Split type autonomous walking energy charging and storing robot, charging and storing system and charging method thereof

Abstract

The application discloses a split type self-walking energy charging and storing robot, an energy charging and storing system and an energy charging method thereof, and belongs to the technical field of robots, and comprises a detachable energy storage battery pack and a power supply trolley, further comprises a bidirectional electric gun and a moving trolley; the power supply trolley is electrically connected with the detachable energy storage battery pack, the bidirectional electric gun is electrically connected with the power supply trolley through a charging cable, and the bidirectional electric gun is clamped and fixedly installed at the upper end of the moving trolley. Through the above manner, the detachable energy storage battery pack is moved to the front of the vehicle head by the power supply trolley, and the power supply trolley and the detachable energy storage battery pack do not occupy the public road; the bidirectional electric gun is moved to the position of the charging port on the side of the vehicle body by the moving trolley, the vehicle is charged by the bidirectional electric gun, and the width of the bidirectional electric gun and the moving trolley is smaller, so that the bidirectional electric gun and the moving trolley can enter the two-vehicle side passage under the condition that the distance of the two-vehicle side passage is relatively narrow.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a split-type autonomous walking, charging, and energy storage robot, its charging and energy storage system, and its charging method. Background Technology

[0002] Vehicle-to-Grid (V2G) technology refers to the two-way interaction between the energy storage function unique to electric vehicles and the power grid. Its core idea is to use the energy storage devices of a large number of electric vehicles as a buffer between the power grid and renewable energy sources. In this process, the electric vehicle is equivalent to a mobile energy storage device, or a "giant mobile power bank".

[0003] In traditional technology, electric vehicles are primarily charged using fixed charging stations, and electric vehicles are only considered as the electricity consumer. This also leads to problems such as gasoline vehicles occupying charging station parking spaces and owners of fully charged vehicles failing to remove the charging cable and move their vehicles for extended periods.

[0004] To address the aforementioned issues, a small number of mobile charging devices have emerged in the prior art. For example, Chinese utility model patent CN219236820U discloses a mobile energy storage and charging robot, which is moved by a driver standing on a footrest manually controlling an operating handle on the top of the casing.

[0005] Due to factors such as cost and user experience, more and more electric vehicles are placing their charging ports on the side of the vehicle. However, the distance between the side passages of two vehicles in many parking spaces is relatively narrow, making it difficult for existing mobile charging devices to enter the side passages and thus making it difficult to charge electric vehicles with charging ports located on the side.

[0006] Based on this, the present invention designs a split-type autonomous walking charging and storage robot, a charging and storage system and a charging method to solve the above problems. Summary of the Invention

[0007] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a split-type autonomous walking charging and storage robot, a charging and storage system and a charging method thereof.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A split-type autonomous walking charging and storage robot includes a power supply trolley for installing a detachable energy storage battery pack and for moving the detachable energy storage battery pack, and also includes a bidirectional electric gun and a mobile trolley for moving the bidirectional electric gun; the power supply trolley is electrically connected to the detachable energy storage battery pack, the bidirectional electric gun is electrically connected to the power supply trolley through a charging cable, and the bidirectional electric gun is clamped and fixedly installed on the upper end of the mobile trolley; the detachable energy storage battery pack is vertically inserted and installed on the power supply trolley.

[0010] Furthermore, during charging, the power supply trolley and the detachable energy storage battery pack are located at the front of the vehicle, while the two-way electric gun and the mobile trolley are located on the side of the vehicle.

[0011] Furthermore, the width of the mobile trolley is 20-30cm.

[0012] Furthermore, the power supply vehicle includes a body A, a mobile drive wheel A fixed to the bottom of the body A, and a main control device A, a communication device A, a lidar A, a camera, and a millimeter-wave radar A fixed to the body A.

[0013] Furthermore, the mobile vehicle includes a vehicle body B, a mobile drive wheel B fixed to the bottom of the vehicle body B, a main control device B, a communication device B, a lidar B, a binocular camera and a millimeter-wave radar B fixed to the vehicle body B, and a robotic arm fixedly installed on the top of the vehicle body B, with a bidirectional electric gun clamping and fixedly installed on the upper end of the robotic arm.

