CN219007640U

CN219007640U - Four-wheel independent driving steering suspension type movable charging pile system

Info

Publication number: CN219007640U
Application number: CN202320174890.2U
Authority: CN
Inventors: 杨程; 唐久久
Original assignee: Xi'an Tuweigu Innovation Technology Co ltd
Current assignee: Guangzhou Xiaosheng Robotics Co ltd
Priority date: 2023-02-10
Filing date: 2023-02-10
Publication date: 2023-05-12
Anticipated expiration: 2033-02-10

Abstract

The utility model provides a four-wheel independent drive turns to suspension type removes fills electric pile system, includes suspension track, suspension type fills electric pile, drive module, contact power supply line, control unit, suspension track lays through unsettled mode, suspension type fills electric pile and is provided with a plurality of, all hangs on suspension track, drive module can drive suspension type fills electric pile and remove along suspension track's track route to and drive suspension type fills electric pile and carry out straight line or turn to according to the needs of route of traveling in suspension track intersection and turning section position department, contact power supply line lays along suspension track's track route, suspension type fills electric pile and gets the electricity from contact power supply line through the mode that contact got the electricity. The utility model relates to the field of charging of new energy automobiles, and discloses a pile-finding mode.

Description

Four-wheel independent driving steering suspension type movable charging pile system

Technical Field

The utility model relates to the field of charging of new energy automobiles, in particular to a four-wheel independent driving steering suspension type mobile charging pile system.

Background

Electric vehicles are the hottest automobile development and have the most popular direction of qi and potential, and electric vehicles of various brands are vigorously developed like spring bamboo shoots after rain. Along with the rapid rise of the holding quantity of the electric automobile, how to realize convenient and rapid charging and energy supplementing becomes a problem that vast electric automobile owners have to face.

At present, the types of charging piles are mainly divided into two types, namely commercial public charging piles and personal charging piles which are installed by a vehicle owner.

For commercial public charging piles, the charging service provider is characterized in that a specific charging point is required to be defined, the charging point is usually a leased specific site, the charging service provider is provided with a certain number of charging piles at the charging point, and the electric automobile is required to be driven to the charging point for charging when having a charging requirement. Even though all large electric automobile manufacturers are pushing high power and high voltage to charge quickly at present, the charging of the electric automobile still cannot complete energy supplement in a short time like the oiling of the traditional fuel oil automobile, and the time for one electric automobile to complete one charging is usually 1 hour to a plurality of hours according to different charging powers. Therefore, the commercial public charging piles have a plurality of problems, firstly, a vehicle owner has to drive the vehicle to a charging point for charging, and because the number of the charging piles is limited and the charging time of a single electric vehicle is long, the situation that the charging position needs to be queued may exist, particularly when the holding quantity of the electric vehicle is larger and larger, the demand for the charging piles is also increased, if the number of the charging piles is not increased, the queuing phenomenon is necessarily caused to be serious, the field of the charging point is limited, and the field needs to be expanded by increasing the number of the charging piles, so that the cost is very needed in the current society of the size of the electric vehicle. In addition, because the vehicle owner needs to drive the vehicle to the charging point for charging, the time and the energy of the vehicle owner are occupied in the processes of searching the charging point, waiting in line and waiting for the completion of charging, and a lot of inconvenience is brought to the vehicle owner.

For personal charging piles installed by car owners, many car owners usually install the charging piles beside private parking spaces of the car owners, and the charging piles are relatively convenient to use as long as the charging piles are installed, but after all, the situation of using the charging piles is different for each person, and if the common parking places are not fixed, the advantages of the personal charging piles are limited. In addition, electric automobile fills electric pile and belongs to super high power electricity demand, and the power supply line of many districts or property does not support a large amount of installation personal fills electric pile, therefore also has more problems in the installation link. And along with the increasing holding quantity of electric vehicles, if each electric vehicle owner installs a personal charging pile, the electric vehicle is also a great resource waste behavior.

Therefore, it is necessary to develop an intensive electric automobile charging scheme, namely, an owner does not need to specially find a charging point, charging can be achieved by stopping the automobile in a service coverage area where the intensive electric automobile charging scheme is deployed, a process that the owner finds the charging point, drives the automobile to the charging point and waits for charging in a queue is omitted, the use is very convenient, the number of charging piles can be flexibly deployed and increased according to charging requirements, a large number of charging pile resources are not idle, and the charging requirements can be met to the greatest extent.

The four-wheel independent-drive steering suspension type mobile charging pile system is used for solving the charging problem of electric vehicles, taking various parking lots most suitable for deployment as an example, under the condition that the number of charging piles is not required to be deployed in a large number, the electric vehicles in the parking area of the parking lot can be charged along with the parking, no matter where the electric vehicles are parked in the parking lot, the charging can be conveniently realized, a large number of existing parking spaces of the parking lot are utilized, no special charging station is required to be built, no vehicle owner is required to specially park the vehicle in a certain parking space, and the quick and convenient charging can be realized as long as the parking area is the area which can be covered by the system.

Disclosure of Invention

The utility model aims to provide a suspension type mobile charging pile system with four-wheel independent drive steering, which adopts a suspension track four-wheel independent drive steering scheme, a vehicle owner does not need to specially find a charging point, and only needs to stop the vehicle in a service coverage area where the system is deployed and then to deliver a charging requirement, and a suspension type charging pile in an idle state can automatically move to the position where the vehicle owner is located along a track, so that the electric vehicle can be conveniently and quickly charged, the whole process omits the processes of the vehicle owner for finding the charging point, driving the vehicle to the charging point and waiting for charging in a queuing, the use is very convenient, the number of charging piles can be flexibly deployed and increased according to the charging requirement, a large number of charging pile resources can not be idle, and the charging requirement can be met to the greatest extent.

In order to achieve the above object, the corresponding technical scheme is as follows:

the utility model provides a suspension type mobile charging pile system that four-wheel independent drive turned to, its characterized in that includes suspension track, suspension type fills electric pile, drive module, contact power supply line, the control unit, suspension track lays through unsettled mode, including the track bearing face, suspension track's track route includes a plurality of straight line section, a plurality of intersection and is equal to or more zero turning section, it is to be noted that straight line section does not require the track of straight line section completely, but indicates the track section that does not divide and turn by a wide margin, the intersection can be mutually perpendicular's intersection, also can be mutually perpendicular's intersection, still can be T shape or Y shape intersection, turning section refers to the track section that needs to turn by a wide margin but does not divide. The utility model discloses a power supply system, including suspension type charging pile, control unit, contact type charging pile, drive module, control unit, suspension type charging pile and contact type charging pile, suspension type charging pile is provided with a plurality of, all hangs on the suspension rail, drive module can drive under the control of control unit suspension type charging pile is followed suspension rail's track route removes, and drive suspension type charging pile carries out straight line or turns to according to the needs of route of traveling in suspension rail's intersection and turning section position department, contact type power supply line is followed suspension rail's track route lays, suspension type charging pile is followed through contact type power supply line gets the electricity.

