Underwater robot power management system

Abstract

This invention belongs to the technical field of battery management systems and discloses an underwater robot power management system, including a battery compartment housing, a heat pipe, a liquid pump, an electric heating pipe, an insulation layer, a battery, a power management module, and sensors. Through innovative design and intelligent control strategies, this invention addresses many shortcomings of existing technologies in underwater environments. The underwater robot power management system's multi-layer insulation and efficient heat conduction structure, combined with an intelligent temperature control algorithm, is capable of handling multi-layer seawater environments with wide temperature spans. Furthermore, an integrated power management module and high-precision sensor network ensure efficient and safe battery operation.

Description

Technical Field

[0001] The invention belongs to the technical field of battery management systems and relates to a battery management system for an underwater robot. Background Art

[0002] In recent years, with the increasing popularity and development of civilian drones, underwater robots have also gained popularity. However, compared to the relatively mature battery management technology for drones, that for underwater robots remains relatively backward, relying primarily on power lines to transmit power. This is primarily due to the significant differences between the underwater operating environment and the terrestrial environment, making existing battery management technologies unsuitable for direct application to underwater robots. Key challenges in underwater environments include: high water environmental variability, strict sealing requirements, difficult power supply temperature management, complex communication and power supply systems, and issues such as removability and ease of replacement.

[0003] Existing solutions, such as CN113809449A, only propose temperature management for underwater batteries, focusing mainly on improving heat exchange efficiency. This approach is suitable for shallow water bodies of normal temperature, but cannot adapt to multi-layer seawater environments with large temperature fluctuations. This single heat exchange method is inadequate when faced with more complex underwater environments. Temperature management not only needs to consider heat exchange efficiency, but also needs to maintain the stable performance of the battery under various temperature conditions. This is especially true in deep-sea environments, where temperature fluctuations are more drastic and underwater pressure increases significantly, placing higher demands on the battery system's sealing, pressure resistance, and temperature stability.

[0004] Currently, lithium batteries are highly sensitive to temperature fluctuations. Both high and low temperatures can affect battery performance. It is generally accepted that the optimal operating temperature for lithium batteries is between 20°C and 30°C. Excessively low temperatures can cause battery capacity to decrease. For example, at 0°C, the battery capacity is approximately 70% of its original capacity, while at -20°C, it is only 50% of its original capacity. Therefore, in low-temperature water, the heat exchange rate needs to be reduced to improve the battery's thermal insulation capabilities. In high-temperature environments, efficient heat dissipation mechanisms are required to prevent battery overheating and ensure operational efficiency and safety.

[0005] To address these challenges, this paper proposes an integrated underwater robot power management system that comprehensively considers the multiple requirements of temperature management, power utilization, communication, and power supply. The system features a multi-layer thermal insulation structure and an efficient heat pipe layout. Combined with intelligent temperature control, the system uses sensors to monitor battery temperature in real time and dynamically adjusts the operating status of the liquid pump and heating pipes based on environmental changes. In low-temperature environments, the heating pipes, controlled by the main control chip, heat the battery compartment to maintain the battery within the optimal operating temperature range. In high-temperature environments, the liquid pump activates, circulating coolant to remove heat from the battery, preventing overheating.

[0006] The system also features bidirectional wireless and wired power modules, enabling flexible switching between power modes in different operating scenarios to ensure stable battery power. Furthermore, the communication module enables data transmission between the underwater robot and external devices, providing real-time battery status information for convenient remote monitoring and management. To enhance system maintainability, a modular battery compartment structure has been designed, making battery replacement and maintenance more convenient. Summary of the Invention

[0007] This invention aims to address the technical issues of existing underwater battery management systems, which are limited to single bodies of water or single use cases. It proposes a temperature management solution for multi-layer seawater with wide temperature ranges. The system integrates battery temperature management, power utilization management, wireless communication, and bidirectional wired and wireless power supply, making it suitable for complex underwater environments.

[0008] The technical solution of the present invention:

[0009] An underwater robot power management system includes a battery compartment housing, a heat pipe, a liquid pump, an electric heating pipe, a heat insulation layer, a battery, a power management module and a sensor;

[0010] The battery compartment shell is made of metal material with high thermal conductivity. Its shape is adapted to the shape of the underwater robot and is easy to disassemble.

