comprises a first telescopic support upright, a first upright base, a first base telescopic arm and a second base telescopic arm, wherein the first base telescopic arm and the second base telescopic arm are arranged at two end parts of the first upright base; the first telescopic supporting upright post is arranged on the first upright post base;
The first travelling wheel is arranged at the bottoms of the first base telescopic arm and the second base telescopic arm;
the second support assembly comprises a second telescopic support upright, a second upright base, a third base telescopic arm and a fourth base telescopic arm which are arranged at two ends of the second upright base; the second telescopic supporting upright post is arranged on the second upright post base;
the second travelling wheel is arranged at the bottoms of the third base telescopic arm and the fourth base telescopic arm.
2. The mobile charging device of claim 1, wherein the charging assembly comprises a robotic arm lift, a robotic arm, and a grasping jaw, the robotic arm being coupled to the robotic arm lift and the grasping jaw;
The movable charging device is used for enabling the first charging gun to be connected into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing paw.
3. The mobile charging device of claim 2, wherein the robotic arm is mounted on a robotic arm lift mounted on a rail of the telescoping beam, the robotic arm lift being movable in a telescoping motion direction of the telescoping beam.
4. The mobile charging device of claim 2, wherein the charging assembly further comprises a second charging gun and an energy storage module, the second charging gun being connected to the energy storage module; the energy storage module is arranged on the telescopic cross beam and/or the supporting component;
The movable charging device is used for connecting the second charging gun into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing paw if the fixed charging pile is not installed on the parking space where the vehicle is requested.
5. A control method of a movable charging device, characterized in that the movable charging device comprises: the device comprises a portal frame and a travelling mechanism, wherein the travelling mechanism is arranged at the bottom of the portal frame; the portal frame comprises a telescopic cross beam and a supporting component, wherein the telescopic cross beam is arranged on the supporting component, and the travelling mechanism is arranged at the bottom of the supporting component; a charging assembly; the device is arranged on the portal frame;
The control method comprises the following steps:
When a charging or discharging command is received, a first running mode is executed according to the parking space coordinates and the position information of a charging port of the vehicle on the vehicle body, and the vehicle automatically navigates and walks to a parking space where the vehicle requiring charging is parked;
Executing a second walking mode, positioning a charging port of the vehicle, and controlling a first charging gun to be connected to the charging port through the charging assembly, wherein the first charging gun is arranged on a fixed charging pile;
Wherein the first travel pattern includes: controlling the telescopic cross beam to retract to the shortest state and lock, and controlling the supporting component to retract to the shortest state and lock; controlling the travelling mechanism to travel along the telescopic movement direction of the telescopic cross beam;
the second walking mode includes: controlling the extension length of the telescopic cross beam to be larger than the length state of the vehicle and locking, wherein the extension height of the supporting component is higher than the height of the vehicle and locking; controlling the travelling mechanism to travel along a direction perpendicular to the telescopic movement of the telescopic cross beam;
The support assembly comprises a first support assembly and a second support assembly; the travelling mechanism comprises a first travelling wheel and a second travelling wheel which can be turned; the first travelling wheel is arranged at the bottom of the first supporting component, the second travelling wheel is arranged at the bottom of the second supporting component, and the top of the first supporting component and the top of the second supporting component are respectively connected with two ends of the telescopic cross beam; the first support assembly comprises a first telescopic support upright, a first upright base, a first base telescopic arm and a second base telescopic arm, wherein the first base telescopic arm and the second base telescopic arm are arranged at two end parts of the first upright base; the first travelling wheel is arranged at the bottoms of the first base telescopic arm and the second base telescopic arm;
The second support assembly comprises a second telescopic support upright, a second upright base, a third base telescopic arm and a fourth base telescopic arm which are arranged at two ends of the second upright base; the second travelling wheel is arranged at the bottoms of the third base telescopic arm and the fourth base telescopic arm;
before executing the second walking mode, further comprising:
Controlling the telescopic arms of the third base and the fourth base to retract to the shortest state, controlling the second upright base to rotate to be perpendicular to the first upright base, and enabling the second upright base to be parallel to the telescopic direction of the telescopic cross beam; controlling the telescopic arms of the first base and the telescopic arms of the second base to extend to the longest state, controlling the extending length of the telescopic cross beam to be larger than the length state of the vehicle and locking, and controlling the extending height of the supporting component to be higher than the height of the vehicle and locking; controlling the first travelling wheel and the second travelling wheel to travel along the direction of telescopic movement of the telescopic cross beam;
executing the second walking mode includes: and executing the second walking mode to enter between the two vehicles across the vehicles.
6. The method of claim 5, wherein positioning a charging port of a vehicle and controlling a first charging gun to access the charging port via the charging assembly, the first charging gun being disposed on a fixed charging stake, comprises:
and positioning the space pose of the first charging gun, adjusting the pose of the tail end of the mechanical arm, automatically grabbing the first charging gun, and then controlling the motion track of the mechanical arm to pull out the first charging gun so as to perform charging operation.
7. The control method of claim 5, wherein the charging assembly further comprises a second charging gun and an energy storage module, the second charging gun being connected to the energy storage module; the energy storage module is arranged on the telescopic cross beam and/or the supporting component;
The control method further includes:
And if the fixed charging pile is not installed on the parking space of the vehicle, the second charging gun is connected into the charging port through the mechanical arm lifting table, the mechanical arm and the grabbing claw.
CN202311344809.1A 2023-10-17 2023-10-17 Movable charging device and control method thereof Active CN117341514B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110254271A (en) * 2019-06-21 2019-09-20 爱驰汽车有限公司 Portable charger and its application method
CN214450357U (en) * 2021-03-31 2021-10-22 河北高翔地理信息技术服务有限公司 Unmanned aerial vehicle continuation of journey charging platform
WO2023103215A1 (en) * 2021-12-09 2023-06-15 同辉电子科技股份有限公司 Charging gun charging self-adaptive auxiliary system and method for using same
CN116638993A (en) * 2023-06-25 2023-08-25 立物(北京)科技有限公司 Autonomous walking energy charging robot and operation method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110254271A (en) * 2019-06-21 2019-09-20 爱驰汽车有限公司 Portable charger and its application method
CN214450357U (en) * 2021-03-31 2021-10-22 河北高翔地理信息技术服务有限公司 Unmanned aerial vehicle continuation of journey charging platform
WO2023103215A1 (en) * 2021-12-09 2023-06-15 同辉电子科技股份有限公司 Charging gun charging self-adaptive auxiliary system and method for using same
CN116638993A (en) * 2023-06-25 2023-08-25 立物(北京)科技有限公司 Autonomous walking energy charging robot and operation method

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