120kW / 430kWh energy storage all-in-one machine and vehicle charging method

Abstract

The invention discloses a 120kW / 430kWh energy storage all-in-one machine and a vehicle charging method, and belongs to the technical field of energy storage management. Comprising a cabinet body and a door body, and the cabinet body is provided with a charging interface area, a mobile robot parking area, a power conversion and control module area and an energy storage module area. The power conversion area comprises a bidirectional power converter and the like; the energy storage module area is provided with a lithium battery module and the like. The charging interface area is provided with a plurality of charging guns. The mobile robot comprises a navigation system and the like. The charging method comprises the steps of equipment initialization and standby, power grid connection and energy storage system charging, vehicle charging request processing, charging process execution, charging completion and subsequent processing and the like. The modular design is adopted, the charging interface can be flexibly configured, and the energy storage system can relieve the power grid pressure. The mobile robot is accurate in navigation and efficient in cooperation, the safety protection measures of the energy storage system are multi-level, and the problems that a traditional charging facility is poor in flexibility and insufficient in navigation cooperation capability, and the safety of the energy storage system is single are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of energy storage management, and in particular to a 120kW / 430kWh integrated energy storage device and a vehicle charging method. Background Art

[0002] The integrated energy storage and charging device is a device that integrates the energy storage system and the charging function. It can store electrical energy and provide charging services for electric vehicles or other devices that need to be charged. From the appearance, it looks like a large energy storage box with a charging interface. The energy storage part usually uses battery packs, such as lithium battery modules. These battery packs can absorb electrical energy from the grid for storage during the low-price period of the grid (such as at night). When the vehicle or device needs to be charged, the electrical energy in the battery pack is output to the charging interface at a suitable voltage and current through the charging control module.

[0003] Traditional charging facilities are often fixedly installed, and it is difficult to flexibly adjust the number and distribution of charging ports according to changes in the number of electric vehicles. In addition, most existing mobile charging devices lack accurate navigation and efficient collaboration capabilities, and it is difficult to quickly and accurately reach the target vehicle location and provide services in a complex parking environment. At the same time, the safety of existing energy storage systems has always been a key issue in the application of energy storage technology. Lithium battery modules may experience safety accidents such as overheating, smoking, and excessive internal pressure during charging and discharging. Summary of the invention

[0004] The purpose of the present invention is to provide a 120kW / 430kWh integrated energy storage device and a vehicle charging method, which solves the problems of poor flexibility of traditional charging facilities, lack of accurate navigation and efficient collaboration capabilities, and single safety of existing energy storage systems.

[0005] To achieve the above-mentioned objectives, the present invention provides a 120kW / 430kWh integrated energy storage machine, comprising a cabinet and a door body, the upper half of one side of the cabinet being provided with a charging interface area, the lower half of one side of the cabinet being provided with a mobile robot docking area, a mobile robot being placed in the mobile robot docking area, a power conversion and control module area and an energy storage module area being provided on one side of the interior of the cabinet, the door body being located on the front side of the cabinet, and a heat dissipation port being provided on the side of the door body.

[0006] Preferably, the power conversion and control module area includes a bidirectional power converter, an intelligent controller and a communication module, and the intelligent controller is electrically connected to the bidirectional power converter and the communication module; the DC end of the bidirectional power converter is connected to the energy storage module area, and the AC end of the bidirectional power converter is connected to the external power grid through an intelligent meter and a circuit breaker; The communication module includes two modes: wired communication and wireless communication, wherein the wired communication is Ethernet, and the wireless communication is one or more of WiFi, Bluetooth or 4G / 5G.

[0007] Preferably, the energy storage module area includes a lithium battery module, a battery management system BMS, a thermal management module and a safety detection module. The battery management system BMS is connected to each of the lithium battery modules and includes a voltage sensor, a current sensor and a temperature sensor. A thermal management module is arranged above each of the lithium battery modules; the safety detection module includes a smoke sensor and a pressure sensor, which are installed in the module and are used to detect abnormal conditions.

[0008] Preferably, the thermal management module includes a heat sink, two temperature sensors and a micro fan, the micro fans are arranged above several of the heat sinks, the two temperature sensors are arranged between each of the heat sinks, the micro fans are located in a heat sink bracket, and a dust net is arranged on the top of the heat sink bracket.

[0009] Preferably, the charging interface area includes a charging interface, on which one or more of a DC fast charging gun and an AC slow charging gun are installed, and both the DC fast charging gun and the AC slow charging gun are connected to the protection module through an independent control circuit; The protection module is divided into overvoltage protection, overcurrent protection and leakage protection.

