A battery cluster into cabinet robot and control method

Abstract

The present application relates to the technical field of energy storage, and particularly relates to a battery cluster cabinet entering robot and a control method. The battery cluster cabinet entering robot in the present application comprises a portal frame, a moving unit, a forklift unit, a navigation sensing unit and a control unit. The moving unit is used for driving the portal frame to move in all directions. The forklift unit is used for grabbing, carrying and placing the battery cluster into an energy storage cabinet. The navigation sensing unit is used for detecting the relative positions of the battery cluster, the energy storage cabinet and the portal frame. The navigation sensing unit is also used for dynamically sensing the environment and obstacles. The control unit is used for controlling the moving unit, the forklift unit and the navigation sensing unit.

Description

Technical Field

[0001] The present invention relates to the field of energy storage technology, and in particular to a battery cluster cabinet-entering robot and a control method thereof. Background Art

[0002] With the development of new energy storage technologies, sodium-ion batteries, as a new generation of electrochemical energy storage products, are being vigorously promoted and applied by the industry. Sodium-ion batteries offer significant advantages in safety and temperature adaptability. Energy storage cabinets and thermal management systems based on sodium-ion batteries are less susceptible to thermal runaway and fire accidents. They are highly adaptable to environmental conditions and suitable for outdoor deployment in various climates. They also hold broad application prospects in outdoor scenarios such as distributed energy storage and backup power supplies.

[0003] Due to their unique electrochemical and physical properties, sodium-ion batteries mainly adopt a wide, thin, flat blade-shaped structural design. When manufacturing sodium-ion battery clusters and energy storage cabinets, multiple blade batteries are mainly used to integrate into battery modules in a "large surface against large surface" stacking manner, and multiple battery modules are then assembled into battery clusters by stacking them up and down. Finally, the battery clusters are integrated into the energy storage cabinet.

[0004] Currently, the most common technical solution for placing sodium-ion battery clusters into cabinets is to manually operate a forklift. The operator first drives a forklift to remove the battery cluster, then lifts the battery cluster, manually adjusts the forklift's position to align with the energy storage cabinet's guide rails, and then smoothly pushes the battery cluster along the guide rails into the energy storage cabinet. When the battery cluster is fully positioned in the cabinet, the operator lowers the forklift to ensure that the battery cluster base is in full contact with the cabinet bottom surface. Finally, the operator manually confirms that the battery cluster fixing bolts are aligned with the cabinet connection holes.

[0005] During the above process, operators need to observe, monitor, and perform numerous operations, which are numerous, time-consuming, and labor-intensive. When aligning the battery cluster with the energy storage cabinet's guide rails, manual adjustment is difficult due to the small gap between the guide rails and the battery cluster inside the energy storage cabinet. When pushing the battery cluster into the energy storage cabinet, if the battery cluster is not aligned vertically and the forklift is positioned at a certain angle to the cabinet guide rails, the battery cluster will become stuck in the guide rails and cannot be installed further. Due to the height limit of the cabinet's internal space, the battery cluster cannot be lifted inside the cabinet, which further increases the difficulty of operation. When aligning the battery cluster with the cabinet's connection holes, if the hole position deviates too much, readjustment is required. Summary of the Invention

[0006] The present invention provides a battery cluster automatic cabinet-entry robot, comprising a gantry, a mobile unit, a forklift unit, a navigation perception unit, and a control unit. The mobile unit is used to drive the gantry to move in all directions. The forklift unit is used to grab and carry battery clusters and place the battery clusters into an energy storage cabinet. The navigation perception unit is used to detect the relative positions of the battery cluster, the energy storage cabinet, and the gantry. The navigation perception unit is also used to dynamically perceive the environment and obstacles. The control unit is used to control the mobile unit, the forklift unit, and the navigation perception unit.