Preferably, in order to optimize the track layout and reduce the deployment cost, the paths of the suspension tracks are designed according to the parking space layout of each parking lot, preferably, most of the paths of the suspension tracks are designed in one-to-one correspondence with the parking space lines of the parking lot, and the suspension tracks are arranged above the vehicle side when the vehicle is parked in any parking space of the parking lot. According to the observation of various parking lots, most parking lots are divided into parking lot blocks, a plurality of adjacent parking lots are usually arranged in one parking lot block, and a passageway is reserved between different parking lot blocks or occupied by other public facilities. According to the parking lot layout, the connecting section track is preferably adopted between the parking lot blocks, so that any one suspension type charging pile can reach any one parking lot block of the whole parking lot, even any one parking lot, the maximum utilization of each suspension type charging pile can be realized, resources are saved, cost is reduced, more electric vehicles can be served as much as possible under the condition that the number of the suspension type charging piles is certain, and more convenient and quick scheduling can be realized for the suspension type charging piles. Of course, the layout of each parking lot is different, the charging requirements are also different, and a specific suspension track layout path is required to be subjected to field investigation on the parking space characteristics and the field characteristics of each parking lot, and then specific design is performed by combining actual requirements and construction cost comprehensive consideration.

The driving module comprises a driving wheel independent in-situ steering module, and the driving wheel independent in-situ steering module is used for enabling the suspension type charging pile to steer at the position of an intersection or a turning section of the suspension track and to move along a suspension track path after steering under the driving of the driving module after steering.

The driving wheel independent in-situ steering module comprises four independent steering driving wheel modules which are arranged along the horizontal direction according to the four corners of a square, each independent steering driving wheel module comprises a steering motor, a power motor, a rotating frame and steering wheels, the tread of each steering wheel is contacted with the track bearing surface in the motion process, the power motor is arranged on the rotating frame, the rotating frame is fixedly connected with the rotating shaft of the steering motor, the steering wheels are provided with rotary power by the power motor, the rotating shaft of the steering motor is in the vertical direction, the rotating shaft of the power motor is in the horizontal direction, the axial lead of the rotating shaft of the steering motor is intersected with the axial lead of the rotating shaft of the power motor, the axial lead of the rotating shaft of the steering motor passes through the center point of the tread of the steering wheel contacted with the track bearing surface, and each steering wheel can independently rotate in-situ around the center point of the tread contacted with the track bearing surface under the driving of the steering motor, and each steering wheel can independently rotate around the axial lead of the tread under the driving of the power motor.

Further, the four-wheel independent driving steering suspension type mobile charging pile system further comprises an electricity taking contact module, wherein the electricity taking contact module is connected with the control unit, when the suspension type charging pile needs electricity taking, the electricity taking contact module is in power receiving contact with the contact type power supply circuit so as to be conducted with the contact type power supply circuit to achieve electricity taking, and when the suspension type charging pile does not need electricity taking, the electricity taking contact module is separated from the contact type power supply circuit so as to be disconnected with the contact type power supply circuit.

Further, each suspension type charging pile is further provided with an energy storage module, when the suspension type charging pile does not move relative to the suspension type track, the electricity taking contact module is in electric contact with the contact type power supply circuit, at the moment, the energy storage module charges and stores energy through the contact type power supply circuit, when the suspension type charging pile moves along the suspension type track, the electricity taking contact module is separated from contact with the contact type power supply circuit, and at the moment, the electric energy for driving the suspension type charging pile to move and turn along the suspension type track is provided by the energy storage module. The design is that the electricity taking contact module of the suspended charging pile only needs to be in power receiving contact with the contact type power supply circuit when the suspended charging pile is static, the electricity taking contact module does not need to be in power receiving contact with the contact type power supply circuit when the suspended charging pile moves, and the movement, steering and other power consumption of the suspended charging pile are provided by the energy storage module when the electricity taking contact module does not have power receiving contact with the contact type power supply circuit. If the energy storage module is not arranged, the power taking contact module needs to be in good contact with the contact type power supply circuit in the moving process of the suspended charging pile, otherwise, the driving module loses power and energy sources and cannot drive the suspended charging pile to move. According to the characteristics of contact power supply, it is difficult to keep good and sufficient conductive contact all the time during movement, especially in the case of bifurcation and turning of the power supply line. In addition, the movable contact power supply also has the problems of abrasion of a conductive medium and insufficient contact, the problems can improve the maintenance difficulty of the whole power supply system, and if the condition of insufficient contact exists, the contact power supply can be influenced, and the heating problem generated in the power supply process can be more obvious, so that the power supply efficiency and the power supply safety are influenced. Therefore, the arrangement of the energy storage module improves the reliability, stability and durability of contact electricity taking.

Preferably, each suspension type charging pile comprises a charging pile body, a charging cable and a charging gun, wherein the charging gun is connected with the charging pile body through the charging cable. Further, the four-wheel independent driving steering suspension type mobile charging pile system further comprises a cable winding and unwinding module, the cable winding and unwinding module is connected with the control unit, the cable winding and unwinding module controls the length of the charging cable between the charging gun and the charging pile body in a winding and unwinding or folding and unwinding mode, the charging cable comprises a complete storage state, a partial release state and a complete release state, in the complete storage state, the length of the charging cable between the charging gun and the charging pile body is shortest, in the complete release state, the length of the charging cable between the charging gun and the charging pile body is longest, and in the partial release state, the length of the charging cable between the charging gun and the charging pile body is between the complete storage state and the complete release state.

Further, the four-wheel independent driving steering suspension type mobile charging pile system further comprises a plurality of position feature identifiers and a path map, wherein the position feature identifiers are distributed along the suspension track, each position feature identifier is used for marking specific azimuth information of a position point on the suspension track, on which the position feature identifier is arranged, in the whole suspension track path, the path map corresponds to the distribution of the suspension track one by one, and the position map comprises information such as the length and the direction of each path section of the suspension track, the position of each turning node, the relation between each turning node and each adjacent path section of the turning node, the position of each position feature identifier and the like. Preferably, the position feature identifier is a position two-dimensional code, and each position two-dimensional code contains specific position information of the position two-dimensional code in the whole suspension track path.

