Transportation robot and mobile charging system

Abstract

The utility model discloses a transport robot and a mobile charging system, the transport robot comprises a first electrical interface, a second electrical interface and a transport position used for transporting energy storage equipment, and the first electrical interface is electrically connected with the second electrical interface. The energy storage equipment at the transportation position can be electrically connected with the transportation robot through the first electrical interface; the transport robot is configured to transport the energy storage device to one side of the parking space and electrically connect the second electrical interface with a vehicle located at the parking space, so that the energy storage device supplies power to the vehicle. The transportation robot provided by the embodiment of the utility model does not need to occupy a large amount of space and has a higher charging speed at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of charging robots, and particularly relates to a transport robot and a mobile charging system. Background Art

[0002] With the popularization of new energy vehicles, the demand for charging infrastructure is also increasing. The currently commonly used charging solution is to charge vehicles by installing fixed charging piles. This charging solution can only charge at fixed positions, which not only easily generates fire hazards, but also occupies a large amount of space and is very inconvenient.

[0003] There is also a solution of using a mobile charging robot to charge vehicles. Due to the limited battery capacity and charging speed of existing mobile charging robots, it is necessary to make multiple round trips to replenish power and charge for a long time to fully charge a large electric vehicle, which cannot meet the energy requirements of large electric vehicles. And the mobile charging robot usually uses a GPS navigation system. In underground spaces such as underground garages and underground shopping malls, the GPS signal is prone to instability, affecting the positioning accuracy and driving trajectory of the robot. Content of the Utility Model

[0004] The embodiment of the utility model provides a transport robot and a mobile charging system, which have a faster charging speed while not occupying a large amount of space.

[0005] In a first aspect, the embodiment of the utility model provides a transport robot. The transport robot includes a first electrical interface, a second electrical interface, and a transport position for transporting an energy storage device. The first electrical interface is electrically connected to the second electrical interface, and the energy storage device in the transport position can be electrically connected to the transport robot through the first electrical interface; the transport robot is configured to transport the energy storage device to one side of a parking space and electrically connect the second electrical interface to a vehicle located at the parking space, so that the energy storage device supplies power to the vehicle.

[0006] The transport robot of the embodiment of the utility model can transport the energy storage device to any position in the garage to energize the vehicle, reducing the occupied space compared with a fixed charging pile, avoiding the fire safety hazards of the fixed charging pile and improving the aesthetics of public facilities. At the same time, by electrically connecting the energy storage device to the first electrical interface, the transport robot can charge the vehicle through the second electrical interface, accelerating the charging speed of the vehicle and improving the charging efficiency.

[0007] Optionally, the transport robot includes an inertial navigation module, and the inertial navigation module is configured to identify identification codes in the garage and obtain route information of the transport robot and position information of the transport robot according to at least two identified identification codes.

[0008] Optionally, the inertial navigation module includes an identification unit and a positioning unit. The identification unit is configured to identify identification codes and obtain route information of the transport robot based on at least two identified identification codes. The positioning unit is configured to generate position information of the transport robot.

[0009] Optionally, the identification unit includes an identification camera and a first processor. The processor is electrically connected to the identification camera. The identification camera is configured to acquire visual images of the identification codes, and the processor is configured to generate route information based on the visual images of at least two identification codes.

[0010] Optionally, the positioning unit includes a gyroscope, an accelerometer, a magnetometer, and a second processor. The gyroscope, the accelerometer, and the magnetometer are electrically connected to the second processor. The gyroscope is configured to detect the steering state of the transport robot and generate steering state information. The accelerometer is configured to detect the displacement distance of the transport robot and generate displacement information. The magnetometer is configured to detect the moving direction of the transport robot and generate direction information. The second processor is configured to generate position information of the transport robot based on the steering state information, the displacement information, and the direction information.

[0011] In a second aspect, an embodiment of the present invention provides a mobile charging system, including at least one energy storage device and a transport robot according to any one of the foregoing embodiments in the first aspect of the present invention. The at least one energy storage device is detachably disposed at a transport position and can be electrically connected to the first electrical interface. When the transport robot is in a parking position, the second electrical interface can be electrically connected to a vehicle located at the parking position, so that the energy storage device supplies power to the vehicle.

