Progress of mobile charging robot for photovoltaic energy storage and charging

doi:10.3969/j.issn.1674-8484.2025.04.001

Abstract

Abstract:

To address the rapidly growing charging demands of new energy vehicles, mobile charging robots integrated with photovoltaic energy storage and charging systems have emerged as a crucial direction in research and development. This paper outlines the necessity and significance of developing photovoltaic energy storage systems and mobile charging robots for new energy vehicles, along with their fundamental operational modes. It presents the structural framework and core advantages of the photovoltaic energy storage and charging system, as well as the classification and scenario-specific adaptability of mobile charging robots. Furthermore, the economic viability, safety, and reliability of photovoltaic energy storage and charging mobile robots are analyzed. The study reviews the current research status of three key technologies—autonomous charging, path planning, and charging port recognition and insertion—and evaluates their respective strengths and limitations. This paper also summarizes the development of a new system for application-oriented research on photovoltaic energy storage and mobile charging robots, along with its key enabling technologies, and explores various specialized application scenarios. Finally, the paper identifies the challenges faced by photovoltaic energy storage and charging technologies in areas such as energy transmission efficiency, safety and stability, dynamic programming, charging port identification and insertion, advanced energy storage solutions, and the expansion of application domains. It also provides insights into the future development trends of mobile charging robots.

Key words: photovoltaic energy storage and charging, mobile charging, robot, path planning, charging port identification and insertion

CLC Number:

TP242.6

LI Shunming, WANG Changrong, SHI Wenbei. Progress of mobile charging robot for photovoltaic energy storage and charging[J]. Journal of Automotive Safety and Energy, 2025, 16(4): 505-520.

Figures/Tables 18

References 67

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充电方式	初期投资成本	长期运营成本	效益优势
光储充移动式充电机器人	初始投资高，设备复杂度高	光伏发电降低购电依赖，储能系统利用峰谷电价差降低充电成本	服务灵活性高、多元收益、低碳战略价值
传统充电桩	初始投资低，短期部署快	完全依赖电网，无法参与电网调峰，成本波动大	充电效率稳定，适合高频固定场景

充电方式	初期投资成本	长期运营成本	效益优势
光储充移动式充电机器人	初始投资高，设备复杂度高	光伏发电降低购电依赖，储能系统利用峰谷电价差降低充电成本	服务灵活性高、多元收益、低碳战略价值
传统充电桩	初始投资低，短期部署快	完全依赖电网，无法参与电网调峰，成本波动大	充电效率稳定，适合高频固定场景

关键技术	优点	缺点
磁耦合谐振技术	非接触充电，适用于移动场景，避免机械磨损；支持多机器人协同充电	对充电距离和空间对准要求高；金属障碍物易干扰能量传输效率；设备成本高，体积适配性差
自主充电系统	全流程自动化，提升续航能力；支持动态路径规划与实时状态监控	依赖高精度传感器和复杂算法，硬件成本高；环境适应性不足
多传感器融合	提升定位精度；增强环境鲁棒性	多源数据处理复杂度高，实时性要求高；传感器间校准难度大，可能引入累积误差
深度学习算法	复杂环境下识别精度高；支持端到端自主决策	模型训练需大量数据，计算资源消耗大；实时性与模型轻量化矛盾

关键技术	优点	缺点
磁耦合谐振技术	非接触充电，适用于移动场景，避免机械磨损；支持多机器人协同充电	对充电距离和空间对准要求高；金属障碍物易干扰能量传输效率；设备成本高，体积适配性差
自主充电系统	全流程自动化，提升续航能力；支持动态路径规划与实时状态监控	依赖高精度传感器和复杂算法，硬件成本高；环境适应性不足
多传感器融合	提升定位精度；增强环境鲁棒性	多源数据处理复杂度高，实时性要求高；传感器间校准难度大，可能引入累积误差
深度学习算法	复杂环境下识别精度高；支持端到端自主决策	模型训练需大量数据，计算资源消耗大；实时性与模型轻量化矛盾

算法	路径长度			迭代次数
算法	最优	最劣	平均	最优	最劣	平均
传统灰狼算法	27.11	27.99	27.45	3	47	9.5
适应度加权平均法	27.11	27.84	27.25	3	45	11.7
头狼加权平均法	27.11	27.84	27.41	5	48	16.2