[0010] Preferably, the mobile robot includes a navigation sensor system, a wireless communication unit, a robot battery management module, a robot energy storage power supply battery, a control system, a drive motor and a robot charging interface; The navigation sensor system, the wireless communication unit, and the robot battery management module are electrically connected to the control system. The battery management module is electrically connected to the robot energy storage power supply battery. The drive motor and the robot charging interface are connected to the robot energy storage power supply battery. The wireless communication unit uses one of WiFi or Bluetooth.

[0011] Preferably, the navigation sensor system includes a laser radar, a visual camera and an ultrasonic sensor, wherein the laser radar is used to construct a high-precision map and real-time positioning, emit a laser beam and receive reflected light, obtain three-dimensional information of the surrounding environment, measure the distance to surrounding objects, and provide basic data for robot navigation; The visual camera is used to identify targets such as obstacles, vehicles and charging ports in the surrounding environment, and achieves target resolution and positioning by taking images and using image recognition technology; The ultrasonic sensor is used for short-range obstacle avoidance. It sends out ultrasonic signals and determines the distance to the obstacle based on the reflected signals. When the distance is too close, obstacle avoidance measures are taken in time.

[0012] Preferably, the robot docking area includes a positioning module and a robot charging output port, the positioning module includes a laser navigation positioning sensor and a visual positioning system, and the robot charging output port is connected to the robot charging interface.

[0013] A vehicle charging method for a 120kW / 430kWh energy storage integrated device comprises the following steps: S1. Equipment initialization and standby. The storage and charging machine starts, and each module performs self-inspection. The mobile robot performs self-inspection in the docking area and establishes a communication connection with the storage and charging machine to confirm that its own status is normal and in charging standby status. The BMS in the energy storage module area monitors the parameters of the battery module in real time and transmits the data to the intelligent controller. The intelligent controller determines whether the energy storage system is in a normal state based on the data. If there is any abnormality, it will take corresponding warnings and processing measures; S2, grid connection and energy storage system charging, the smart meter and circuit breaker are connected to the external grid, and the smart meter starts to measure the power data. When the grid is in the off-peak period and the energy storage system is not fully charged, the smart controller controls the power conversion module to obtain AC power from the grid according to the preset charging strategy; the bidirectional power converter converts AC power into DC power, and charges the lithium battery module of the energy storage system through the DC bus; S3, vehicle charging request processing, electric car owners connect to the IoT-based cloud platform through mobile phone applications, and make reservations for charging time and location in advance. The cloud platform sends the reservation information to the storage and charging machine and the mobile robot; when the vehicle arrives at the parking lot, if the owner initiates an immediate charging request, the cloud platform receives the request information and sends it to the storage and charging machine. The intelligent controller of the storage and charging machine determines whether the energy storage system will charge the vehicle directly or wait for the grid to replenish energy storage before charging according to the current energy storage system power, power distribution and vehicle charging needs; S4, the charging process is executed. The intelligent controller distributes the 120kW output power to the corresponding charging interface through the power distribution system according to the battery information of the vehicle and the connection status of the charging interface. The mobile robot automatically goes to the vehicle location according to the instructions of the cloud platform, confirms the vehicle information through vehicle identification technology, guides the vehicle to the appropriate charging location, and connects the charging gun to the vehicle. S5. When the vehicle battery is fully charged, the storage and charging machine stops charging. The mobile robot unplugs the charging gun from the vehicle and guides the vehicle to an empty parking space or exit according to the instructions of the storage and charging machine or the cloud platform. The mobile robot returns to the parking area and reconnects with the storage and charging machine to charge and wait for the next task instruction. At the same time, the storage and charging machine records the relevant data of this charging and uploads it to the cloud platform through the communication module.

[0014] Preferably, in step S4, when the vehicle needs to be charged and the energy storage system has sufficient power, the intelligent controller controls the power conversion module to convert the direct current of the energy storage system into alternating current, and charges the vehicle through the charging interface; When the grid experiences peak load or voltage or frequency fluctuations, the integrated storage and charging machine controls the power conversion module through an intelligent controller to adjust the charging and discharging state of the energy storage system based on the communication protocol with the grid and the preset grid interaction strategy, and provides active power or reactive power support to the grid.