[0012] The mobile charging system according to the embodiment of the present invention includes a transport robot. The transport robot can carry any number of energy storage devices through the transport position. When charging a large electric vehicle, by increasing the energy storage devices at the transport position, the transport robot can increase its own battery capacity, reduce the number of round trips during the charging process, and the electrical interface of the transport robot can accelerate the charging speed of the vehicle, further improving the charging efficiency. By transporting the energy storage device with the transport robot, the potential fire safety hazards of fixed charging piles are avoided and the aesthetic degree of public facilities is improved, so that the mobile charging system can solve the problems of excessive space occupation of fixed charging piles and too low charging efficiency of existing charging robots.

[0013] Optionally, the mobile charging system further includes a charging device. The charging device is disposed in a placement area of the garage. A plurality of energy storage devices are placed in the placement area. The transport robot can drive the energy storage device to move to the placement area, so that the charging device can be electrically connected to the energy storage device and supply power to the energy storage device.

[0014] Optionally, the mobile charging system further includes a monitoring component, which is communicatively connected to an external device. The monitoring component is configured to obtain visual image information, temperature information, and smoke concentration information of the energy storage device in the placement area and transmit the visual image information, temperature information, and smoke concentration information to the external device.

[0015] Optionally, the monitoring component includes a visual unit, a temperature detection unit, and a smoke detection unit. The visual unit, the temperature detection unit, and the smoke detection unit are communicatively connected to the external device and are disposed in the placement area. The visual unit is configured to obtain image information of the energy storage device in the placement area, the temperature detection unit is configured to obtain temperature information of the placement area, and the smoke detection unit is configured to obtain smoke concentration information of the placement area. The visual unit, the temperature detection unit, and the smoke detection unit can respectively transmit the image information, temperature information, and smoke concentration information to the external device.

[0016] Optionally, each energy storage device includes a charging interface. The energy storage device in the placement area can be electrically connected to the charging device through the charging interface, so that the charging device supplies power to the energy storage device.

[0017] Optionally, the transport robot further includes a detection module, which is electrically connected to the first electrical interface and / or the second electrical interface. The detection module is configured to detect the power of the energy storage device when the energy storage device is electrically connected to the vehicle and generate power information. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0019] Figure 1 Structural schematic diagram of the transport robot in a parking space according to an embodiment of the transport robot of the present invention;

[0020] Figure 2 Structural schematic diagram of the transport robot in the placement area according to an embodiment of the transport robot of the present invention;

[0021] Figure 3 Structural block diagram of the transport robot and the energy storage device according to an embodiment of the transport robot of the present invention;

[0022] Figure 4 Structural block diagram of the positioning unit according to an embodiment of the transport robot of the present invention;

[0023] Figure 5 It is a structural block diagram of an identification unit of an embodiment of the transportation robot of the present utility model;

[0024] Figure 6 It is a structural block diagram of an embodiment of the mobile charging system of the present utility model.

[0025] Explanation of the attached drawing reference numerals:

[0026] 100 - Transportation robot;

[0027] 110 - First electrical interface;

[0028] 120 - Second electrical interface;

[0029] 130 - Inertial navigation module; 131 - Identification unit; 1311 - Identification camera; 1312 - First processor; 132 - Positioning unit; 1321 - Gyroscope; 1322 - Accelerometer; 1323 - Magnetometer; 1324 - Second processor;

[0030] 140 - Detection module;

[0031] 200 - Energy storage device; 210 - Charging interface;

[0032] 300 - Charging device;

[0033] 400 - Monitoring component; 410 - Vision unit; 420 - Temperature detection unit; 430 - Smoke detection unit;

[0034] A1 - Parking space; A2 - Placement area; A3 - Identification code;

[0035] B1 - Vehicle. Specific implementation manners

[0036] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0037] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0038] In addition, the descriptions involving "first", "second", etc. in the present utility model are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0039] Figure 1 FIG. is a schematic structural diagram of a transportation robot according to an embodiment of the transportation robot of the present utility model in a parking space; Figure 2 FIG. is a schematic structural diagram of a transportation robot according to an embodiment of the transportation robot of the present utility model in a placement area; Figure 3 FIG. is a structural block diagram of a transportation robot and an energy storage device according to an embodiment of the transportation robot of the present utility model. In the embodiment of the present utility model, the transportation robot 100 is applied to underground spaces such as underground garages and underground shopping malls. The transportation robot 100 includes a first electrical interface 110, a second electrical interface 120, and a transportation position for transporting the energy storage device 200.