[0007] Furthermore, the gantry includes a crossbeam, a first vertical rod and a second vertical rod, the two ends of the crossbeam are respectively connected to the first vertical rod and the second vertical rod, the moving units are respectively arranged below the first vertical rod and the second vertical rod, and the forklift unit is arranged on the first vertical rod.

[0008] Furthermore, the mobile unit includes a first tire group and a second tire group, the first tire group and the second tire group are four-wheel drive groups respectively, the first tire group is arranged below the first vertical rod and is used to drive the first vertical rod, the second tire group is arranged below the second vertical rod and is used to drive the second vertical rod, and the first tire group and the second tire group can drive the gantry to move in all directions under the drive of the control unit.

[0009] Furthermore, the forklift unit includes a double-type multi-stage hydraulic cylinder and a mechanical arm, the double-type multi-stage hydraulic cylinder is used to drive the mechanical arm, and the mechanical arm is used to grab, lift or lower the battery cluster.

[0010] Furthermore, the robotic arm includes an upper arm, a lower arm and a fork portion, the upper arm is connected to the double-type multi-stage hydraulic cylinder as a whole, the lower arm is connected to the upper arm as a whole, the fork portion is arranged at the end of the lower arm, the upper arm is used to rotate and adjust the robotic arm relative to the battery cluster, the lower arm is used to pitch and adjust the robotic arm relative to the battery cluster, and the fork portion is used to lift the battery cluster.

[0011] Furthermore, the navigation sensing unit includes an adjustable laser Hall sensor, which is arranged on the side of the second vertical pole facing the first vertical pole, and is used to detect the relative positions of the battery cluster, the energy storage cabinet and the second vertical pole.

[0012] Furthermore, the navigation perception unit includes a machine vision module, which is arranged below the first vertical pole and / or the second vertical pole, and is used for tracking and navigating the gantry.

[0013] Furthermore, the navigation perception unit includes an ultrasonic sensor array, and the ultrasonic sensor array is used to dynamically perceive the environment and obstacles.

[0014] Furthermore, the control unit is also used to execute a fully automatic operation mode or a manually controlled operation mode, and the control unit also includes a safety PLC, which is used to switch between the fully automatic operation mode and the manually controlled operation mode.

[0015] Furthermore, the present invention also includes a method for controlling a battery cluster automatic cabinet-entering robot, which is used to control the aforementioned battery cluster automatic cabinet-entering robot, and includes the following steps:

[0016] Calibrate the spatial parameters of the target object and pre-configure the navigation perception unit;

[0017] Start the multimodal environment perception fusion algorithm based on the SLAM framework and go to the battery cluster according to the preset route;

[0018] Obtain the battery cluster and transfer it to the energy storage cabinet;

[0019] Place the battery cluster into the energy storage cabinet and then exit the forklift unit.

[0020] The gantry-based battery cluster cabinet-entry robot provided by the present invention realizes the assembly between the battery cluster and the energy storage cabinet. More specifically, the gantry is driven by the mobile unit, the battery cluster is grasped and transported by the forklift unit and the battery cluster is placed in the cabinet, the navigation perception unit performs environmental perception and mobile obstacle avoidance, etc., and the control unit controls the above-mentioned components, thereby solving many problems such as the difficulty of placing the battery cluster in the cabinet and saving a lot of manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the battery cluster cabinet-entering robot provided by the present invention.

[0022] Figure 2 Another schematic diagram of the battery cluster cabinet-entering robot of the present invention.

[0023] Figure 3 This is a schematic diagram of the battery cluster cabinet-entering robot in the present invention grabbing a battery cluster.

[0024] Figure 4 This is a schematic diagram of the battery cluster cabinet-entering robot in the present invention placing battery clusters into a cabinet.

[0025] Figure 5 Schematic diagram of the battery cluster and its chassis in the present invention.