[0011] The heat pipe is used to conduct heat away from the battery compartment. It is divided into three parts: the first part is attached to the inner wall of the battery compartment shell, the second part is spirally wrapped around the insulation layer, and the third part is arranged in a grid format and passes through the internal battery. The arrangement of the heat pipe increases the contact area between the battery and the outside world, improving heat exchange efficiency and achieving more efficient heat conduction. It quickly dissipates the heat generated by the battery to the external environment to prevent battery overheating.

[0012] Thermal insulation layers are located on the top and bottom of the battery compartments, as well as inside the first section of heat pipes, to prevent excessively low temperatures. The insulation material used in these layers is made of a composite material, offering excellent thermal insulation and durability. The outermost layers of the top and bottom of the battery compartments are directly insulated to prevent heat loss from these areas. The design of these thermal insulation layers effectively maintains the battery temperature in low-temperature environments, improving its performance and lifespan in these conditions.

[0013] The liquid pump is used to connect the heat pipes, enabling internal and external liquid exchange and promoting internal and external heat exchange. The liquid is water or other liquid with high heat capacity, which is beneficial for heat conduction and prevents excessive temperature fluctuations in the internal battery compartment. The liquid pump transports cooling liquid to the heat pipes through the piping system and then discharges the liquid that has absorbed heat to maintain a stable temperature in the battery compartment.

[0014] The heating tubes pass through the internal batteries, increasing the contact area and heating the internal battery compartment. In low-temperature environments, the heating tubes generate heat through the current, raising the temperature inside the battery compartment to a suitable range. The design of the heating tubes ensures the normal operation of the battery in low-temperature conditions and prevents the battery capacity from rapidly decreasing due to low temperatures.

[0015] The power management module includes a main control chip, a bidirectional wireless and wired power supply module, and a communication module. Together with the liquid pump, it is placed at the bottom of the battery compartment to facilitate external power supply and communication. The main control chip is responsible for the operation and control of the underwater robot's power management system, dynamically adjusting the working status of the electric heating pipe and liquid pump based on sensor feedback data. The bidirectional wireless and wired power supply module switches between wireless and wired modes to ensure power supply needs in different environments.

[0016] Sensors are arranged throughout the battery compartment to monitor overall and local temperatures to prevent local overheating or overcooling. These sensors can collect temperature, voltage, current and other data in real time, and transmit the data to the main control chip for processing. The sensors are directly connected to each level of battery pack to monitor the battery pack's voltage, capacity, current and other parameters, and manage the battery's charging and discharging process through the BMS (battery management system) to ensure that the battery operates within a safe range and extend battery life.

[0017] The control strategy of the underwater robot power management system is mainly divided into four different temperature control strategies: standby state, dormant state, charging state and running state. When in the running state, if there is no operation for a long time or a command to enter the standby state is received, it will enter the standby state; if it is in the standby state for a long time, it will further enter the dormant state; if it is in the standby state, the robot is operated or receives a wake-up signal, it will hot start to enter the running state; if it is in the dormant state, the robot is operated or receives a wake-up signal, it will cold start to enter the running state; the charging state has a separate control strategy;

[0018] The standby state primarily focuses on short-term power conservation and maintains hot start conditions, so the battery operating temperature can be relaxed appropriately. The hibernation state primarily focuses on long-term power conservation, so hot start conditions don't need to be maintained; the only requirement is to ensure the battery can properly power the power management system. The operating state continuously maintains the battery's appropriate operating temperature to ensure the smooth operation of high-power devices. The charging state maintains the battery at the optimal operating temperature to ensure maximum capacity.

[0019] The intelligent temperature control algorithm is mainly based on the improvement of the optimized three-loop PID algorithm;

[0020] There are three nested control loops in the three-loop PID algorithm: position loop, speed loop, and current loop. The position loop corresponds to temperature, the speed loop corresponds to the speed of temperature change, and the current loop corresponds to controlling the liquid pump and electric heating pipe.