[0014] A charging and storage system includes the aforementioned split-type autonomous walking charging and storage robot, and also includes an energy storage power station and a pick-and-place component;

[0015] The side wall of the energy storage power station is provided with several sets of battery plug holes at equal intervals for inserting detachable energy storage battery packs.

[0016] The energy storage power station is equipped with a pick-and-place assembly for picking up and placing detachable energy storage battery packs.

[0017] The pick-and-place assembly includes a moving assembly, a clamping assembly, and a 90-degree flipping assembly; the moving assembly is installed on the energy storage power station, the 90-degree flipping assembly is connected to the moving assembly, and the clamping assembly is connected to the 90-degree flipping assembly.

[0018] Furthermore, the moving components include an X-axis moving component, a Y-axis moving component, and a Z-axis moving component; the X-axis moving component is fixedly installed on the top of the energy storage power station, the Y-axis moving component is fixedly connected to the movable end of the X-axis moving component, the Z-axis moving component is fixedly connected to the movable end of the Y-axis moving component, and a 90-degree rotating component is installed on the movable end of the Z-axis moving component.

[0019] Furthermore, the clamping assembly includes clamping plates, rubber pads, a second motor, a guide rod, and symmetrical threaded rods; the second motor, guide rod, and symmetrical threaded rods are all mounted on the 90-degree flipping assembly, and clamping plates are threaded to both ends of the symmetrical threaded rods, with the clamping plates slidably connected to the guide rods, and the output end of the second motor is fixedly connected to one end of the symmetrical threaded rods; rubber pads are fixedly connected to the inner side of each clamping plate.

[0020] Furthermore, the 90-degree flip assembly includes a mounting plate, a first n-shaped plate, a horizontal shaft, a first motor, and a second n-shaped plate. The mounting plate is fixedly mounted on the movable end of the Z-axis moving assembly and is fixedly connected to the first n-shaped plate. Horizontal shafts are fixedly connected to both ends of the second n-shaped plate, and the horizontal shafts are rotatably connected to the lower inner wall of the first n-shaped plate. The first motor is fixedly mounted on the outer wall of the first n-shaped plate, and the output end of the first motor is fixedly connected to one of the horizontal shafts. The second motor is fixedly mounted on the outer wall of the second n-shaped plate. The guide rod is fixedly mounted inside the second n-shaped plate, and the symmetrical threaded rod is rotatably mounted inside the second n-shaped plate.

[0021] A charging method for a split-type autonomous walking and energy storage robot includes the following steps:

[0022] 1. The car owner establishes an order service information through the user terminal and opens the charging cover;

[0023] Service information includes service requests (charging or discharging, battery level, service time), vehicle information, and parking space information;

[0024] 2. After receiving the service information, the back-end server will allocate the nearest standby split-type autonomous walking charging and storage robot and send the corresponding service information to its main control device A and main control device B.

[0025] III. Based on the received service information, the split-type autonomous walking charging and energy storage robot first controls the power supply vehicle and the mobile vehicle to move to the side of the energy storage station through the main control device A and the main control device B, and loads a detachable energy storage battery pack that matches the vehicle information through the pick-and-place component.

[0026] IV. After the detachable energy storage battery pack is installed, the main control device A and the main control device B control the power supply trolley and the mobile trolley to automatically plan the path according to the service information and drive to the target location corresponding to the parking space information.

[0027] During the movement, the power supply trolley and the moving trolley are driven by the moving drive wheels A / B to move the body A / B respectively;

[0028] During the movement, the system uses LiDAR A / B, camera / dual-lens camera and millimeter-wave radar A / B to detect obstacles on the path in real time. If there are obstacles, the system uses the parking control unit, driving control unit and steering control unit of the main control unit A / B to control the moving drive wheels A / B to avoid the obstacles and re-plan the automatic path until the target position is reached.