[0040] The first electrical interface 110 is electrically connected to the second electrical interface 120, and the energy storage device 200 in the transportation position can be electrically connected to the transportation robot 100 through the first electrical interface 110. The transportation robot 100 is configured to transport the energy storage device 200 to one side of the parking space A1 and electrically connect the second electrical interface 120 to the vehicle B1 located at the parking space A1, so that the energy storage device 200 supplies power to the vehicle B1.

[0041] In this embodiment, the first electrical interface 110 and the second electrical interface 120 are fast charging interfaces. The transportation position of the transportation robot 100 is used to transport the energy storage device 200. By providing the first electrical interface 110 and the second electrical interface 120 on the transportation robot 100, the energy storage device 200 is electrically connected to the first electrical interface 110, and the first electrical interface 110 is electrically connected to the second electrical interface 120, so that when the transportation robot 100 charges the vehicle B1, fast charging of the vehicle B1 can be achieved through the second electrical interface 120. Among them, the first electrical interface 110 and the second electrical interface 120 are 9-hole interfaces, the preset output voltage is 400V to 800V, and the preset output power is 50kw to 100kw.

[0042] The transport robot 100 according to the embodiment of the present utility model can transport the energy storage device 200 to any position in the garage to energize the vehicle B1, reducing the occupied space compared with a fixed charging pile, avoiding the fire safety hazards of the fixed charging pile and improving the aesthetics of public facilities. At the same time, by electrically connecting the energy storage device 200 to the first electrical interface 110, the transport robot 100 can charge the vehicle B1 through the second electrical interface 120, accelerating the charging speed of the vehicle B1 and improving the charging efficiency.

[0043] Furthermore, the energy storage device 200 is detachably arranged at the transport position of the transport robot 100. By adjusting the number of energy storage devices 200 at the transport position, the battery capacity of the transport robot 100 can be changed. When charging a large electric vehicle B1, by increasing the number of energy storage devices 200 at the transport position, the transport robot 100 can meet the energy requirements of the large electric vehicle B1, avoiding the situation of multiple round trips for charging due to insufficient battery capacity.

[0044] In some embodiments, the transport robot 100 includes an inertial navigation module 130, which is configured to identify the identification code A3 in the garage and obtain the route information of the transport robot 100 and the position information of the transport robot 100 based on at least two identified identification codes A3.

[0045] In this embodiment, a plurality of identification codes A3 are arranged at intervals one by one in the garage to form the travel route of the transport robot 100. During the travel of the transport robot 100, the inertial navigation module 130 identifies the passed identification codes A3 to form the route information of the transport robot 100. The route information is the route passed by the transport robot 100 when it travels. Based on the position information and the route information, the distance between the transport robot 100 and the destination parking space A1 and the next route are judged.

[0046] As Figure 4 and Figure 5 shown, in some embodiments, the inertial navigation module 130 includes an identification unit 131 and a positioning unit 132. The identification unit 131 is configured to identify the identification code A3 and obtain the route information of the transport robot 100 based on at least two identified identification codes A3, and the positioning unit 132 is configured to generate the position information of the transport robot 100.

[0047] In this embodiment, the recognition unit 131 recognizes the passing recognition code A3 to obtain route information, and then obtains the position information through the positioning unit 132. The position information is used to determine the position of the transport robot 100 in the garage, and the traveling route of the transport robot 100 is planned according to the route information, so that the transport robot 100 can move along a fixed traveling route in the garage, improving the safety and positioning accuracy of the transport robot 100 and avoiding the situation where the robot's traveling route is incorrect due to unstable signals in the underground space or external interference.

[0048] Further, the recognition unit 131 includes a recognition camera 1311 and a first processor 1312. The processor is electrically connected to the recognition camera 1311. The recognition camera 1311 is configured to acquire the visual image of the recognition code A3, and the processor is configured to generate route information according to the visual images of at least two recognition codes A3.

[0049] In this embodiment, the recognition camera 1311 is used to acquire the visual image of the recognition code A3 passed by the transport robot 100 during driving, so that the processor can obtain which recognition codes A3 the transport robot 100 has passed through according to the acquired visual image, and then obtain the driving route of the transport robot 100, that is, the route information.

[0050] The recognition code A3 in this embodiment is preset in the garage, and the preset driving routes that can reach each parking space A1 are planned according to the arrangement and distribution of the recognition codes A3 in the garage. Therefore, the current driving route of the transport robot 100 is recognized by the recognition unit 131, and then the preset driving route between the transport robot 100 and the destination parking space A1 is obtained, so that the transport robot 100 can drive to the destination parking space A1 along the preset driving route through the recognition code A3.