[0026] In the figure: 1. Gantry; 11. Crossbeam; 12. First vertical bar; 13. Second vertical bar; 2. Mobile unit; 21. First tire group; 22. Second tire group; 3. Forklift unit; 31. Double multi-stage hydraulic cylinder; 32. Robotic arm; 321. Upper arm; 322. Lower arm; 323. Fork tine; 4. Adjustable laser Hall sensor; 6. Battery cluster; 61. Chassis; 62. Forklift hole; 7. Energy storage cabinet; 8. High-precision servo motor. DETAILED DESCRIPTION

[0027] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0028] It should be noted that the terms "first", "second", "third", "fourth", etc. in the description and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0029] See also Figures 1 to 2The battery cluster cabinet-entering robot in the present invention includes a gantry 1, a mobile unit 2, a forklift unit 3, a navigation perception unit and a control unit. The mobile unit 2 is used to drive the gantry 1 to move in all directions. The forklift unit 3 is used to grab, carry and place the battery cluster 6 into the energy storage cabinet 7. The navigation perception unit is used to detect the relative positions of the battery cluster 6, the energy storage cabinet 7 and the gantry 1. The navigation perception unit is also used to dynamically perceive the environment and obstacles. The control unit is used to control the mobile unit 2, the forklift unit 3 and the navigation perception unit. Specifically, in this embodiment, the gantry 1 includes a crossbeam 11 at the top and first and second vertical bars 12, 13 on either side of the crossbeam 11. The forklift unit 3 extends into the chassis 61 of the battery cluster 6 along the extension direction of the crossbeam 11, with the battery cluster 6 located between the first and second vertical bars 12, 13. When placing the battery cluster 6 into the energy storage cabinet 7, the mobile unit 2 drives the crossbeam 11 of the gantry 1 to move above the energy storage cabinet 7 and places the energy storage cabinet 7 between the first and second vertical bars 12, 13. The forklift unit 3 also places the battery cluster 6 into the energy storage cabinet 7 along the extension direction of the crossbeam 11. Therefore, the dimensions of the gantry 1, especially the transverse dimension determined by the length of the crossbeam 11, must be greater than the sum of the dimensions of the battery cluster 6 and the energy storage cabinet 7 to ensure that the battery cluster 6 located between the first and second vertical bars 12, 13 can be placed into the energy storage cabinet 7 between the first and second vertical bars 12, 13 during transportation. The present invention realizes the assembly between the battery cluster 6 and the energy storage cabinet 7 through a battery cluster cabinet-entry robot based on a gantry 1. More specifically, the gantry 1 is driven by the mobile unit 2, and the battery cluster 6 is grasped and transported by the forklift unit 3 and placed into the cabinet. The navigation perception unit performs environmental perception and mobile obstacle avoidance, and the control unit controls the above components, thereby solving many problems such as the difficulty of the battery cluster 6 in entering the cabinet and saving a lot of manpower and material resources.

[0030] Further, the mobile unit 2 in the present application comprises a first tire group 21 and a second tire group 22, the first tire group 21 and the second tire group 22 are four-wheel drive groups respectively, the first tire group 21 is arranged below the first vertical rod 12 and is used to drive the first vertical rod 12, the second tire group 22 is arranged below the second vertical rod 13 and is used to drive the second vertical rod 13, the first tire group 21 and the second tire group 22 can drive the gantry 1 to move omnidirectionally under the driving of the control unit. Specifically, in the present embodiment, the mobile unit 2 is composed of the first tire group 21 and the second tire group 22 together to form an eight-wheel independent drive architecture, the first tire group 21 and the second tire group 22 are both a group of four-wheel drive, and the front and rear shafts in the group are arranged side by side, the first tire group 21 and the second tire group 22 are respectively provided with corresponding high-precision servo motors 8 to realize omnidirectional and full-area motion under the control of the control unit, thereby driving the gantry 1 to move. In addition, the mobile unit 2 in the present application also comprises an electronic parking mechanism, which can be parked under the control of the control unit to stop the gantry 1 from moving.