[0029] During the movement, the lidar A / B is used to detect in real time whether the power supply trolley and the moving trolley have reached the target working position;

[0030] 5. After the power supply trolley and the mobile trolley arrive at the target working position, the power supply trolley stops directly in front of the vehicle to be charged or discharged, keeping it parallel to the license plate of the target vehicle.

[0031] 6. The mobile trolley uses service information and binocular camera recognition to move the bidirectional electric gun to the vicinity of the charging port of the vehicle to be charged and stop it.

[0032] 7. The robotic arm on the mobile trolley starts and inserts the bidirectional electric gun into the charging port of the vehicle to be charged. The power supply trolley controls the detachable energy storage battery pack and the bidirectional electric gun to start charging or receiving discharge according to the service information.

[0033] 8. After charging or discharging is complete, the mobile trolley controls the robotic arm to retract the bidirectional electric gun.

[0034] The power supply trolley and the mobile trolley automatically plan their paths and avoid obstacles in real time, targeting the location of the energy storage station, until they reach the energy storage station. The pick-and-place component is activated to unload the detachable energy storage battery pack from the power supply trolley and place it into the battery socket for charging or discharging, ready for the next use.

[0035] 9. The power supply trolley and the mobile trolley finally return to the set standby position and enter standby mode;

[0036] 10. The backend server sends service completion information to the user's client.

[0037] Beneficial effects

[0038] During charging, the present invention uses a power supply trolley to move a detachable energy storage battery pack to the front of the vehicle. Since the detachable energy storage battery pack is vertically mounted on the power supply trolley, it effectively saves space and ensures that the width occupied by the power supply trolley and the detachable energy storage battery pack is narrow enough. At the same time, the power supply trolley and the detachable energy storage battery pack do not occupy public lanes and do not hinder the normal passage of other vehicles in the parking lot. The moving trolley moves the bidirectional electric gun to the charging port position on the side of the vehicle. The detachable energy storage battery pack supplies power to the power supply trolley, and the power supply trolley supplies power to the bidirectional electric gun. Then the vehicle can be charged through the bidirectional electric gun. Since the power supply trolley and the detachable energy storage battery pack do not need to move to the side of the vehicle, and the width of the bidirectional electric gun and the moving trolley is smaller, it can enter the side passage of two vehicles when the distance between the two vehicles in the parking space is relatively narrow, so as to better realize the charging of electric vehicles with charging ports on the side.

[0039] This invention is a portable charging and energy storage device that can solve the problem of low utilization rate of traditional charging piles. The split design of this invention has good passability and can better adapt to situations where the charging port of an electric vehicle is located on the side, and the distance between the two vehicles on the side of the parking space is relatively narrow, making it impossible for ordinary mobile charging devices to enter.

[0040] This invention features a bidirectional electric gun. When combined with a matching energy storage power station, it allows car owners to charge or discharge electric vehicles on demand, increasing the utilization value of the vehicle and generating income for the owner. For power grid companies, this invention enables electric vehicles to effectively participate in the frequency regulation and peak shaving of the power grid, reducing the volatility of new energy power generation and reducing the power grid's investment in energy storage construction.

[0041] This invention features a detachable, rechargeable, and swappable energy storage battery pack that can carry a larger amount of power. Combined with a supporting energy storage station and central control system, it can achieve intelligent and orderly charging, two-way interaction between electric vehicles and the power grid (V2G), implement peak-valley time-of-use electricity pricing policies, and store energy during off-peak hours. It is an integrated energy storage and charging infrastructure. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0043] Figure 1 This invention provides a three-dimensional main structure of a split-type autonomous walking charging and storage robot. Figure 1 ;

[0044] Figure 2 This invention provides a three-dimensional main structure of a split-type autonomous walking charging and storage robot. Figure 2 ;

[0045] Figure 3 This invention provides a three-dimensional main structure of a split-type autonomous walking charging and storage robot. Figure 3 ;

[0046] Figure 4 This invention provides a three-dimensional main structure of a split-type autonomous walking charging and storage robot. Figure 4 ;

[0047] Figure 5 This invention provides a three-dimensional main structure of a split-type autonomous walking charging and storage robot. Figure 5 .