Further, the four-wheel independent driving steering suspension type mobile charging pile system further comprises a communication terminal device supporting the input of the position feature identifier, a dispatching server for processing data and a storage unit for storing data, the suspension type charging pile comprises a charging pile communication module and a charging pile positioning unit, the charging pile positioning unit is used for acquiring the current position of the suspension type charging pile in a track path of a suspension track, the charging pile communication module is used for enabling the suspension type charging pile to be in interactive communication with the dispatching server, a path map is stored in the storage unit, the dispatching server can read path map information in the storage unit, the communication terminal device can realize direct or indirect communication with the dispatching server through the input of the position feature identifier, the communication terminal device processes the input action of the position feature identifier through the dispatching server, and the dispatching server is used for locating the position of the position feature identifier, searching for the suspension type charging pile in an idle state closest to the position, and is connected with a control unit through the control unit for controlling the suspension type charging pile to be in an idle state along the suspension type charging pile. Preferably, the path of the suspension type charging pile moving to the target position along the suspension track is controlled by the dispatching server to be the optimal path obtained by analysis and calculation of the dispatching server. The optimal path may be the shortest path, or may be the shortest time-consuming path obtained after the scheduling server calculates the total time consumption of each available path according to the unit time consumption of straight going and turning along the track. When determining whether a certain path is an available path, paths in which other suspended charging piles block the outgoing path should be excluded.

Preferably, the position two-dimensional code may be disposed on a side surface of the suspension rail, may be disposed at a bottom of the suspension rail, and may be disposed under, obliquely under or near the suspension rail by suspension, overhanging or the like. The utility model is not limited to the arrangement mode, the specific arrangement position and the arrangement form of the position two-dimensional code, as long as the position two-dimensional code can play a role in roughly marking the position on the hanging rail. The number and the distribution density of the position two-dimensional codes are set according to actual needs. The criteria meeting the actual needs are: no matter which position the electric automobile of the user is stopped, the position two-dimensional code which can be found nearby can be scanned nearby through the communication terminal equipment such as a smart phone, the position which is sent out by the charging requirement can be rapidly and accurately sent to the dispatching server, the dispatching server dispatches the charging pile nearby according to the position information and moves to the position along the hanging track according to the optimal path, and therefore charging service is provided for the electric automobile of the user.

Further, the number of the suspension type charging piles arranged on the suspension track is variable, the number of the suspension type charging piles can be increased or decreased according to actual use requirements, the use rate and the idle rate, when the actual charging requirements are more and the use rate of the suspension type charging piles is higher, the number of the suspension type charging piles arranged on the suspension track can be appropriately increased, and when the actual charging requirements are less and the idle rate of the suspension type charging piles is higher, the number of the suspension type charging piles arranged on the suspension track can be appropriately reduced.

The utility model has the beneficial effects that:

(1) The utility model gets rid of the mode of 'people find pile' of the traditional charging pile, the utility model makes 'pile find people' become reality, a vehicle owner does not need to find a charging point specially, and only needs to stop the vehicle in a service coverage area where the utility model is deployed, then the charging requirement is issued, and the suspended charging pile in an idle state can automatically move to the position where the vehicle owner is located along a track, thereby realizing convenient and quick charging of the electric vehicle, omitting the processes of finding the charging point, driving the vehicle to the charging point and waiting for charging in a queue in the whole process, and being very convenient to use;

(2) The electric car can be conveniently charged no matter where the electric car is parked in the parking lot, and because the hanging rail and the hanging charging piles are arranged in a hanging manner, a large number of existing parking spaces of the parking lot are utilized, a special charging station is not required to be built, the ground parking space is not occupied, the actions of the car and personnel in the parking lot are not hindered, the car is not required to be parked in a certain parking space by the car owner, the car owner is liberated while resources are saved, and real random charging is realized;

(3) The design that the connection section track is adopted between the parking space blocks enables any one suspension type charging pile to reach any one parking space block of the whole parking lot and even any one parking space, so that the maximum utilization of each suspension type charging pile can be realized, resources are saved, cost is reduced, more electric vehicles can be served as much as possible under the condition that the number of the suspension type charging piles is certain, and more convenient and rapid scheduling can be realized for the suspension type charging piles;

(4) The utility model has the further great advantages that the number of the suspension type charging piles arranged on the suspension track can be flexibly increased and decreased according to the actual use requirement, the use rate and the idle rate, the use rate of the suspension type charging piles can be greatly improved, the idle rate is reduced, the resources are saved, the deployment flexibility is improved, the deployment cost is reduced, and meanwhile, the charging requirement of a user is met to the greatest extent;

(5) The utility model can realize the in-situ steering of the suspension charging pile at various suspension rail branch intersections, which is the key point of the utility model which is different from a single-track line, so that the utility model can be deployed in various parking lots with various parking space layouts, can realize the full coverage of the parking spaces in the parking lots, and can not cause the traffic jam problem naturally occurring in the single-track line;

(6) The contact type electricity taking enables the mobile charging mode of the suspended mobile charging pile to be realized, so that 'pile finding' is realized;

(7) The energy storage module is arranged so that the electricity taking contact module of the suspension type charging pile only needs to be in electric contact with the contact type power supply circuit when the suspension type charging pile is static, and the electricity taking contact module does not need to be in electric contact with the contact type power supply circuit when the suspension type charging pile moves, so that the reliability, stability and durability of contact electricity taking are improved;

(8) The cable winding and unwinding module is arranged, so that when the suspension type charging pile moves along the suspension track, the charging gun or the charging cable cannot move because of being wound or hung by the surrounding environment, the interference of the movement of the suspension type charging pile to the surrounding environment, the field and personnel can be reduced as much as possible, and meanwhile, the requirement on the length of the charging gun cable during charging can be met;

(9) The position two-dimension code is set as the position characteristic mark, so that the position sent by the charging requirement can be conveniently positioned, a special or other complex communication positioning technology is not needed, a user only needs to sweep the position two-dimension code arranged on the suspension track near the parking position, and the scheduling server can directly acquire the specific position sent by the charging requirement, so that the positioning logic and the cost are greatly simplified.

It should be noted that the beneficial effects of the present utility model are not limited to the above description, and can be understood by combining a specific technical scheme and a preferred embodiment, and the technical effects and the beneficial effects of a specific technical scheme or a preferred embodiment are also inserted in the summary of the present utility model and the following embodiments.

Drawings

Fig. 1 is a schematic view from below of a four-wheel independently-driven steering suspension type mobile charging pile system according to the present utility model, wherein a suspension type charging pile is charging an electric vehicle, a charging cable of the suspension type charging pile is in a fully released state, and charging cables of other suspension type charging piles are in a fully stored state.

Fig. 2 is a schematic top view of a four-wheel independently driven steering suspension mobile charging pile system according to the present utility model, showing a suspension charging pile charging an electric vehicle.

Fig. 3 is a schematic view of a four-wheel independently driven steering suspension type mobile charging pile system according to the present utility model, in which a suspension type charging pile is suspended on a suspension rail, and the charging cable is in a fully housed state.

Fig. 4 is a schematic view of fig. 3 with the hanging rail hidden.

Fig. 5 is a three-dimensional schematic diagram of an independent steering driving wheel module of a four-wheel independent driving steering suspension type mobile charging pile system.