[0015] Therefore, the present invention adopts a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the above structure, which has the following beneficial effects: (1) The present invention adopts a modular design, and its charging interface area can be equipped with multiple different types of charging guns, and can be flexibly configured according to the actual needs of parking lots and other places. At the same time, the 430kWh energy storage system can alleviate the problem of insufficient power supply capacity of the power grid to a certain extent. Even during periods of tight power supply in the power grid, the energy storage system can be used to charge vehicles, reducing dependence on power grid expansion.

[0016] (2) The mobile robot in the present invention adopts advanced multi-sensor fusion navigation technology, integrating multiple sensors such as laser radar, visual camera, ultrasonic sensor, etc., and can accurately navigate in complex environments, realize autonomous path planning and obstacle avoidance functions, and quickly and safely reach the target vehicle location or charging interface location. At the same time, a collaboration algorithm between mobile robots has been developed. When multiple vehicles need charging services at the same time and the number of mobile robots is limited, the mobile robots can collaborate with each other and reasonably allocate tasks to avoid conflicts and waste of resources between robots, thereby improving the efficiency and automation level of the overall mobile charging service.

[0017] (3) The technical solution of the present invention adopts multi-level safety protection measures for the energy storage system. At the battery module level, each module is equipped with an independent thermal management system, including heat sinks, temperature sensors and micro fans, which can dissipate the heat generated by the battery in time to prevent the battery from overheating and causing safety accidents. At the same time, safety monitoring devices such as smoke sensors and pressure sensors are also installed in the module. Once an abnormal situation is detected, an alarm signal is immediately sent to the BMS and intelligent controller, and corresponding emergency measures are initiated, which comprehensively improves the overall safety of the energy storage system.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the present invention; Figure 2 A schematic diagram of a lithium battery module of a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the present invention; Figure 3 This is a schematic diagram of the overall module of a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the present invention; Figure 4 A schematic diagram of a power conversion and control module area of ​​a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the present invention; Figure 5 A schematic diagram of an energy storage module area of ​​a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the present invention; Figure 6 A schematic diagram of a charging interface area of ​​a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the present invention; Figure 7 A schematic diagram of a mobile robot of a 120kW / 430kWh integrated energy storage device and a vehicle charging method of the present invention; Reference numerals 1. Cabinet, 2. Door, 3. Heat dissipation port, 4. Charging port, 5. Charging gun, 6. Mobile robot docking area, 7. Mobile robot, 8. Lithium battery module, 9. Heat sink, 10. Micro fan, 11. Heat dissipation bracket, 12. Dust net. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0021] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] Example like Figure 1-7As shown, the present invention provides a 120kW / 430kWh integrated energy storage machine, including a cabinet 1 and a door 2. The upper half of one side of the cabinet 1 is provided with a charging interface area, the lower half of one side of the cabinet 1 is provided with a mobile robot docking area 6, a mobile robot 7 is placed in the mobile robot docking area 6, a power conversion and control module area and an energy storage module area are provided on one side of the interior of the cabinet 1, the door 2 is located on the front of the cabinet 1, and a heat dissipation port 3 is opened on the side of the door 2.

[0023] The power conversion and control module area includes a bidirectional power converter, an intelligent controller and a communication module, and the intelligent controller is electrically connected to the bidirectional power converter and the communication module; the DC end of the bidirectional power converter is connected to the energy storage module area, and the AC end of the bidirectional power converter is connected to the external power grid through an intelligent meter and a circuit breaker; The communication module includes two modes: wired communication and wireless communication. The wired communication is Ethernet, and the wireless communication is one or more of WiFi, Bluetooth or 4G / 5G.

[0024] The energy storage module area includes a lithium battery module 8, a battery management system BMS, a thermal management module and a safety detection module. The battery management system BMS is connected to each lithium battery module 8, including a voltage sensor, a current sensor and a temperature sensor. A thermal management module is arranged above each lithium battery module 8; the safety detection module includes a smoke sensor and a pressure sensor, which are installed in the module to detect abnormal conditions.

[0025] The thermal management module includes a heat sink 9, a temperature sensor 2 and a micro fan 10. Micro fans 10 are arranged above several heat sinks 9, and a temperature sensor 2 is arranged between each heat sink 9. The micro fan 10 is located in a heat sink bracket 11, and a dustproof net 12 is arranged on the top of the heat sink bracket 11.

[0026] The charging interface area includes a charging interface 4, on which a charging gun 5 is installed. The charging gun 5 includes one or more of a DC fast charging gun and an AC slow charging gun. Both the DC fast charging gun and the AC slow charging gun are connected to the protection module through an independent control circuit. The protection module is divided into overvoltage protection, overcurrent protection and leakage protection.