[0048] The labels in the diagram represent:

[0049] 1. Power supply trolley 2. Detachable energy storage battery pack 3. Two-way electric gun 4. Mobile trolley 5. Energy storage power station 6. Battery connector 7. Pick-up and drop assembly 71. X-axis moving assembly 72. Y-axis moving assembly 73. Z-axis moving assembly 74. Mounting plate 75. First n-shaped plate 76. Horizontal axis 77. First motor 78. Clamping plate 79. Rubber pad 710. Second motor 711. Guide rod 712. Symmetrical threaded rod 713. Second n-shaped plate. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0051] The present invention will be further described below with reference to embodiments.

[0052] Example 1

[0053] Please refer to the instruction manual appendix. Figure 1-5 A split-type autonomous walking charging and storage robot includes a power supply trolley 1 for mounting a detachable energy storage battery pack 2 and for moving the detachable energy storage battery pack 2, and also includes a bidirectional electric gun 3 and a mobile trolley 4 for moving the bidirectional electric gun 3; the power supply trolley 1 is electrically connected to the detachable energy storage battery pack 2, the bidirectional electric gun 3 is electrically connected to the power supply trolley 1 through a charging cable, and the bidirectional electric gun 3 is clamped and fixedly installed on the upper end of the mobile trolley 4; the detachable energy storage battery pack 2 is vertically inserted and installed on the power supply trolley 1;

[0054] Preferably, during charging, the power supply trolley 1 and the detachable energy storage battery pack 2 are located at the front of the vehicle, while the bidirectional electric gun 3 and the mobile trolley 4 are located on the side of the vehicle.

[0055] Preferably, the width of the mobile trolley 4 is 20-30cm;

[0056] During charging, the power supply trolley 1 moves the detachable energy storage battery pack 2 to the front of the vehicle. Since the detachable energy storage battery pack 2 is vertically mounted on the power supply trolley 1, it can effectively save space and ensure that the width occupied by the power supply trolley 1 and the detachable energy storage battery pack 2 is narrow enough. At the same time, the power supply trolley 1 and the detachable energy storage battery pack 2 do not occupy public lanes and do not hinder the normal passage of other vehicles in the parking lot. The moving trolley 4 moves the bidirectional electric gun 3 to the charging port position on the side of the vehicle. The detachable energy storage battery pack 2 supplies power to the power supply trolley 1, and the power supply trolley 1 supplies power to the bidirectional electric gun 3. Then the vehicle can be charged through the bidirectional electric gun 3. Since the power supply trolley 1 and the detachable energy storage battery pack 2 do not need to move to the side of the vehicle, and the width of the bidirectional electric gun 3 and the moving trolley 4 is smaller, it can enter the side passage of two vehicles when the distance between the two vehicles in the parking space is relatively narrow, so as to better realize the charging of electric vehicles with charging ports on the side.

[0057] Preferably, the power supply vehicle 1 includes a body A, a mobile drive wheel A fixed to the bottom of the body A, and a main control device A, a communication device A, a lidar A, a camera and a millimeter-wave radar A fixed to the body A.

[0058] Preferably, the mobile vehicle 4 includes a vehicle body B, a mobile drive wheel B fixed to the bottom of the vehicle body B, a main control device B, a communication device B, a lidar B, a binocular camera and a millimeter-wave radar B fixed to the vehicle body B, and a robotic arm fixedly installed on the top of the vehicle body B, with a bidirectional electric gun 3 clamped and fixedly installed on the upper end of the robotic arm.

[0059] Preferably, the robotic arm is a commercially available, mature electric telescopic robotic arm;

[0060] Communication device A and communication device B are used to receive signals from the backend server and send signals to the backend server.