Fig. 6 is a front schematic view and a side schematic view of an independent steering drive wheel module of a four-wheel independent drive steering suspension type mobile charging pile system according to the present utility model.

Fig. 7 is a schematic diagram of a four-wheel set of the suspension type mobile charging pile system with four-wheel independent driving steering, when driving wheels of the suspension type mobile charging pile system are independently in-situ steering, the wheel shafts of the four wheels are all directed to the center of the same circle, so that when the four wheels rotate around the same clockwise direction, a steering unit formed by the four wheels can steer around the center of the circle in situ.

Fig. 8 is a schematic diagram of a four-wheel independent driving steering suspension type mobile charging pile system according to the present utility model, wherein the suspension track is arranged in an oblique symmetrical framework shape, the oblique symmetrical framework shape is designed for an oblique symmetrical parking space, and two adjacent spareribs are connected by adopting the connection section track.

Fig. 9 is a schematic diagram of a four-wheel independent driving steering suspension type mobile charging pile system according to the present utility model, wherein the suspension track is laid out in a straight symmetrical skeleton form, which is designed for a straight symmetrical parking space, and two adjacent spareribs are joined by using the connection section track.

Description of the embodiments

The present utility model will be further described and illustrated in detail below with reference to examples, embodiments and drawings, wherein the examples or embodiments are only a part of, but not all of, the examples or embodiments of the present utility model, and the drawings are merely schematic illustrations for convenience of description and are not intended to be a complete limitation of the embodiments of the present utility model. All other examples or embodiments, which a person of ordinary skill in the art would achieve without inventive faculty, based on the examples or embodiments of the present utility model are intended to be within the scope of the present utility model.

The following description of the embodiments or implementations of the present utility model is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses.

As shown in fig. 1 to 9, a four-wheel independent drive steering suspension type mobile charging pile system of the present utility model comprises: the device comprises a hanging rail, a hanging charging pile, a driving module, a contact type power supply line 7 and a control unit, wherein the hanging rail is arranged in a hanging manner, a rail path of the hanging rail comprises a plurality of straight sections, a plurality of intersections and zero turning sections or more, the hanging charging pile is provided with a plurality of hanging charging piles and is hung on the hanging rail, the driving module can drive the hanging charging pile to move along the rail path of the hanging rail under the control of the control unit, the hanging charging pile is driven to directly move or turn at the positions of the intersections and the turning sections of the hanging rail according to the requirements of the travelling route, the contact type power supply line 7 is arranged along the rail path of the hanging rail, and the hanging charging pile is powered from the contact type power supply line 7 in a contact type power taking manner. Fig. 1, 2 and 3 show a first embodiment of the suspension rail, called first suspension rail 5. In fig. 1 and 2, four suspension charging piles, namely, a first suspension charging pile 1, a second suspension charging pile 2, a third suspension charging pile 3 and a fourth suspension charging pile 4, are suspended on a first suspension rail 5, wherein the first suspension charging pile 1 is charging an electric automobile 6, and a charging gun 103 of the charging pile is inserted into a charging port 601 of the electric automobile 6, and because the electric automobile is being charged, a first charging cable 102 of the first suspension charging pile 1 is in a completely released state, and the other three suspension charging piles are in a completely stored state because of being in an idle state. Any one suspension type charging pile deployed on the same suspension rail can move to any position on a rail path along the suspension rail.

Suspension rail embodiment

As shown in fig. 1, 2, 3, 8 and 9, the suspension rail is used for providing a traveling rail and a suspension supporting force for the suspension type charging pile. The specific size, section, material and the like of the suspension rail are set according to the actual bearing and strength requirements.

Fig. 1, 2 and 3 show a first embodiment of the suspension rail, called first suspension rail 5. Fig. 8 shows a second embodiment of the suspension rail, referred to as a second suspension rail 53. Fig. 9 shows a third embodiment of the suspension rail, referred to as a third suspension rail 54.

When the parking lot is an underground parking lot, it is preferable that the suspension rail is fixed by a ceiling, a bearing column, a wall, or the like of the underground parking lot so that the suspension rail has a bearing capacity. For example, the suspension rail is fixed by a ceiling, and since other facilities usually exist under the ceiling of the underground parking garage, it is preferable that the suspension rail can be suspended on the ceiling by a vertical elongated tension bearing member, that is, the top end of the elongated tension bearing member is fixed on the ceiling by a bolt or the like, and then the suspension rail is fixed at the bottom end of the elongated tension bearing member. According to the length and the layout of the hanging rail, a plurality of strip-shaped bearing and pulling pieces can be arranged along the rail path, so that the hanging rail can be fixed in the vertical direction. Preferably, the elongated tension members may be elongated profiles which, in addition to being able to withstand the tensile forces in the length direction, are also generally able to withstand a portion of the lateral forces, thus exerting a lateral constraint on the suspension rail. If a more stable fixing effect is to be achieved, it is also possible to take other redundant fixing measures for the suspension rail, for example fixing with the support column or the wall of the underground parking garage.

When the parking lot is a ground parking lot, preferably, as shown in fig. 8 and 9, the suspension rail is suspended and fixed through a column. In fig. 8, the second suspension rail 53 is suspended and fixed by a plurality of first posts 5301. In fig. 9, the third suspension rail 54 is suspended and fixed by a plurality of second posts 5401. The quantity, the position, the structure, the material of stand sets up according to actual bearing and construction needs.

Preferably, in order to optimize the track layout and reduce the deployment cost, the path of the suspension track is designed according to the parking space layout of the parking lot, namely, most of the paths of the track are in one-to-one correspondence with the parking space lines of the parking lot, and the connection section track is adopted between the parking space blocks, so that any one suspension charging pile can reach any one parking space block of the whole parking lot, even any one parking space, the maximum utilization of each suspension charging pile can be realized, resources are saved, the cost is reduced, more electric vehicles can be served as much as possible under the condition that the number of the suspension charging piles is certain, and more convenient and rapid scheduling can be realized for the suspension charging piles. Of course, the layout of each parking lot is different, the charging requirements are also different, and a specific suspension track layout path is required to be subjected to field investigation on the parking space characteristics and the field characteristics of each parking lot, and then specific design is performed by combining actual requirements and construction cost comprehensive consideration.

Preferably, when the parking space is in a horizontal-horizontal vertical layout, the hanging rail is formed by splicing a plurality of strip-shaped linear rails, the hanging rails in fig. 1, fig. 2 and fig. 9 are all laid out according to the mode of crisscross or T-shaped intersection at the intersection, and the difference is that the hanging rails in fig. 1 and fig. 2 are laid out in a grid shape, and the hanging rails in fig. 9 are laid out in a straight symmetrical skeleton shape.