[0027] The mobile robot 7 includes a navigation sensor system, a wireless communication unit, a robot battery management module, a robot energy storage power supply battery, a control system, a drive motor and a robot charging interface; The navigation sensor system, the wireless communication unit, the robot battery management module and the control system are electrically connected, the battery management module and the robot energy storage power supply battery are electrically connected, the drive motor and the robot charging interface are connected to the robot energy storage power supply battery, and the wireless communication unit uses one of WiFi or Bluetooth.

[0028] The navigation sensor system includes laser radar, visual camera and ultrasonic sensor. The laser radar is used to build high-precision maps and real-time positioning. It emits laser beams and receives reflected light to obtain three-dimensional information of the surrounding environment, measure the distance to surrounding objects, and provide basic data for robot navigation. The visual camera is used to identify obstacles, vehicles, charging ports and other targets in the surrounding environment, and to identify and locate targets by taking images and using image recognition technology; Ultrasonic sensors are used for close-range obstacle avoidance. They send out ultrasonic signals and determine the distance to the obstacle based on the reflected signals. When the distance is too close, obstacle avoidance measures are taken in a timely manner.

[0029] The mobile robot docking area 6 includes a positioning module and a robot charging output port. The positioning module includes a laser navigation positioning sensor and a visual positioning system. The robot charging output port is connected to the robot charging interface.

[0030] A vehicle charging method for a 120kW / 430kWh energy storage integrated device comprises the following steps: S1. Equipment initialization and standby: The storage and charging machine is started, and each module performs self-test, including the lithium battery module 8 in the energy storage module area, the bidirectional power converter, intelligent controller, communication module in the power conversion and control module area, and each charging gun 5 and its control circuit, protection device, etc. in the charging interface area. The mobile robot 7 also performs self-test in the docking area and establishes a communication connection with the storage and charging machine to confirm that its own status is normal and is in the charging standby state.

[0031] The BMS in the energy storage module area monitors the voltage, current, temperature and other parameters of the lithium battery module 8 in real time and transmits the data to the intelligent controller. The intelligent controller determines whether the energy storage system is in a normal state based on these data, and takes corresponding warning and processing measures if there is any abnormality.

[0032] S2. Grid connection and energy storage system charging: The smart meter and circuit breaker are connected to the external grid, and the smart meter starts to measure power data.

[0033] When the power grid is in a low-price period and the energy storage system is not fully charged, the intelligent controller controls the power conversion module to obtain AC power from the grid according to the preset charging strategy. The bidirectional power converter converts AC power into DC power and charges the lithium battery module of the energy storage system through the DC bus.

[0034] During the charging process, the BMS continuously monitors the status of each lithium battery module 8, such as voltage, current, temperature, etc., and transmits the data to the intelligent controller. The intelligent controller adjusts the charging power and voltage according to the data fed back by the BMS to ensure that the energy storage system is charged safely and efficiently. For example, if the temperature of a lithium battery module 8 is too high, the intelligent controller will reduce the charging current and start the thermal management system of the module to dissipate heat and cool down.

[0035] S3, vehicle charging request processing: The electric vehicle owner connects to the IoT-based cloud platform through a mobile phone application and makes an appointment for charging time and location in advance. The cloud platform sends the appointment information to the storage and charging integrated machine and the mobile robot 7.

[0036] When the vehicle arrives at the parking lot, if the owner initiates an immediate charging request, the cloud platform receives the request information and sends it to the storage and charging machine. The intelligent controller of the storage and charging machine determines whether the energy storage system will charge the vehicle directly or wait for the grid to replenish energy storage before charging based on the current energy storage system power, power distribution and vehicle charging needs.

[0037] S4. Charging process execution: If the energy storage system is used for direct charging, the intelligent controller distributes the 120kW output power to the corresponding charging interface through the power distribution system according to the vehicle's battery information (such as SOC, battery capacity, charging curve, etc.) and the connection status of the charging interface.

[0038] The mobile robot 7 automatically goes to the vehicle location according to the cloud platform instruction, and after confirming the vehicle information through vehicle identification technology (such as license plate recognition, vehicle VIN code recognition, etc.), guides the vehicle to a suitable charging location and connects the charging gun 5 to the vehicle.

[0039] During the charging process, the vehicle-machine interaction system monitors the vehicle battery status in real time through wireless communication technology (such as 4G / 5G or dedicated short-distance communication protocol), and feeds back information such as charging progress and estimated full time to the vehicle dashboard or the owner's mobile phone application. At the same time, the vehicle can also send special demand information to the storage-charging machine, such as giving priority to full charging, reducing charging power to protect the battery, etc. The storage-charging machine adjusts the charging strategy and power distribution based on this information.