[0031] Please refer to Figures 3 to 5 Further, the forklift unit 3 in the present application comprises a double-connection multi-stage hydraulic cylinder 31 and a mechanical arm 32, the double-connection multi-stage hydraulic cylinder 31 is used to drive the mechanical arm 32, and the mechanical arm 32 is used to grab, lift or lower the battery cluster 6. Specifically, the mechanical arm 32 comprises a large arm 321, a small arm 322 and a fork tooth part 323, the large arm 321 is connected with the double-connection multi-stage hydraulic cylinder 31 as a whole, the small arm 322 is connected with the large arm 321 as a whole, and the fork tooth part 323 is arranged at the end of the small arm 322, the large arm 321 is used to rotate and adjust the mechanical arm 32 relative to the battery cluster 6, the small arm 322 is used to pitch and adjust the mechanical arm 32 relative to the battery cluster 6, and the fork tooth part 323 is used to lift the battery cluster 6. In the present embodiment, the fork tooth part 323 of the forklift unit 3 is a fork tooth translation slide, the double-connection multi-stage hydraulic cylinder 31 and the mechanical arm 32 thereon are a vertical driving unit, which drives the fork tooth part 323 to move in multiple degrees of freedom, and the fork tooth translation slide can extend into the chassis 61 of the battery cluster 6. In addition, the mechanical arm 32 is also provided with a three-stage hydraulic servo mechanism and a force sensor to realize accurate pose regulation and control, and to perform force-position hybrid control and impedance control.

[0032] Further, the navigation perception unit in the present application comprises adjustable laser Hall sensors 4, a machine vision module and an ultrasonic sensor array. The adjustable laser Hall sensors 4 are arranged on one side of the second vertical rod 13 facing the first vertical rod 12, and are used to detect the relative positions of the battery cluster 6, the energy storage cabinet 7 and the second vertical rod 13. The machine vision module is arranged below the first vertical rod 12 and / or the second vertical rod 13, and is used to track and navigate the gantry 1. The ultrasonic sensor array is used to dynamically perceive the environment and obstacles. Specifically, in the present embodiment, the second vertical rod 13 is provided with a total of four adjustable laser Hall sensors 4 arranged side by side in the middle in the height direction. The four adjustable laser Hall sensors 4 are symmetrically arranged in two groups, and the symmetry axes of the two groups of adjustable laser Hall sensors 4 are in a spatial mapping relationship with the symmetry axis of the mechanical arm 32. In actual use, the positions of the adjustable laser Hall sensors 4 on the second vertical rod 13 need to be adjusted to accurately match the geometric width of the battery cluster 6 and the energy storage cabinet 7, so as to ensure that the symmetry axes of the two groups of sensors are strictly orthogonal to the vertical vector direction of the movement of the mechanical arm 32. The adjustable laser Hall sensors 4 in the present application can detect whether the battery cluster 6 and the energy storage cabinet 7 have entered the corresponding range of the forklift unit 3 by measuring whether the laser emitted by themselves is blocked. Since they are adjustable, when they are applied to battery clusters 6 and energy storage cabinets 7 of different sizes, only the relevant parameters need to be re-measured and their positions on the gantry 1 need to be re-set.

[0033] Further, the control system in the present application comprises a multi-core heterogeneous processor central control unit and a safety PLC. The multi-core heterogeneous processor central control unit is used to store and execute a preset full-automatic operation mode, or receive signals to execute a manual control operation mode. The safety PLC is used to switch between the full-automatic operation mode and the manual control operation mode. As can be easily understood, the control system can also be connected to an Ethernet to realize remote device state monitoring and remote operation, such as remotely switching the operation mode to the full-automatic operation mode or the manual control operation mode, to ensure the reliability of the robot operation.

[0034] Further, the battery cluster entering cabinet robot control method provided by the present application comprises the following steps:

[0035] Step S1: Perform target space parameter calibration and pre-configure the navigation perception unit.