Preferably, when the parking space is in an inclined and angled layout, the layout of the suspension rail can be also designed in an inclined manner according to the parking space line. Fig. 8 shows a schematic view of a suspension track in the form of an oblique symmetrical framework. The second suspension rail 53 in the form of the oblique symmetrical framework shown in fig. 8 is designed for an oblique symmetrical parking space, each row of frameworks is composed of a first main beam 5303 and a plurality of first cantilever beams 5304 which form a certain inclination angle with the first main beam 5303, the structure composed of the main beam and the cantilever beams is approximately fishbone-shaped, and two adjacent spareribs are connected by adopting a first connecting section rail 5302.

The third suspension rail 54 in the form of a straight symmetrical framework shown in fig. 9 is designed for a straight symmetrical parking space, each row of frameworks is composed of a second main beam 5403 and a plurality of second overhanging beams 5404, the structure composed of the main beams and the overhanging beams is approximately fishbone-shaped, and two adjacent rows of frameworks are connected by adopting a second connecting section rail 5402.

When the utility model is actually deployed, the layout design of the hanging track can be carried out by referring to the parking space layout of each parking lot.

It should be noted that the embodiment of the suspension rail according to the present utility model is not limited to the above preferred embodiment, and may be used as the suspension rail according to the present utility model as long as the traveling rail and the suspension supporting force can be provided to the suspension charging pile.

Suspension type charging pile implementation

Preferably, taking the first suspension type charging pile 1 as an example, the first suspension type charging pile 1 includes a charging pile body 101, a charging cable 102, and a charging gun 103, the head of the charging gun 103 is a charging plug 1031, the functions and technical features of the charging pile body 101, the charging cable 102, and the charging gun 103 are basically consistent with those of the charging pile of the electric automobile in the prior art and the existing electric automobile in the market, and the charging pile is mainly used for converting the electric energy provided by a power supply circuit into the electric energy capable of charging the battery of the electric automobile.

Control unit embodiment

The control unit should have at least data analysis processing and control capability, and may be a general-purpose chip, such as a central processing unit CPU, a microprocessor MCU, etc., or a dedicated processing control chip, or a circuit board module using the above chip as a main control chip. The control unit typically carries a program or software implementing the corresponding function. The utility model is not limited to the type of the control unit, and only the type of the control unit is simply changed on the basis of the utility model, and the utility model is also applicable to the protection scope of the utility model.

Drive module embodiment

The driving module is connected with the control unit and can drive the suspension type charging pile to move along the track path of the suspension track under the control of the control unit. Taking the use of the first suspension rail 5 as an example, the first suspension rail 5 comprises a rail bearing surface 505, the driving wheel independent in-situ steering module comprises a plurality of independent steering driving wheel modules, each independent steering driving wheel module comprises a steering motor 32, a power motor 34, a rotating frame 33 and a steering wheel 35, the tread of the steering wheel 35 is contacted with the rail bearing surface 505 in the moving process, the power motor 34 is arranged on the rotating frame 33, the rotating frame 33 is fixedly connected with the rotating shaft of the steering motor 32, the steering motor 32 is arranged on a steering platform 41, the steering platform 41 is connected with the charging pile body 101 through a connecting rod 43, the steering wheel 35 is powered by the power motor 34, the rotating shaft of the steering motor 32 is in the vertical direction, and the rotating shaft of the power motor 34 is in the horizontal direction. Preferably, the axis of the rotation shaft of the steering motor 32 intersects with the axis of the rotation shaft of the power motor 34, and the axis of the rotation shaft of the steering motor 32 passes through the center point where the tread of the steering wheel 35 contacts the track supporting surface 505. Under the drive of the steering motor, each steering wheel can independently rotate around the center point of the tread surface of the steering wheel, which is contacted with the track supporting surface 505, and under the drive of the power motor, each steering wheel can independently rotate positively and negatively around the axle line of the steering wheel.

Since the steering wheel needs to span the rail through groove 513 when passing through the intersection of the suspension rails, the diameter of the steering wheel needs to be larger than the groove width of the rail through groove 513, and preferably, the radius of the steering wheel is also larger than the groove width of the rail through groove 513 for better lifting passing performance and driving stability.

Preferably, the number of the independent steering driving wheel modules is four, and the independent steering driving wheel modules are arranged along the horizontal direction according to the four corners of a square, as shown in fig. 4 and 7, however, fig. 7 only shows a schematic diagram of a four-wheel set of the driving wheel independent in-situ steering module, and the steering motor, the power motor and the rotating frame are not drawn in fig. 7. In fig. 7, the wheel shafts of the four steering wheels are all directed to the center of the same circle, so that when the four steering wheels rotate around the same clockwise direction, the steering wheel set formed by the four wheels can steer around the center of the circle in situ.

According to the steering principle, the steering application range is very wide, and the steering device can be used for in-situ steering of a vertically crossed rail intersection and various non-vertically crossed intersections. For example, in fig. 8, when the suspension charging pile traveling on the first main beam 5303 needs to be turned and travel onto a certain first cantilever beam 5304, the driving wheel independent in-situ turning module can also complete the turning requirement, specifically: when the four steering wheels in the straight running state are parallel to each other, and when the four steering wheels are driven to the point that the diagonal crossing center points of the four steering wheels coincide with the crossing points of the first main beam 5303 and the first cantilever beam 5304, each steering wheel is independently rotated to the state shown in fig. 7 around the center point of the tread surface of each steering wheel, which is in contact with the bearing surface of the track, by the respective steering motor of each independent steering driving wheel module, then the four steering wheels are driven to rotate around the same clockwise rotation direction by the respective power motor of each independent steering driving wheel module, so that the driving module integrally steers in situ, and after the four steering wheels are steered in place according to the included angle between the first main beam 5303 and the first cantilever beam 5304, the four steering wheels are restored to the state that the four steering wheels are parallel to each other by the respective steering motors of the four independent steering driving wheel modules, and then continue running along the straight running section track of the first cantilever beam 5304. The in-situ steering implementation of other types of intersections is the same and will not be described in detail here.

Contact type power supply line implementation

The contact type power supply circuit is used for supplying power to the suspension type charging pile, and the contact type power supply circuit is connected with power from a power grid or a power distribution station in a direct connection mode or can be connected with the power distribution station after passing through transformer facilities and the like.

As shown in fig. 3 and fig. 4, the power supply principle of the contact power supply circuit 7 is similar to that of a motor car or a train, and according to the prior art, the current electrified motor car or train is powered by contacting a pantograph above the motor car with a bare power supply circuit. The contact type power supply circuit 7 in the utility model is also of a similar principle, is arranged along the path of the suspension track, and is used for carrying out full-path exposure or partial-path exposure on the wires arranged in the path so as to enable the suspension type charging pile to contact and take electricity, wherein the contact and take electricity can be typical contact modes such as touch contact, extrusion contact, package contact, plug contact and the like. The wire thickness and the number of wires of the contact power supply line 7 are determined on the basis of the actual supply voltage, current and power.