[0021] After incremental simplified calculation and optimization of dead zone limitation, the single-loop PID algorithm is:

[0022] u[k]=u[k-1]+Δu[k]

[0023] Δu[k]=K p ·(e[k]-e[k-1])+K i ·e[k]+K d (e[k]-2e[k-1]+e[k-2])

[0024]

[0025] e[k]=r[k]-y[k]

[0026] Among them, r0 is the dead zone range, e[k] is the error at the current moment, r[k] is the expected value of the PID algorithm at the current moment, y[k] corresponds to the actual parameter input at the current moment, and u[k] is the single-loop output at the current moment; K p is the proportional gain coefficient, K i is the integral gain coefficient, K d is the differential gain coefficient; [k] represents the current moment,

[0027] [k-1] represents the previous moment;

[0028] The optimized single-loop PID algorithm uses the output of this loop as the expected value input of the next loop. The three-loop PID algorithm is superimposed three times to form the optimized three-loop PID algorithm. The error at the current moment is changed to:

[0029] e i [k]=u i-1 [k]-y i [k]

[0030] Among them, e i [k] is the current time error of this loop; u i-1 [k] is the expected value input of this loop at the current moment, that is, the expected output value of the previous loop at the current moment; y i [k] is still the actual parameter input of this loop at the current moment; i = 1 for position loop, i = 2 for speed loop, i = 3 for current loop;

[0031] The expected value of the position loop is the temperature to be maintained, the expected value of the speed loop is the output of the position loop, the expected value of the current loop is the output of the speed loop, and the output of the current loop is used to control the current of the liquid pump and the electric heating pipe. The actual parameter input corresponding to the position loop is the actual temperature, the actual parameter input corresponding to the speed loop is the actual temperature change speed, and the actual parameter input of the current loop is the actual current of the liquid pump and the electric heating pipe.

[0032] The expected value of the position loop is mainly determined by the current control strategy, battery temperature and remaining battery capacity; different control strategies have different target battery temperature ranges, where the sleep state is greater than the standby state and greater than the running state; when within the target battery temperature range, the position loop parameters are maintained unchanged, and the expected value is the boundary of the target temperature range to save energy; below the target battery temperature range, the battery capacity that can be saved is calculated based on the current battery temperature and the remaining battery capacity, and when it is greater than a certain proportion of the remaining capacity, adjustment is started; above the target battery temperature, adjustment is started immediately to ensure good heat dissipation; when approaching the battery's limit operating temperature, adjustment is started to move away from the limit operating temperature.

[0033] Beneficial Effects of the Invention: Through innovative design and intelligent control strategies, this invention addresses many of the shortcomings of existing technologies in underwater environments. Its multi-layered thermal insulation and efficient heat conduction structure, combined with an intelligent temperature control algorithm, enables it to cope with multi-layer seawater environments with wide temperature ranges. Furthermore, the integrated power management module and high-precision sensor network ensure efficient and safe operation of the battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a half-section schematic diagram of the overall structure of the underwater robot power management system.

[0035] Figure 2 This is a schematic diagram of the rotated cross-section of the overall structure of the underwater robot power management system.

[0036] Figure 3 This is a side view schematic diagram of the overall structure of the underwater robot power management system after rotation and section.

[0037] Figure 4 Schematic diagram of the three-loop PID algorithm.

[0038] In the figure: 1 thermal insulation layer; 2 heat pipe; 3 battery; 4 power management module; 5 electric heating pipe; 6 liquid pump; 7 bidirectional wireless and wired power supply module. DETAILED DESCRIPTION

[0039] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0040] like Figure 1 As shown, an underwater robot power management system includes a battery compartment shell, a heat pipe 2, a liquid pump 6, an electric heating pipe 5, an insulation layer 1, a battery 3, a power management module and a sensor.

[0041] The top and bottom surfaces of the battery compartment are both covered with an insulation layer 1. The outermost side layer is made of a heat pipe 2 wrapped around the insulation layer, which is used to exchange heat between the inside and outside. The inlet of the heat pipe 2 is directly connected to the liquid pump 6, which is connected to the main control chip via a signal line. The outlet is directly connected to the heat pipe 2 of the battery pack, exchanging the liquid cooled by the outside with the liquid that has absorbed the heat of the battery pack, further cooling the battery 3.

[0042] The battery pack's heat pipe 2 runs back and forth through the battery pack, increasing the contact area between the heat pipe 2 and the battery pack and improving heat exchange efficiency. The ends of the electric heating pipe 5 are connected to the main control chip, which controls the heating system. The electric heating pipe 5 also runs back and forth through the battery pack, transferring its heat and heating the battery 3, ensuring that the battery 3 maintains its normal operating temperature even in low-temperature environments.

[0043] Figure 1 The stacking of cells 3 is shown in a 3x3 stacking configuration, but a denser stacking configuration with intervals can also be used, significantly improving space utilization. Heat pipes 2 and electric heating pipes 5 are interlaced and interspersed, ensuring they are properly connected for efficient operation in various stacking configurations.