[0051] Specifically, the recognition code A3 is set on the ground of the garage, and the lens of the recognition camera 1311 faces the ground, so that when the transport robot 100 is driving, the recognition camera 1311 can continuously acquire the visual image of the recognition code A3.

[0052] Further, the positioning unit 132 includes a gyroscope 1321, an accelerometer 1322, a magnetometer 1323, and a second processor 1324. The gyroscope 1321, the accelerometer 1322, and the magnetometer 1323 are electrically connected to the second processor 1324.

[0053] The gyroscope 1321 is configured to detect the steering state of the transport robot 100 and generate steering state information. The accelerometer 1322 is configured to detect the displacement distance of the transport robot 100 and generate displacement information. The magnetometer 1323 is configured to detect the moving direction of the transport robot 100 and generate direction information.

[0054] The second processor 1324 is configured to generate the position information of the transport robot 100 according to the steering state information, displacement information, and direction information.

[0055] In this embodiment, when the transport robot 100 steers, the gyroscope 1321 can detect the rotation angle of the transport robot 100, and then obtain the current orientation and the rotation angle of the transport robot 100, that is, the steering state information. The accelerometer 1322 is used to detect the acceleration of the transport robot 100, and then obtain the real-time driving speed of the transport robot 100. According to the driving speed of the transport robot 100, the displacement distance of the transport robot 100 is obtained and displacement information is generated. The magnetometer 1323 is used to detect the real-time movement direction of the transport robot 100 and generate direction information.

[0056] Through the steering state information, displacement information, and direction information, after obtaining the current orientation, displacement distance, and movement direction of the transport robot 100, the coordinates of the transport robot 100 relative to the initial position are obtained, that is, the position information.

[0057] Figure 6 It is a structural block diagram of an embodiment of the mobile charging system of the present utility model. The present utility model also proposes a mobile charging system. The mobile charging system includes at least one energy storage device 200 and the transport robot 100 of any one of the foregoing embodiments.

[0058] At least one energy storage device 200 is detachably arranged at the transport position and can be electrically connected to the first electrical interface 110. When the transport robot 100 is in the state of parking space A1, the second electrical interface 120 can be electrically connected to the vehicle B1 located at the parking space A1, so that the energy storage device 200 supplies power to the vehicle B1.

[0059] The transport robot 100 includes a first electrical interface 110, a second electrical interface 120, and a transport position for transporting the energy storage device 200.

[0060] The first electrical interface 110 is electrically connected to the second electrical interface 120. The energy storage device 200 in the transport position can be electrically connected to the transport robot 100 through the first electrical interface 110. The transport robot 100 is configured to transport the energy storage device 200 to one side of the parking space A1 and electrically connect the second electrical interface 120 to the vehicle B1 located at the parking space A1, so that the energy storage device 200 supplies power to the vehicle B1.

[0061] In this embodiment, the transportation position of the transportation robot 100 matches the shape of the energy storage device 200. Through modular design, the free assembly of the energy storage device 200 and the transportation robot 100 is realized. When the transportation robot 100 needs to increase its battery capacity, the energy storage device 200 can be directly placed in the transportation position of the transportation robot 100 and the energy storage device 200 can be electrically connected to the first electrical interface 110 of the transportation robot 100. When there is no need for too many energy storage devices 200 or after charging is completed, the energy storage device 200 can be conveniently detached from the transportation robot 100.

[0062] Specifically, the transportation position of the transportation robot 100 has an accommodation space for accommodating the energy storage device 200. The shape of the accommodation space matches the shape of the energy storage device 200, and the size of the accommodation space is an integer multiple of the size of the energy storage device 200. For example, in this embodiment, both the energy storage device 200 and the accommodation space are cubes. The length of the energy storage device 200 is 1500 mm, the width is 1100 mm, and the height is 110 mm. The length of the accommodation space is 7500 mm, the width is 5500 mm, and the height is 550 mm.

[0063] The mobile charging system of the embodiment of the present utility model includes a transportation robot 100. The transportation robot 100 can carry any number of energy storage devices 200 through the transportation position. When charging a large electric vehicle, by increasing the energy storage devices 200 in the transportation position, the transportation robot 100 can increase its own battery capacity, reduce the number of round trips during the charging process, and the electrical interface of the transportation robot 100 can accelerate the charging speed of the vehicle B1, further improving the charging efficiency. By transporting the energy storage device 200 through the transportation robot 100, the potential fire safety hazards of fixed charging piles are avoided and the aesthetics of public facilities are improved, so that the mobile charging system can solve the problems of excessive space occupation of fixed charging piles and too low charging efficiency of existing charging robots.