[0061] Both main control unit A and main control unit B include a parking control unit, a driving control unit, a steering control unit, and a charging / discharging control unit;

[0062] Preferably, one end of the charging cable is electrically connected to the charging and discharging interface of the vehicle body A; a commercially available and mature winding and unwinding device for winding and unwinding the charging cable is installed inside the vehicle body A, and one end of the charging cable is wound on the winding and unwinding device; thereby enabling the charging cable to extend or retract from inside the vehicle body A, and the length of the charging cable between the power supply trolley 1 and the mobile trolley 4 can be adjusted according to the needs of use.

[0063] Example 2

[0064] Please refer to the instruction manual appendix. Figure 1-5 A charging and storage system includes a split-type autonomous walking charging and storage robot, as well as an energy storage power station 5 and a pick-and-place component 7;

[0065] Several sets of battery insertion holes 6 for inserting detachable energy storage battery packs 2 are equally spaced on the side wall of the energy storage power station 5.

[0066] The energy storage power station 5 is equipped with a pick-and-place assembly 7 for picking up and placing the detachable energy storage battery pack 2;

[0067] The pick-and-place assembly 7 includes a moving assembly, a clamping assembly, and a 90-degree flipping assembly; the moving assembly is installed on the energy storage power station 5, the 90-degree flipping assembly is connected to the moving assembly, and the clamping assembly is connected to the 90-degree flipping assembly;

[0068] The moving components include an X-axis moving component 71, a Y-axis moving component 72, and a Z-axis moving component 73; the X-axis moving component 71 is fixedly installed on the top of the energy storage power station 5, the Y-axis moving component 72 is fixedly connected to the movable end of the X-axis moving component 71, the Z-axis moving component 73 is fixedly connected to the movable end of the Y-axis moving component 72, and a 90-degree flip component is installed on the movable end of the Z-axis moving component 73.

[0069] During movement, the clamping component and the 90-degree flipping component move in coordination through the X-axis moving component 71, the Y-axis moving component 72, and the Z-axis moving component 73.

[0070] The clamping assembly includes clamping plates 78, rubber pads 79, a second motor 710, a guide rod 711, and symmetrical threaded rods 712. The second motor 710, guide rod 711, and symmetrical threaded rods 712 are all mounted on the 90-degree flipping assembly. The clamping plates 78 are threaded to both ends of the symmetrical threaded rods 712. The clamping plates 78 are slidably connected to the guide rods 711. The output end of the second motor 710 is fixedly connected to one end of the symmetrical threaded rods 712. Rubber pads 79 are fixedly connected to the inner side of the clamping plates 78.

[0071] When clamping the detachable energy storage battery pack 2, the second motor 710 is started to drive the symmetrical threaded rod 712 to rotate. The symmetrical threaded rod 712 drives the two clamping plates 78 to move towards each other along the guide rod 711 to clamp the detachable energy storage battery pack 2. The rubber pad 79 helps to prevent damage to the detachable energy storage battery pack 2 when clamping.

[0072] The 90-degree flip assembly includes a mounting plate 74, a first n-shaped plate 75, a horizontal shaft 76, a first motor 77, and a second n-shaped plate 713. The mounting plate 74 is fixedly mounted on the movable end of the Z-axis moving assembly 73 and is fixedly connected to the first n-shaped plate 75. The two ends of the second n-shaped plate 713 are respectively fixedly connected to the horizontal shaft 76, which is rotatably connected to the lower inner wall of the first n-shaped plate 75. The first motor 77 is fixedly mounted on the outer wall of the first n-shaped plate 75, and the output end of the first motor 77 is fixedly connected to one of the horizontal shafts 76. The second motor 710 is fixedly mounted on the outer wall of the second n-shaped plate 713. The guide rod 711 is fixedly mounted inside the second n-shaped plate 713, and the symmetrical threaded rod 712 is rotatably mounted inside the second n-shaped plate 713.