When the number of the wires of the contact power supply line is plural, it is preferable that the layout of the plurality of wires of the contact power supply line is arranged along the width direction of the suspension rail or arranged up and down along the thickness direction of the suspension rail. Fig. 3 and 4 show the case where three wires are arranged up and down in the thickness direction of the suspension rail when the number of wires is three. The three wires are respectively common live wire, zero wire and ground wire. Of course, in practical charging pile power supply line applications, the number of wires may be larger due to power, voltage and current requirements. It should be noted that, the present utility model is not limited to the number and arrangement of the wires of the contact power supply line, and the number or arrangement of the wires of the contact power supply line may be simply changed based on the present utility model without paying any creative effort, which also falls within the scope of the present utility model.

Electric contact module embodiment

Preferably, the power take-off contact module is connected with the control unit. As shown in fig. 3 and fig. 4, the electric contact taking module functions like a pantograph on a motor car or a train, and realizes the electric contact or separation contact with the contact type power supply line 7 through a mechanical telescopic structure or a mechanical grabbing and releasing structure, and when the number of wires of the contact type power supply line 7 is multiple, the number of electric contact points of the electric contact taking module should also be matched with the number of wires of the contact type power supply line 7. The power receiving contact mode can be a typical contact mode such as touch contact, extrusion contact, wrapping contact, plug contact and the like. It should be noted that, the present utility model is not limited to the contact manner of the power receiving contact, and it is also intended to be within the scope of the present utility model to simply change the contact manner of the power receiving contact based on the present utility model without paying any creative effort.

The electricity taking contact module is equivalent to a power supply input end plug of the suspension type charging pile in action, and when the electricity taking contact module is in power receiving contact with the contact type power supply circuit 7, the suspension type charging pile can take electricity from the contact type power supply circuit 7, so that an electric automobile needing to be charged can be charged. Preferably, when the power-receiving contact between the power-taking contact module and the contact power supply line 7 occurs, the energy storage module may also take power from the contact power supply line 7 and store electric energy. When the electricity taking contact module is separated from contact with the contact type power supply line 7, the hanging type charging pile does not take electricity from the contact type power supply line 7.

Preferably, the electric contact module comprises an electric telescopic power unit 42, a first electric claw 37, a second electric claw 38, a third electric claw 39 and a fourth electric claw 40, and the electric telescopic power unit 42 and the steering motor 32 are both installed on a steering platform 41. The power taking telescopic power unit 42 can simultaneously provide telescopic power in four directions, namely front, back, left and right, drives the four power taking claws to synchronously telescopic along the four directions, each power taking claw is connected with the power supply input end of the suspended charging pile, and each power taking claw is provided with three power taking contacts corresponding to the three wires of the contact type power supply circuit 7. If the contact power supply line 7 is arranged in the direction of a certain power taking claw, when the power taking telescopic power unit 42 drives the power taking claw to stretch, the power taking claw can be in contact with and separated from the contact power receiving line 7. The four power taking claws are arranged at the front, back, left and right, and are determined by the steering mode of the utility model, the vertical steering is taken as an example, the four wheels are steered in situ to realize the vertical steering of the travelling direction, the steering platform 41 does not rotate, in this case, in order to conveniently realize the contact power taking in a relatively simple mode after the intersection of the suspension rails is steered, the power taking claws are arranged in the four directions, and therefore, whether the steering is performed or not, and the contact power taking can be realized conveniently no matter which side of the suspension rails the contact power supply circuit 7 is arranged.

It should be noted that, the present utility model is not limited to the form, shape and specific structure of the electrical contact module, and the form, shape and specific structure of the electrical contact module can be simply changed based on the present utility model without the inventive labor, and the present utility model shall also be within the scope of protection of the present utility model.

Energy storage module embodiment

The energy storage module is mainly used for improving the power supply robustness of the whole four-wheel independent driving steering suspension type mobile charging pile system, if the energy storage module is not arranged, the power taking contact module needs to be in good contact with the contact type power supply circuit in the moving process of the suspension type charging pile, otherwise, the driving module can lose power and energy sources and cannot drive the suspension type charging pile to move. According to the characteristics of contact power supply, it is difficult to keep good and sufficient conductive contact all the time during movement, especially in the case of bifurcation and turning of the power supply line. In addition, the movable contact power supply also has the problems of abrasion of a conductive medium and insufficient contact, the problems can improve the maintenance difficulty of the whole power supply system, and if the condition of insufficient contact exists, the contact power supply can be influenced, and the heating problem generated in the power supply process can be more obvious, so that the power supply efficiency and the power supply safety are influenced.

Therefore, preferably, each suspension type charging pile is further provided with an energy storage module, when the suspension type charging pile does not move relative to the suspension track, the electricity taking contact module is in electric contact with the contact type power supply circuit, at this time, the energy storage module charges and stores energy through the contact type power supply circuit, when the charging pile body moves along the suspension track, the electricity taking contact module is separated from contact with the contact type power supply circuit, at this time, electric energy for driving the suspension type charging pile to move and turn along the suspension track is provided by the energy storage module.

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

Only when the suspension type charging pile is static, the electricity taking contact module is in power receiving contact with the contact type power supply circuit, the working mode greatly simplifies the working logic of the electricity taking contact module, the electricity taking stability and safety are obviously improved, and the development difficulty and the deployment difficulty of the whole system are also reduced. In addition, the working characteristics of the four-wheel independent driving steering suspension type mobile charging pile system are that the suspension type charging pile only moves during dispatching, and the rest of the suspension type charging pile is static no matter in an idle state or in a working state for charging an electric automobile, so that enough time is available for charging and storing energy for the energy storage module so as to ensure that the energy storage module is always electrified.

Cable winding and unwinding module embodiment

The cable winding and unwinding module is mainly used for reducing the interference of the suspended charging pile to the surrounding environment, the field and personnel in the moving process, and is convenient for a user to charge and use. When a user needs to charge the electric automobile by using the suspension type charging pile, after the suspension type charging pile moves in place under the dispatching of the dispatching server, the cable winding and unwinding module releases enough length of the charging cable, so that the charging gun can obtain an automobile charging port of the user. After the user finishes charging and pulls out the rifle that charges, the cable receive and releases the module and begin to accomodate through coiling or folding mode the cable, the rifle that charges also rises to the height that is close to suspension type fills electric pile body place thereupon, like this when suspension type fills electric pile and moves along the suspension track, neither can be because the rifle that charges or the cable that charges twine or hang and can't move by surrounding environment, also can reduce the interference to surrounding environment, place and personnel because of the removal of suspension type fills electric pile as far as possible.