[0036] Specifically, before activating the battery cluster entry robot of the present invention, the target object's spatial parameters must be calibrated. For example, the battery cluster 6 and energy storage cabinet 7 must be precisely aligned within the pre-set navigation path starting area, and the actual width parameters of the battery cluster 6 and energy storage cabinet 7 must be acquired using a 3D laser scanner. This allows the acquisition of some of the parameters required for subsequent pre-configuration of the navigation perception unit. The position of the adjustable laser Hall effect sensor 4 on the second vertical rod 13 is then adjusted to precisely match the geometric widths of the battery cluster 6 and energy storage cabinet 7, ensuring that the dual sensor axis of symmetry forms a strictly orthogonal geometric relationship with the vertical vector direction of the robot arm 32's motion.

[0037] Step S2: Start the multimodal environment perception fusion algorithm based on the SLAM (Simultaneous Localization and Mapping) framework and go to the battery cluster 6 according to the preset route.

[0038] Specifically, during the initialization phase of the battery cluster entry robot of the present invention, a multimodal environmental perception fusion algorithm based on the SLAM framework needs to be activated to construct a high-precision digital twin model of the operating environment. A preset path is identified and calibrated using a machine vision module and an ultrasonic sensor array. More specifically, the data collected by the multimodal sensors is fused and integrated into a consistent, reliable description of the environment and characterized. For example, the visual scene information collected by the machine vision module and the absolute position information collected by the ultrasonic sensor array are used to construct a digital twin model of the scene and confirm the position of the gantry 1 and the battery cluster within it. The control unit then constructs a preset path for the gantry 1 to grasp and transport the battery cluster 6 based on the digital twin model. During this process, environmental perception is performed using the machine vision module and the ultrasonic sensor array. As the battery cluster entry robot of the present invention moves toward the battery cluster 6, the control unit controls the mobile unit 2 to drive eight distributed high-precision servo motors to perform vector torque distribution, achieving centimeter-level trajectory tracking control.

[0039] Step S3: Obtain the battery cluster 6 and transfer the battery cluster 6 to the energy storage cabinet 7 .