[0073] After the vertically detachable energy storage battery pack 2 on the power supply trolley 1 is clamped by the clamping component, the moving component moves the detachable energy storage battery pack 2 to one side of the battery plug hole 6. The first motor 77 drives the horizontal shaft 76 to rotate 90 degrees, the horizontal shaft 76 drives the second n-shaped plate 713 to rotate 90 degrees, and the second n-shaped plate 713 drives the clamping component and the detachable energy storage battery pack 2 on it to rotate 90 degrees. At this time, the detachable energy storage battery pack 2 is in a horizontal state. Then the moving component can be started to move the detachable energy storage battery pack 2 into the battery plug hole 6, and then the clamping component is released.

[0074] This invention is a portable charging and energy storage device that can solve the problem of low utilization rate of traditional charging piles. The split design of this invention has good passability and can better adapt to situations where the charging port of an electric vehicle is located on the side, and the distance between the two vehicles on the side of the parking space is relatively narrow, making it impossible for ordinary mobile charging devices to enter.

[0075] This invention features a bidirectional electric gun 3, combined with a matching energy storage power station 5. For car owners, this invention allows electric vehicles to be charged or discharged on demand, increasing the utilization value of the vehicle and enabling car owners to gain benefits. For power grid companies, this invention allows electric vehicles to effectively participate in the frequency regulation and peak shaving of the power grid, reducing the volatility of new energy power generation and reducing the power grid's investment in energy storage construction.

[0076] This invention features a detachable, rechargeable, and swappable energy storage battery pack 2, which can carry a larger amount of energy. Combined with a supporting energy storage station and central control system, it can achieve intelligent and orderly charging, two-way interaction between electric vehicles and the power grid (V2G), implement peak-valley time-of-use electricity pricing policy, and store energy during off-peak hours. It is an integrated energy storage and charging infrastructure.

[0077] Example 3

[0078] Please refer to the instruction manual appendix. Figure 1-5 A charging method for a split-type autonomous walking and energy storage robot includes the following steps:

[0079] 1. The car owner establishes an order service information through the user terminal and opens the charging cover;

[0080] Service information includes service requests for charging or discharging, battery level information, service time information, vehicle information, and parking space information;

[0081] 2. After receiving the service information, the back-end server will allocate the nearest standby split-type autonomous walking charging and storage robot and send the corresponding service information to its main control device A and main control device B.

[0082] 3. Based on the received service information, the split-type autonomous walking charging and storage robot first controls the power supply vehicle 1 and the mobile vehicle 4 to move to the set position on one side of the energy storage station 5 through the main control device A and the main control device B, and loads the detachable energy storage battery pack 2 that matches the vehicle information through the pick-and-place component 7.

[0083] IV. After the detachable energy storage battery pack 2 is installed, the main control device A and the main control device B control the power supply trolley 1 and the mobile trolley 4 to automatically plan the path according to the service information and drive to the target location corresponding to the parking space information.

[0084] During the movement, the power supply trolley 1 and the moving trolley 4 drive the body A / B to move through the moving drive wheels A / B respectively;

[0085] During the movement, the system uses LiDAR A / B, camera / dual-lens camera and millimeter-wave radar A / B to detect obstacles on the path in real time. If there are obstacles, the system uses the parking control unit, driving control unit and steering control unit of the main control unit A / B to control the moving drive wheels A / B to avoid the obstacles and re-plan the automatic path until the target position is reached.

[0086] During the movement, lidar A / B is used to detect in real time whether the power supply trolley 1 and the moving trolley 4 have reached the target working position;

[0087] 5. After the power supply trolley 1 and the mobile trolley 4 arrive at the target working position, the power supply trolley 1 stops directly in front of the vehicle to be charged or discharged, keeping it parallel to the license plate of the target vehicle.

[0088] 6. The mobile trolley 4 uses service information and binocular camera recognition to move the bidirectional electric gun 3 to the vicinity of the charging port of the vehicle to be charged and stop it.

[0089] 7. The robotic arm on the mobile trolley 4 starts and inserts the bidirectional electric gun 3 into the charging port of the vehicle to be charged. The power supply trolley 1 controls the detachable energy storage battery pack 2 and the bidirectional electric gun 3 to start charging or receiving discharge according to the service information.