[0064] In some embodiments, the mobile charging system further includes a charging device 300. The charging device 300 is arranged in the placement area A2 of the garage, and multiple energy storage devices 200 are placed in the placement area A2. The transportation robot 100 can drive the energy storage device 200 to move to the placement area A2, so that the charging device 300 can be electrically connected to the energy storage device 200 and supply power to the energy storage device 200.

[0065] In this embodiment, the transportation robot 100 can drive the energy storage device 200 at the transportation position to move back and forth between the parking space A1 and the placement area A2. After charging the vehicle B1, it can also unload the used energy storage device 200 into the placement area A2, so that the charging device 300 can charge the energy storage device 200 in the placement area A2. After unloading the used energy storage device 200, the transportation robot 100 places the fully charged energy storage device 200 in the placement area A2 on the transportation position, and can quickly complete the battery swapping without waiting for the transportation robot 100 to charge, improving the working efficiency of the transportation robot 100. Moreover, when the transportation robot 100 itself has insufficient power, it can also move to the placement area A2 and be charged by the charging device 300.

[0066] In some embodiments, the mobile charging system further includes a monitoring component 400, and the monitoring component 400 is communicatively connected to an external device.

[0067] The monitoring component 400 is configured to acquire visual image information, temperature information, and smoke concentration information of the energy storage device 200 in the placement area A2 and transmit the visual image information, temperature information, and smoke concentration information to the external device.

[0068] In this embodiment, the monitoring component 400 is disposed in the placement area A2. The monitoring component 400 monitors the energy storage device 200 in the placement area A2 by acquiring visual image information, temperature information, and smoke concentration information of the energy storage device 200 in the placement area A2. When there is a fire safety hazard in the placement area A2, it can be detected in time and an alarm is issued to remind the personnel.

[0069] Furthermore, the monitoring component 400 includes a visual unit 410, a temperature detection unit 420, and a smoke detection unit 430. The visual unit 410, the temperature detection unit 420, and the smoke detection unit 430 are communicatively connected to the external device and are disposed in the placement area A2.

[0070] The visual unit 410 is configured to acquire image information of the energy storage device 200 in the placement area A2, the temperature detection unit 420 is configured to acquire temperature information of the placement area A2, and the smoke detection unit 430 is configured to acquire smoke concentration information of the placement area A2. The visual unit 410, the temperature detection unit 420, and the smoke detection unit 430 can respectively transmit the image information, temperature information, and smoke concentration information to the external device.

[0071] In this embodiment, the vision unit 410 is a monitoring camera, the temperature detection unit 420 is a temperature sensor, and the smoke detection unit 430 is a smoke sensor. Among them, the temperature sensor is arranged at the energy storage device 200 located in the placement area A2, and the smoke detection unit 430 is arranged above the energy storage device 200 in the placement area A2 to improve the accuracy of the detection results of the temperature sensor and the smoke detection unit 430.

[0072] In some embodiments, each energy storage device 200 includes a charging interface 210. The energy storage device 200 in the placement area A2 can be electrically connected to the charging device 300 through the charging interface 210, so that the charging device 300 supplies power to the energy storage device 200.

[0073] In this embodiment, when the energy storage device 200 is placed at the transportation position of the transportation robot 100, the charging interface 210 of the energy storage device 200 is electrically connected to the transportation robot 100 through the first electrical interface 110, so that the energy storage device 200 can charge the vehicle B1 through the second electrical interface 120. When the energy storage device 200 is placed in the placement area A2, it can be electrically connected to the charging device 300 through the charging interface 210, so that the charging device 300 supplies power to the energy storage device 200.

[0074] In some embodiments, the transportation robot 100 further includes a detection module 140. The detection module 140 is electrically connected to the first electrical interface 110 and / or the second electrical interface 120. The detection module 140 is configured to detect the power of the energy storage device 200 in the state where the energy storage device 200 is electrically connected to the vehicle B1 and generate power information.

[0075] In this embodiment, when the transportation robot 100 charges the vehicle B1, the detection module 140 can detect the remaining power of the energy storage device 200 in real time, and can also obtain the output power of the current second electrical interface 120, and then calculate the remaining usage time of the energy storage device 200 and the time required for the vehicle B1 to be fully charged according to the remaining power of the energy storage device 200 and the current output power.