[0040] If the energy storage system is low on power, the intelligent controller will control the power conversion module to obtain electricity from the grid to charge the energy storage system when the grid load permits. At the same time, the charging plan of the energy storage system will be reasonably arranged according to the vehicle's reservation information and charging needs to ensure that there is sufficient power supply when the vehicle needs to be charged.

[0041] S5. Charging completion and subsequent processing: When the vehicle battery is fully charged, the storage-charging machine stops charging, and the mobile robot 7 unplugs the charging gun 5 from the vehicle according to the instructions of the storage-charging machine or the cloud platform, and guides the vehicle to an empty parking space or exit position.

[0042] The mobile robot 7 returns to the mobile robot docking area 6, reconnects with the storage and charging machine, charges, and waits for the next task instruction. At the same time, the storage and charging machine records the relevant data of this charging, including charging power, charging time, vehicle information, etc., and uploads it to the cloud platform through the communication module for data analysis and management.

[0043] In step S4, when the vehicle needs to be charged and the energy storage system has sufficient power, the intelligent controller controls the power conversion module to convert the direct current of the energy storage system into alternating current, and charges the vehicle through the charging interface; When the grid experiences peak load or voltage or frequency fluctuations, the integrated storage and charging machine controls the power conversion module through an intelligent controller to adjust the charging and discharging state of the energy storage system based on the communication protocol with the grid and the preset grid interaction strategy, and provides active power or reactive power support to the grid.

[0044] Therefore, the present invention adopts the above-mentioned 120kW / 430kWh integrated energy storage machine and vehicle charging method, which can be equipped with multiple different types of charging guns and can be flexibly configured according to the actual needs of places such as parking lots. The 430kWh energy storage system can alleviate the problem of insufficient power supply capacity of the power grid to a certain extent. It can reasonably allocate tasks, avoid conflicts and waste of resources between robots, and improve the efficiency and automation level of the overall mobile charging service. And it comprehensively improves the overall safety of the energy storage system.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A 120kW / 430kWh integrated energy storage device, comprising a cabinet and a door, characterized in that: The upper half of one side of the cabinet is provided with a charging interface area, the lower half of one side of the cabinet is provided with a mobile robot docking area, a mobile robot is placed in the mobile robot docking area, a power conversion and control module area and an energy storage module area are provided on one side of the interior of the cabinet, the door body is located at the front side of the cabinet, and a heat dissipation port is opened on the side of the door body.

2. A 120kW / 430kWh energy storage integrated machine according to claim 1, characterized in that: The power conversion and control module area includes a bidirectional power converter, an intelligent controller and a communication module, wherein the intelligent controller is electrically connected to the bidirectional power converter and the communication module; the DC end of the bidirectional power converter is connected to the energy storage module area, and the AC end of the bidirectional power converter is connected to the external power grid through an intelligent meter and a circuit breaker; The communication module includes two modes: wired communication and wireless communication, wherein the wired communication is Ethernet, and the wireless communication is one or more of WiFi, Bluetooth or 4G / 5G.

3. The 120kW / 430kWh integrated energy storage device according to claim 1, characterized in that: The energy storage module area includes a lithium battery module, a battery management system BMS, a thermal management module and a safety detection module. The battery management system BMS is connected to each of the lithium battery modules and includes a voltage sensor, a current sensor and a temperature sensor. A thermal management module is arranged above each of the lithium battery modules; the safety detection module includes a smoke sensor and a pressure sensor, which are installed in the module and are used to detect abnormal conditions.

4. A 120kW / 430kWh integrated energy storage device according to claim 3, characterized in that: The thermal management module includes a heat sink, two temperature sensors and a micro fan. The micro fans are arranged above a number of the heat sinks, and the two temperature sensors are arranged between each of the heat sinks. The micro fans are located in a heat sink bracket, and a dust net is arranged on the top of the heat sink bracket.

5. The 120kW / 430kWh integrated energy storage device according to claim 1, characterized in that: The charging interface area includes a charging interface, a charging gun is installed on the charging interface, and the charging gun includes one or more of a DC fast charging gun and an AC slow charging gun, and the DC fast charging gun and the AC slow charging gun are both connected to the protection module through an independent control circuit; The protection module is divided into overvoltage protection, overcurrent protection and leakage protection.