[0090] 8. After charging or discharging is complete, the mobile trolley 4 controls the robotic arm to retract the bidirectional electric gun 3.

[0091] The power supply trolley 1 and the mobile trolley 4 automatically plan their paths and avoid obstacles in real time with the location of the energy storage station 5 as the target until they reach the energy storage station 5; the pick-and-place component 7 is activated to unload the detachable energy storage battery pack 2 from the power supply trolley 1 and put the detachable energy storage battery pack 2 into the battery socket 6 for charging or discharging, in preparation for the next use.

[0092] 9. The power supply trolley 1 and the mobile trolley 4 finally return to the set standby position and enter the standby state;

[0093] 10. The backend server sends service completion information to the user's client.

[0094] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A charging and storage system, characterized in that, It includes a split-type autonomous walking charging and storage robot, as well as an energy storage power station (5) and a pick-and-place component (7). The split-type autonomous walking charging and storage robot includes a power supply trolley (1) for installing a detachable energy storage battery pack (2) and for moving the detachable energy storage battery pack (2), and also includes a bidirectional electric gun (3) and a moving trolley (4) for moving the bidirectional electric gun (3); the power supply trolley (1) is electrically connected to the detachable energy storage battery pack (2), the bidirectional electric gun (3) is electrically connected to the power supply trolley (1) through a charging cable, and the bidirectional electric gun (3) is clamped and fixedly installed on the upper end of the moving trolley (4); the detachable energy storage battery pack (2) is vertically inserted and installed on the power supply trolley (1); The energy storage power station (5) has several sets of battery insertion holes (6) at equal intervals on its side wall for inserting detachable energy storage battery packs (2). The energy storage power station (5) is equipped with a pick-and-place assembly (7) for picking up and placing the detachable energy storage battery pack (2). The pick-and-place assembly (7) includes a moving assembly, a clamping assembly, and a 90-degree flipping assembly; the moving assembly is installed on the energy storage power station (5), the 90-degree flipping assembly is connected to the moving assembly, and the clamping assembly is connected to the 90-degree flipping assembly; The clamping assembly includes a clamping plate (78), a rubber pad (79), a second motor (710), a guide rod (711), and a symmetrical threaded rod (712). The second motor (710), the guide rod (711), and the symmetrical threaded rod (712) are all mounted on the 90-degree flipping assembly. The clamping plate (78) is threaded to both ends of the symmetrical threaded rod (712). The clamping plate (78) is slidably connected to the guide rod (711). The output end of the second motor (710) is fixedly connected to one end of the symmetrical threaded rod (712). The rubber pad (79) is fixedly connected to the inner side of the clamping plate (78). The 90-degree flip assembly includes a mounting plate (74), a first n-shaped plate (75), a horizontal shaft (76), a first motor (77), and a second n-shaped plate (713). The mounting plate (74) is fixedly mounted on the movable end of the Z-axis moving assembly (73). The mounting plate (74) is fixedly connected to the first n-shaped plate (75). The two ends of the second n-shaped plate (713) are respectively fixedly connected to the horizontal shaft (76). The horizontal shaft (76) is rotatably connected to the lower inner wall of the first n-shaped plate (75). The first motor (77) is fixedly mounted on the outer wall of the first n-shaped plate (75), and the output end of the first motor (77) is fixedly connected to one of the horizontal shafts (76). The second motor (710) is fixedly mounted on the outer wall of the second n-shaped plate (713). The guide rod (711) is fixedly mounted inside the second n-shaped plate (713). The symmetrical threaded rod (712) is rotatably mounted inside the second n-shaped plate (713).

2. The charging and storage system according to claim 1, characterized in that, The moving components include an X-axis moving component (71), a Y-axis moving component (72), and a Z-axis moving component (73); the X-axis moving component (71) is fixedly installed on the top of the energy storage power station (5), the Y-axis moving component (72) is fixedly connected to the movable end of the X-axis moving component (71), the Z-axis moving component (73) is fixedly connected to the movable end of the Y-axis moving component (72), and a 90-degree flip component is installed on the movable end of the Z-axis moving component (73).