[0076] Furthermore, the transportation robot 100 further includes a communication module. The transportation robot 100 is communicatively connected to an external device through the communication module. A user can communicate with the transportation robot 100 through a terminal device, issue an instruction to the transportation robot 100, and the transportation robot 100 can start after receiving the instruction and move to the corresponding parking space A1 according to the instruction to charge the vehicle B1 in the parking space A1.

[0077] The above are only the preferred embodiments of the present utility model, and do not thus limit the patent scope of the present utility model. Any equivalent structural transformation made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields shall be included within the patent protection scope of the present utility model.

Claims

1. A transportation robot, characterized in that, The transportation robot includes a first electrical interface, a second electrical interface, and a transportation position for transporting an energy storage device. The first electrical interface is electrically connected to the second electrical interface, and the energy storage device in the transportation position can be electrically connected to the transportation robot through the first electrical interface; The transportation robot is configured to transport the energy storage device to one side of the parking space and electrically connect the second electrical interface to a vehicle located at the parking space, so that the energy storage device supplies power to the vehicle.

2. The transport robot according to claim 1, characterized in that, The transportation robot includes an inertial navigation module, which is configured to identify identification codes in the garage and obtain route information of the transportation robot and position information of the transportation robot based on at least two identified identification codes.

3. The transport robot according to claim 2, characterized in that The inertial navigation module includes an identification unit and a positioning unit. The identification unit is configured to identify the identification codes and obtain route information of the transportation robot based on at least two identified identification codes. The positioning unit is configured to generate the position information of the transportation robot.

4. The transport robot according to claim 3, characterized in that, The identification unit includes an identification camera and a first processor. The processor is electrically connected to the identification camera. The identification camera is configured to acquire visual images of the identification codes, and the processor is configured to generate the route information based on visual images of at least two identification codes.

5. The transportation robot according to claim 3, characterized in that, The positioning unit includes a gyroscope, an accelerometer, a magnetometer, and a second processor. The gyroscope, the accelerometer, and the magnetometer are electrically connected to the second processor. The gyroscope is configured to detect the steering state of the transportation robot and generate steering state information. The accelerometer is configured to detect the displacement distance of the transportation robot and generate displacement information. The magnetometer is configured to detect the moving direction of the transportation robot and generate direction information; The second processor is configured to generate the position information of the transportation robot based on the steering state information, the displacement information, and the direction information.

6. A mobile charging system, characterized in that, Comprising: At least one energy storage device; At least one transportation robot according to any one of claims 1 to 5, at least one of the energy storage devices is detachably arranged at the transportation position and can be electrically connected to the first electrical interface; When the transportation robot is in the state of the parking space, the second electrical interface can be electrically connected to a vehicle located at the parking space, so that the energy storage device supplies power to the vehicle.

7. The mobile charging system according to claim 6, wherein, The mobile charging system further includes a charging device, which is arranged in the placement area of the garage. A plurality of the energy storage devices are placed in the placement area. The transportation robot can drive the energy storage device to move to the placement area, so that the charging device can be electrically connected to the energy storage device and supply power to the energy storage device.

8. The mobile charging system according to claim 7, wherein The mobile charging system further includes a monitoring component, which is communicatively connected to an external device. The monitoring component is configured to acquire visual image information, temperature information, and smoke concentration information of the energy storage device in the placement area and transmit the visual image information, the temperature information, and the smoke concentration information to the external device.

9. The mobile charging system according to claim 8, characterized in that, The monitoring component includes a vision unit, a temperature detection unit, and a smoke detection unit. The vision unit, the temperature detection unit, and the smoke detection unit are communicatively connected to an external device and are disposed in the placement area; The vision unit is configured to acquire the image information of the energy storage device in the placement area, the temperature detection unit is configured to acquire the temperature information of the placement area, and the smoke detection unit is configured to acquire the smoke concentration information of the placement area; The vision unit, the temperature detection unit, and the smoke detection unit can respectively transmit the image information, the temperature information, and the smoke concentration information to the external device.

10. The mobile charging system according to claim 7, wherein, Each energy storage device includes a charging interface. The energy storage device in the placement area can be electrically connected to the charging device through the charging interface, so that the charging device supplies power to the energy storage device.

11. The mobile charging system according to claim 6, wherein The transport robot further includes a detection module. The detection module is electrically connected to the first electrical interface and / or the second electrical interface. The detection module is configured to detect the power of the energy storage device in the state where the energy storage device is electrically connected to the vehicle and generate power information.

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