6. The 120kW / 430kWh integrated energy storage device according to claim 1, characterized in that: The mobile robot includes a navigation sensor system, a wireless communication unit, a robot battery management module, a robot energy storage power supply battery, a control system, a drive motor and a robot charging interface; The navigation sensor system, the wireless communication unit, and the robot battery management module are electrically connected to the control system. The battery management module is electrically connected to the robot energy storage power supply battery. The drive motor and the robot charging interface are connected to the robot energy storage power supply battery. The wireless communication unit uses one of WiFi or Bluetooth.

7. A 120kW / 430kWh integrated energy storage device according to claim 6, characterized in that: The navigation sensor system includes a laser radar, a visual camera and an ultrasonic sensor. The laser radar is used to build a high-precision map and real-time positioning, emit a laser beam and receive reflected light, obtain three-dimensional information of the surrounding environment, measure the distance to surrounding objects, and provide basic data for robot navigation; The visual camera is used to identify obstacles, vehicles and charging interface targets in the surrounding environment, and achieves target resolution and positioning by taking images and using image recognition technology; The ultrasonic sensor is used for short-range obstacle avoidance. It sends out ultrasonic signals and determines the distance to the obstacle based on the reflected signals. When the distance is too close, obstacle avoidance measures are taken in time.

8. The 120kW / 430kWh integrated energy storage device according to claim 6, characterized in that: The robot docking area includes a positioning module and a robot charging output port, the positioning module includes a laser navigation positioning sensor and a visual positioning system, and the robot charging output port is connected to the robot charging interface.

9. A vehicle charging method for a 120kW / 430kWh integrated energy storage device, applied to a 120kW / 430kWh integrated energy storage device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Equipment initialization and standby. The storage and charging machine starts, and each module performs self-inspection. The mobile robot performs self-inspection in the docking area and establishes a communication connection with the storage and charging machine to confirm that its own status is normal and in charging standby status. The BMS in the energy storage module area monitors the parameters of the battery module in real time and transmits the data to the intelligent controller. The intelligent controller determines whether the energy storage system is in a normal state based on the data. If there is any abnormality, it will take corresponding warnings and processing measures; S2, grid connection and energy storage system charging, the smart meter and circuit breaker are connected to the external grid, and the smart meter starts to measure the power data. When the grid is in the off-peak period and the energy storage system is not fully charged, the smart controller controls the power conversion module to obtain AC power from the grid according to the preset charging strategy; the bidirectional power converter converts AC power into DC power, and charges the lithium battery module of the energy storage system through the DC bus; S3, vehicle charging request processing, electric car owners connect to the IoT-based cloud platform through mobile phone applications, and make reservations for charging time and location in advance. The cloud platform sends the reservation information to the storage and charging machine and the mobile robot; when the vehicle arrives at the parking lot, if the owner initiates an immediate charging request, the cloud platform receives the request information and sends it to the storage and charging machine. The intelligent controller of the storage and charging machine determines whether the energy storage system will charge the vehicle directly or wait for the grid to replenish energy storage before charging according to the current energy storage system power, power distribution and vehicle charging needs; S4, the charging process is executed. The intelligent controller distributes the 120kW output power to the corresponding charging interface through the power distribution system according to the battery information of the vehicle and the connection status of the charging interface. The mobile robot automatically goes to the vehicle location according to the instructions of the cloud platform, confirms the vehicle information through vehicle identification technology, guides the vehicle to the appropriate charging location, and connects the charging gun to the vehicle. S5. When the vehicle battery is fully charged, the storage and charging machine stops charging. The mobile robot unplugs the charging gun from the vehicle and guides the vehicle to an empty parking space or exit according to the instructions of the storage and charging machine or the cloud platform. The mobile robot returns to the parking area and reconnects with the storage and charging machine to charge and wait for the next task instruction. At the same time, the storage and charging machine records the relevant data of this charging and uploads it to the cloud platform through the communication module.

10. A vehicle charging method for a 120kW / 430kWh energy storage integrated device according to claim 9, characterized in that: In step S4, when the vehicle needs to be charged and the energy storage system has sufficient power, the intelligent controller controls the power conversion module to convert the direct current of the energy storage system into alternating current, and charges the vehicle through the charging interface; When the grid experiences peak load or voltage or frequency fluctuations, the integrated storage and charging machine controls the power conversion module through an intelligent controller to adjust the charging and discharging state of the energy storage system based on the communication protocol with the grid and the preset grid interaction strategy, and provides active power or reactive power support to the grid.

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