3. The charging and storage system according to claim 1, characterized in that, During charging, the power supply trolley (1) and the detachable energy storage battery pack (2) are located at the front of the vehicle, while the two-way electric gun (3) and the mobile trolley (4) are located on the side of the vehicle.

4. The charging and storage system according to claim 3, characterized in that, The width of the mobile trolley (4) is 20~30cm.

5. The charging and storage system according to claim 4, characterized in that, The power supply vehicle (1) includes a body A, a mobile drive wheel A fixed to the bottom of the body A, a main control device A, a communication device A, a laser radar A, a camera and a millimeter-wave radar A fixed on the body A.

6. The charging and storage system according to claim 5, characterized in that, The mobile vehicle (4) includes a vehicle body B, a mobile drive wheel B fixed to the bottom of the vehicle body B, a main control device B, a communication device B, a laser radar B, a binocular camera and a millimeter-wave radar B fixed on the vehicle body B, and a mechanical arm fixedly installed on the top of the vehicle body B. A bidirectional electric gun (3) is clamped and fixedly installed on the upper end of the mechanical arm.

7. A charging method for a split-type autonomous walking charging and storage robot, utilizing the charging and storage system described in any one of claims 1 to 6, characterized in that, Includes the following steps:

1. The car owner establishes an order service information through the user terminal and opens the charging cover; Service information includes service requests, vehicle information, and parking space information; 2. After receiving the service information, the back-end server will allocate the nearest standby split-type autonomous walking charging and storage robot and send the corresponding service information to its main control device A and main control device B.

3. The split-type autonomous walking charging and energy storage robot first controls the power supply trolley (1) and the mobile trolley (4) to move to the side of the energy storage station (5) through the main control device A and the main control device B, and loads a detachable energy storage battery pack (2) that matches the vehicle information through the pick-and-place component (7). IV. After the detachable energy storage battery pack (2) is installed, the main control device A and the main control device B control the power supply trolley (1) and the mobile trolley (4) to perform automatic path planning according to the service information and drive to the target location corresponding to the parking space information. During the movement, the power supply trolley (1) and the moving trolley (4) drive the vehicle body to move through the moving drive wheels respectively; During the movement, the system uses lidar, cameras / binocular cameras and millimeter-wave radar to detect obstacles on the path in real time. If there are obstacles, the system uses the parking control unit, driving control unit and steering control unit of the main control unit to control the moving drive wheels to avoid the obstacles and re-plan the automatic path until the target position is reached. During the movement, the lidar is used to detect in real time whether the power supply trolley (1) and the moving trolley (4) have reached the target working position; 5. After the power supply trolley (1) and the mobile trolley (4) reach the target working position, the power supply trolley (1) stops directly in front of the vehicle to be charged or discharged, keeping parallel to the license plate of the target vehicle. VI. The mobile trolley (4) uses service information and binocular camera recognition to drive the bidirectional electric gun (3) to move to the vicinity of the charging port of the vehicle to be charged and stop. VII. The robotic arm on the mobile trolley (4) starts and inserts the bidirectional electric gun (3) into the charging port of the vehicle to be charged. The power supply trolley (1) controls the detachable energy storage battery pack (2) and the bidirectional electric gun (3) to start charging or receiving discharge according to the service information.

8. After charging or discharging is completed, the moving trolley (4) controls the robotic arm to withdraw the bidirectional electric gun (3). The power supply trolley (1) and the mobile trolley (4) automatically plan their paths and avoid obstacles in real time with the location of the energy storage station (5) as the target until they reach the energy storage station (5); the pick-and-place component (7) is activated to unload the detachable energy storage battery pack (2) from the power supply trolley (1) and put the detachable energy storage battery pack (2) into the battery socket (6) for charging or discharging, so that it can be used next time; 9. The power supply trolley (1) and the mobile trolley (4) finally return to the set standby position and enter the standby state; 10. The backend server sends service completion information to the user's client.

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