[0040] Specifically, when the battery cluster cabinet-entering robot in the present invention approaches the battery cluster 6, the first adjustable laser Hall sensor 4 in the relative movement direction of the battery cluster 6 and the gantry 1 starts the dynamic threshold detection mode to detect whether the laser emitted by itself is blocked. When it detects that the laser emitted by itself is blocked, it indicates that the battery cluster 6 has entered the corresponding range of the forklift unit 3 in the moving direction of the gantry 1 but has not yet been aligned. The control unit switches the mobile unit 2 to the PID (Proportional-Integral-Derivative) micro-motion mode, also known as the proportional-integral-differential control mode, to reduce the moving speed to 30% of the baseline value. In addition, the third adjustable laser Hall sensor 4 in the direction of relative movement between the battery cluster 6 and the gantry 1 will also continuously detect whether the laser emitted by itself is blocked. When it detects that the laser emitted by itself is blocked, it indicates that the battery cluster 6 has exceeded the range of the forklift unit 3 in the moving direction of the gantry 1 and has moved excessively. The control unit controls the mobile unit 2 to perform reverse compensation movement until the two sets of adjustable laser Hall sensors 4 can no longer detect that the laser emitted by themselves is blocked, indicating that the battery cluster 6 is aligned with the forklift unit 3 in the moving direction of the gantry 1, and then the control unit activates the electronic parking mechanism of the mobile unit 2. When the battery cluster entry robot of the present invention grabs the battery cluster 6, the forklift unit 3 starts working first, and the robot arm 32 pushes the battery cluster 6 horizontally. The dual-type multi-stage hydraulic cylinder 31 can ensure that the fork teeth 323 remain absolutely horizontal, and the fork teeth 323 are accurately inserted into the forklift holes 62 on the chassis 61 of the battery cluster 6 under the force-position hybrid control mode, and then the battery cluster 6 is lifted to the target height with a constant acceleration, for example: 8±2mm above the guide rail plane of the energy storage cabinet 7. When the battery cluster entry robot of the present invention transports the battery cluster 6, the mobile unit 2 drives the gantry 1 to move according to the preset path, and performs the dynamic window method to avoid obstacles based on the construction of a high-precision digital twin model of the working environment. When the battery cluster cabinet-entering robot in the present invention approaches the energy storage cabinet 7, the second adjustable laser Hall sensor 4 in the direction of relative movement between the energy storage cabinet 7 and the gantry 1 starts the dynamic threshold detection mode to detect whether the laser emitted by itself is blocked. When it detects that the laser emitted by itself is blocked, it indicates that the energy storage cabinet 7 has entered the corresponding range of the forklift unit 3 in the moving direction of the gantry 1 but has not yet been aligned. The control unit switches the mobile unit 2 to the PID inching mode, reducing the moving speed to 30% of the baseline value.And, the fourth adjustable laser Hall sensor 4 in the movement direction of the gantry 1 and the energy storage cabinet 7 will also continuously detect whether the laser emitted by itself is blocked, and when it detects that the laser emitted by itself is blocked, it indicates that the energy storage cabinet 7 has exceeded the forklift unit 3 range in the moving direction of the gantry 1 and moved excessively, and the control unit controls the moving unit 2 to perform reverse compensation movement until both groups of adjustable laser Hall sensors 4 cannot detect that the laser emitted by itself is blocked, indicating that the energy storage cabinet 7 is aligned with the forklift unit 3 in the moving direction of the gantry 1, and then the control unit activates the electronic parking mechanism of the moving unit 2.

[0041] Step S4: Put the battery cluster 6 into the energy storage cabinet 7, and then exit the forklift unit 3.

[0042] Specifically, when the battery cluster into cabinet robot in the application puts the battery cluster 6 into the cabinet, the mechanical arm 32 and the fork tooth part 323 thereon implement impedance control under the real-time feedback of the corresponding force sensor, and the battery cluster 6 is inserted horizontally along the plane of the energy storage cabinet 7 guide rail, and when the impact force of the end limit piece of the energy storage cabinet 7 guide rail is detected to be abrupt, it indicates that the battery cluster 6 has been put into the cabinet in the energy storage cabinet 7 and is in place, and the pushing of the fork tooth part 323 is stopped. When the battery cluster into cabinet robot in the application unloads the battery cluster 6, the force-position hybrid control mode is still executed, and the constant force of the battery cluster 6 is realized through pressure closed loop control, and when the force sensor detects that the load of the fork tooth part 323 is zero, the mechanical arm 32 drives the fork tooth part 323 to smoothly exit along the horizontal trajectory, and the gantry 1 leaves the working area immediately. Finally, the operator manually uses screws to connect and screw the battery cluster 6 and the cabinet body of the energy storage cabinet 7, and the installation of the battery cluster 6 and the energy storage cabinet 7 is completed.

[0043] In summary, the battery cluster into cabinet robot based on the gantry provided by the application realizes the assembly between the battery cluster and the energy storage cabinet, more specifically, the gantry is driven by the moving unit, the battery cluster is grabbed and transported by the forklift unit and put into the cabinet, the environmental perception and mobile obstacle avoidance are executed by the navigation perception unit, and the above-mentioned parts are controlled by the control unit, thereby solving many problems such as difficulty in putting the battery cluster into the cabinet and saving a lot of manpower and resources.