Preferably, the cable winding and unwinding module is connected with the control unit, and controls the length of the charging cable between the charging gun and the charging pile body in an electric winding, unwinding or folding manner, wherein the charging cable comprises a complete storage state, a partial release state and a complete release state, the length of the charging cable between the charging gun and the charging pile body in the complete storage state is shortest, the length of the charging cable between the charging gun and the charging pile body in the complete release state is longest, and the length of the charging cable between the charging gun and the charging pile body in the partial release state is between the complete storage state and the complete release state.

Position feature identification embodiment

A preferred embodiment of the location feature identification is a location two-dimensional code arranged along the suspension track. The position two-dimensional code can be arranged on the side face of the hanging rail, can be arranged at the bottom of the hanging rail, and can be arranged under, obliquely under or nearby the hanging rail in a hanging, overhanging or other modes. The setting mode of the position two-dimensional code can be pasting, printing, spraying and the like, and can be luminous, and the utility model is not limited to the setting mode, the setting specific position and the setting mode of the position two-dimensional code, as long as the position two-dimensional code can play a role in roughly marking the position on the hanging rail. The number and the distribution density of the position two-dimensional codes are set according to actual needs. The criteria meeting the actual needs are: no matter which position the electric automobile of the user is stopped, the position two-dimensional code of the position which can be found nearby can be scanned nearby through the communication terminal equipment such as a smart phone, the position where the vehicle is located can be rapidly and accurately sent to the dispatching server, the dispatching server dispatches the charging pile nearby according to the position information and moves to the position along the hanging track according to the optimal path, and therefore charging service is provided for the electric automobile of the user.

Preferably, the location feature identifier may also be a location barcode, and the principle and the usage manner of the identifying location information are similar to those of the location two-dimensional code, which is not described herein again.

Preferably, the location feature identifier may also be a location marker formed by words, letters, numbers, symbols, or a combination thereof, where the location marker forms a mapping or corresponds to location information by way of aggregate mapping, and by inputting the location marker into the communication terminal, location and azimuth information that a user needs to use a charging pile may also be sent to the scheduling server, so that the scheduling server may successfully schedule the charging pile and move to a location where the location marker is located along the hanging track.

Location feature identification information to dispatch server embodiment

Preferably, the communication terminal device includes an application program, a processor, and a communication module, where the application program has a function of inputting the location feature identification information, and the processor sends the location feature identification information to the scheduling server through the communication module after receiving the input of the location feature identification information. Preferably, the communication terminal device is a smart phone, the application program is preferably charging management APP software or a WeChat applet which is installed on the smart phone and matched with the present utility model, and the communication module may be a mobile communication module of 2G, 3G, 4G, 5G, etc. and may also be a communication module of WIFI, bluetooth, etc. and the like.

Preferably, the scheduling server may be a single server, a server cluster, or a cloud server, which accesses the internet through a wired or wireless manner. The communication terminal equipment can be in interconnection communication with the scheduling server in a direct or indirect mode. Preferably, the scheduling server further comprises a scheduling management software program.

Preferably, the suspension type charging pile comprises a charging pile communication module and a charging pile positioning unit, the charging pile positioning unit is used for acquiring the current position of the suspension type charging pile in a track path of a suspension track, the position can be determined together through an initial position, a path map, a traveling distance, generated steering information and the like, the traveling distance can be calculated through the distance that a wheel rotates, and the mileage calculation technology belongs to the mature prior art in the field of vehicles and is not repeated here. However, the positioning mode has certain error, in order to improve the positioning precision, a position mark point can be arranged on the track path at intervals, and the suspension charging pile corrects the position data calculated by the self-positioning unit by reading the position information of the position mark point. The position mark points can mark positions in an image mode, the hanging type charging pile visually recognizes position information recorded by the position mark points through the camera, preferably, the position information of the position mark points can be recorded in two-dimensional codes, each position mark point is provided with a two-dimensional code, and the hanging type charging pile comprises the camera and a two-dimensional code recognition module and is used for reading the position information recorded in the two-dimensional codes. Of course, the position marking point may also mark the position by a physical manner, such as an electrical signal, a magnetic signal, an optical signal, etc., and the suspension type charging pile is provided with a module capable of reading these signals, when the suspension type charging pile passes the position marking point, the corresponding signal may be received, so that the position information recorded in the signal may be read, and the related technology also belongs to the prior art and is not described herein again. The charging pile communication module is used for performing interactive communication with the scheduling server, and can receive a control command sent by the scheduling server on one hand and transmit own position information to the scheduling server on the other hand.

Path map, schedule, and path planning embodiment

Taking the deployment of the utility model in a certain parking lot as an example, the parking space planning and the site characteristics of each parking lot are different, so that the layout of the suspension track is designed according to the site characteristics, the parking space planning and the actual requirements of each parking lot according to the local conditions when the utility model is deployed. In the utility model, to realize smooth dispatching of the charging piles and planning of the moving paths of the charging piles, a corresponding path map is required to be manufactured for the suspension track layout of each parking lot, and the path map comprises the length and the direction of each path segment, the position of each turning node, the relation between each turning node and each adjacent path segment, the position of each position feature mark and the like. Preferably, the path map is stored in the scheduling server.

After the user sends a charging pile paging requirement with position feature identification information to the scheduling server through the communication terminal equipment, the scheduling server locates the position of the position feature identification according to the stored path map, searches and schedules an idle charging pile closest to the position, and controls the idle charging pile to move to the position along the hanging track according to a preferred path.

Charging overall process embodiment

Taking a certain parking lot as a deployment place, the position characteristic identification information as a position two-dimensional code, the communication terminal equipment as a smart phone and the application program as a charging management APP as an example, the whole process of charging an electric automobile by adopting the four-wheel independent driving steering suspension type mobile charging pile system is described as follows:

the method comprises the steps that a user starts an electric automobile into a parking lot where the four-wheel independent driving steering suspension type mobile charging pile system is arranged, stops into a certain parking space, searches for a position two-dimensional code closest to a charging port of the electric automobile around the parking space, starts a matched charging management APP, scans the closest position two-dimensional code by using a camera of a smart phone through the charging management APP, confirms the requirement of paging dispatching the charging pile, sends paging requirement information to a dispatching server, searches for and dispatches an idle charging pile closest to the position two-dimensional code according to the position information of the scanned position two-dimensional code after receiving the paging requirement information, enables the idle charging pile to move to the position where the position two-dimensional code is located along a suspension track according to a preferred path, and releases a charging cable with a sufficient length through a cable receiving and releasing module, so that the charging gun hangs down and can smoothly charge the electric automobile of the user, and at the moment, the user only needs to insert the charging gun into the charging port of the electric automobile.

Preferably, the suspension type charging pile further comprises a charging detection module for detecting a charging state and a charging gun plugging state. After the charging detection module detects that charging is completed, if the user still does not pull out the charging gun, the charging management APP can send a charging completion prompt to the user to prompt the user to pull out the charging gun. After the charging gun is detected to be pulled out, the cable winding and unwinding module starts to wind and store the charging cable, so that the charging cable is restored to a complete storage state, the charging cable in the complete storage state cannot influence the movement of the charging pile under the hanging track, and the interference of the movement of the charging pile to other vehicles or personnel in a parking lot can be reduced as much as possible. The charging pile completes one-time charging service and waits for paging scheduling use by other users.

Claims

1. The utility model provides a four-wheel independent drive turns to suspension type removes fills electric pile system, its characterized in that includes suspension track, suspension type fills electric pile, drive module, contact power supply line, the control unit, suspension track is laid through unsettled mode, including the track bearing face, suspension track's track route includes a plurality of straight line section, a plurality of intersection and is equal to or more than zero turn section, suspension type fills electric pile and is provided with a plurality of, all hangs on suspension track, drive module can drive under control unit the suspension type fills electric pile and follows suspension track's track route removes to and drive suspension type fills electric pile and carry out straight line or turn to according to the needs of route of traveling in suspension track intersection and turn section position, contact power supply line is laid along suspension track's track route, suspension type fills electric pile and gets electric mode through contact and gets electric from contact power supply line takes;

The driving module comprises a driving wheel independent in-situ steering module, and the driving wheel independent in-situ steering module is used for enabling the suspension charging pile to steer at the position of an intersection or a turning section of the suspension track and to move along a steered suspension track path under the driving of the driving module after steering;

the driving wheel independent in-situ steering module comprises four independent steering driving wheel modules which are arranged along the horizontal direction according to square four corners, each independent steering driving wheel module comprises a steering motor, a power motor, a rotating frame and steering wheels, the tread of each steering wheel is contacted with the track bearing surface in the motion process of the steering wheel, the power motor is arranged on the rotating frame, the rotating frame is fixedly connected with the rotating shaft of the steering motor, the steering wheels are provided with rotary power by the power motor, the rotating shaft of the steering motor is in the vertical direction, the rotating shaft of the power motor is in the horizontal direction, the axial lead of the rotating shaft of the steering motor is intersected with the axial lead of the rotating shaft of the power motor, the axial lead of the rotating shaft of the steering motor passes through the center point of the tread of each steering wheel contacted with the track bearing surface, and each steering wheel can independently rotate in situ around the center point of the tread contacted with the track bearing surface under the driving of the steering motor, and each steering wheel can independently rotate around the axial lead of the steering wheel under the driving of the power motor;

The power supply device comprises a contact type power supply circuit, a suspension type charging pile and a power supply circuit, and is characterized by further comprising a power supply contact module, wherein the power supply contact module is in power receiving contact with the contact type power supply circuit to realize power supply when the suspension type charging pile needs power supply, and the power supply contact module is separated from the contact type power supply circuit to be disconnected with the contact type power supply circuit when the suspension type charging pile does not need power supply.

2. The four-wheel independently driven steering suspension mobile charging pile system according to claim 1, wherein each suspension charging pile is further provided with an energy storage module, when the suspension charging pile does not move relative to the suspension rail, the power taking contact module is in power receiving contact with the contact type power supply line, at the moment, the energy storage module charges and stores energy through the contact type power supply line, when the suspension charging pile moves along the suspension rail, the power taking contact module is out of contact with the contact type power supply line, at the moment, the power for driving the suspension charging pile to move and steer along the suspension rail is provided by the energy storage module.

3. The four-wheel independently driven steered suspension mobile charging pile system of claim 1, wherein each suspension charging pile comprises a charging pile body, a charging cable and a charging gun, the charging gun and the charging pile body being connected by the charging cable.

4. A four-wheel independently driven steered suspended mobile charging pile system according to claim 3, further comprising a cable pay-off and take-up module that controls the length of a charging cable between the charging gun and the charging pile body by winding or folding the charging gun, the charging cable comprising a fully stowed state in which the length of the charging cable between the charging gun and the charging pile body is the shortest, a partially released state in which the length of the charging cable between the charging gun and the charging pile body is the longest, and a fully released state in which the length of the charging cable between the charging gun and the charging pile body is intermediate between the fully stowed state and the fully released state.

5. The four-wheel independent driving steering suspension type mobile charging pile system according to claim 1, further comprising position feature identifiers and a path map, wherein the position feature identifiers are distributed along the suspension track, the number of the position feature identifiers is a plurality of the position feature identifiers, each position feature identifier is used for marking specific azimuth information of a position point on the suspension track, on which the position feature identifiers are arranged, in the whole suspension track path, the path map corresponds to the distribution of the suspension track one by one, and the path map comprises the length and the direction of each path section of the suspension track, the position of each turning node, the relation between each turning node and each adjacent path section of the suspension track, and the position information of each position feature identifier.

6. The four-wheel independently driven steered suspended mobile charging pile system of claim 5, wherein the location features are identified as two-dimensional location codes, each two-dimensional location code comprising specific location information of the two-dimensional location code in the whole suspended track path.

7. The four-wheel independently driven steering suspension type mobile charging pile system according to claim 5, further comprising a communication terminal device supporting the input of the location feature identifier, a dispatch server for processing data, and a storage unit for storing data, wherein the suspension type charging pile comprises a charging pile communication module and a charging pile positioning unit, the charging pile positioning unit is used for acquiring the current location of the suspension type charging pile in the track path of the suspension track, the charging pile communication module is used for enabling the suspension type charging pile to interactively communicate with the dispatch server, the path map is stored in the storage unit, the dispatch server can read path map information in the storage unit, the communication terminal device can directly or indirectly communicate with the dispatch server by inputting the location feature identifier, the communication terminal device processes the input behavior of the location feature identifier through the dispatch server, and the dispatch server is used for locating the location of the location feature identifier according to the path map, searching and dispatching the suspension type charging pile in an idle state closest to the location and controlling the suspension type charging pile to the mobile charging pile along the suspension type charging track.

8. The four-wheel independently driven steering suspension type mobile charging pile system according to claim 1, wherein the number of suspension type charging piles arranged on the suspension rail is variable, the number of suspension type charging piles arranged on the suspension rail can be increased and decreased according to actual use requirements, use rates and idle rates, when the actual charging requirements are more and the use rates of the suspension type charging piles are higher, the number of suspension type charging piles arranged on the suspension rail can be increased, and when the actual charging requirements are less and the idle rates of the suspension type charging piles are higher, the number of suspension type charging piles arranged on the suspension rail can be reduced.

9. The four-wheel independently driven steered suspended mobile charging pile system according to claim 1, wherein the track path of the suspended track is laid out according to the parking space layout of each parking lot.

10. The four-wheel independently driven steered suspended mobile charging pile system of claim 9, wherein the suspension track further comprises a link track, and the track path between the parking space block and the parking space block is engaged by the link track.