[0044] The above is only a specific embodiment of the application, but the protection scope of the application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the application, which should be covered within the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. A battery cluster cabinet-entering robot, characterized by: The invention comprises a gantry (1), a mobile unit (2), a forklift unit (3), a navigation perception unit and a control unit, wherein the mobile unit (2) is used to drive the gantry (1) to move in all directions, the forklift unit (3) is used to grab and carry the battery cluster (6) and place the battery cluster (6) into the energy storage cabinet (7), the navigation perception unit is used to detect the relative positions of the battery cluster (6), the energy storage cabinet (7) and the gantry (1), the navigation perception unit is also used to dynamically perceive the environment and obstacles, and the control unit is used to control the mobile unit (2), The forklift unit (3) and the navigation sensing unit, the gantry (1) includes a crossbeam (11), a first vertical rod (12) and a second vertical rod (13), the two ends of the crossbeam (11) are respectively connected to the first vertical rod (12) and the second vertical rod (13), the moving unit (2) is respectively arranged below the first vertical rod (12) and the second vertical rod (13), the forklift unit (3) is arranged on the first vertical rod (12), the navigation sensing unit includes an adjustable laser Hall sensor (4), the adjustable laser Hall sensor ( 4) is arranged on a side of the second vertical rod (13) facing the first vertical rod (12), the adjustable laser Hall sensor (4) is used to detect the relative positions of the battery cluster (6), the energy storage cabinet (7) and the second vertical rod (13), the forklift unit (3) includes a double-type multi-stage hydraulic cylinder (31) and a mechanical arm (32), the double-type multi-stage hydraulic cylinder (31) is used to drive the mechanical arm (32), the mechanical arm (32) is used to grab, lift or lower the battery cluster (6), and the mechanical arm (32) includes a large arm (321) , a small arm (322) and a fork tooth portion (323), the large arm (321) and the double-type multi-stage hydraulic cylinder (31) are connected as a whole, the small arm (322) and the large arm (321) are connected as a whole, the fork tooth portion (323) is arranged at the end of the small arm (322), the large arm (321) is used for rotationally adjusting the mechanical arm (32) relative to the battery cluster (6), the small arm (322) is used for pitching and adjusting the mechanical arm (32) relative to the battery cluster (6), and the fork tooth portion (323) is used for lifting the battery cluster (6).

2. The battery cluster cabinet-entering robot according to claim 1, characterized in that: The mobile unit (2) comprises a first tire group (21) and a second tire group (22), wherein the first tire group (21) and the second tire group (22) are four-wheel drive groups respectively, the first tire group (21) is arranged below the first vertical rod (12) and is used to drive the first vertical rod (12), and the second tire group (22) is arranged below the second vertical rod (13) and is used to drive the second vertical rod (13), and the first tire group (21) and the second tire group (22) can drive the gantry (1) to move in all directions under the drive of the control unit.

3. The battery cluster cabinet-entering robot according to claim 1, characterized in that: The navigation perception unit comprises a machine vision module, which is arranged below the first vertical rod (12) and / or the second vertical rod (13), and is used for tracking and navigating the gantry (1).

4. The battery cluster cabinet-entering robot according to claim 1, characterized in that: The navigation perception unit includes an ultrasonic sensor array, which is used to dynamically perceive the environment and obstacles.

5. The battery cluster cabinet-entering robot according to claim 1, characterized in that: The control unit is further configured to execute a fully automatic operation mode or a manually controlled operation mode. The control unit further comprises a safety PLC, which is configured to switch between the fully automatic operation mode and the manually controlled operation mode.

6. A method for controlling a battery cluster entering a cabinet robot, characterized in that: It is used to control the battery cluster cabinet-entering robot according to any one of claims 1 to 5, and comprises the following steps: Calibrate the spatial parameters of the target object and pre-configure the navigation perception unit; Start the multimodal environment perception fusion algorithm based on the SLAM framework and go to the battery cluster (6) according to the preset route; Obtaining a battery cluster (6), and transferring the battery cluster (6) to an energy storage cabinet (7); Place the battery pack (6) into the energy storage cabinet (7) and then remove the forklift unit (3).

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