[0044] The main control chip and its circuit board use sensors to obtain relevant parameters of battery 3, such as voltage, capacity, and temperature. Based on temperature fluctuations, they determine whether cooling or heating is necessary. Sensors for monitoring battery 3 are directly connected to each battery pack stage, providing direct monitoring. The main control chip receives this data and manages battery operation through the BMS. Temperature and humidity sensors are evenly distributed throughout the battery compartment to ensure proper operation.

[0045] The main control chip is also connected to the underwater robot or external communication equipment through the communication module to output battery-related parameters, making it easier for users to manage and understand the battery status. The two-way wireless and wired power supply modules are managed by the main control chip, outputting power or charging according to specific circumstances, ensuring reliable power supply for the battery in various environments. The underwater robot power management system of the present invention effectively solves the battery management problem of underwater robots in multi-layer seawater environments through external heating to heat the battery and control methods for active and passive liquid-cooled battery heat dissipation, thereby improving the battery life and work efficiency. The system can not only maintain battery performance in extreme temperature environments, but also optimize battery energy utilization through intelligent temperature control algorithms to extend battery life, while providing reliable communication and power supply functions to adapt to various complex underwater operation requirements.

[0046] The following is a detailed description of the control strategy:

[0047] Standby Mode: When the robot is in standby mode, high-power devices are stopped, and battery heat generation is low. Prioritizing short-term power conservation while ensuring hot start conditions are met is key. This means the battery's operating temperature range needs to be appropriately widened, and the main controller and sensors are switched to low-power mode, with appropriate sensors being shut down or workload reduced. If the robot remains in standby mode for extended periods, it enters sleep mode.

[0048] Sleep mode: All modules essentially cease operation, leaving only essential sensors to monitor parameters to avoid unexpected situations. The primary consideration at this point is to conserve power over a long period of time, allowing the temperature to slowly drop below the optimum operating temperature. However, the temperature should not be allowed to drop too low or too high, causing the battery output voltage and current to be insufficient to meet the power management system's operational requirements. When transitioning from sleep mode to operation, a cold start requires immediate activation of the liquid pump 6 or heating element 5 to ensure the battery temperature quickly returns to the optimum operating temperature, ensuring maximum output current and voltage to power high-power devices.

[0049] Charging: Maintain the battery at its optimal operating temperature to maximize its capacity. If the robot is powered by a wired power source, prioritize using that power source. Ensure the voltage and current of the wired power source are sufficient while charging the battery. Keep the battery at its optimal operating temperature.

[0050] Operating status: The working status of the liquid pump 6 and the electric heating tube 5 is dynamically adjusted according to the battery temperature, output current and voltage. An intelligent temperature control algorithm based on three-loop PID is adopted to make the battery temperature change quickly and smoothly to maintain the optimal operating temperature of the battery.

[0051] The following is a detailed description of the intelligent temperature control algorithm:

[0052] The three-loop PID algorithm applies a PID controller to a control system with three loops. It is often used in complex systems requiring precise control, such as industrial process control or robotic motion control. A PID controller consists of three components: proportional (P), integral (I), and differential (D). These three parameters are adjusted to achieve precise control of the system. The proportional component directly adjusts the output based on the current error. The integral component adjusts based on the accumulated error to eliminate long-term deviations. The differential component adjusts based on the rate of change of the error to anticipate future error changes, thereby improving system response speed and stability.

[0053] In a three-loop PID algorithm, there are typically three nested control loops: the position loop, the velocity loop, and the current loop. The position loop is the system's primary control target, typically the robot's position, corresponding to the specific temperature in this case. The velocity loop provides further refined control of the position loop's output and is typically used to control intermediate variables, such as the robot's speed, corresponding to the speed of temperature changes. The current loop precisely controls the velocity loop's output, ensuring rapid system response and stability. It is typically used to control more refined parameters, such as the robot's motor current or voltage, corresponding to the specific operation of the liquid pump 6 and the electric heating tube 5.

[0054] Through this multi-layered, nested control structure, the three-loop PID algorithm adjusts temperature control system parameters hierarchically, making temperature control more precise and stable. The position loop provides the overall target, the speed loop corrects and refines it, and the current loop provides rapid response and fine-tuning. This ensures precise control at all levels of the system, improving control accuracy and response speed, reducing errors, and enhancing system stability and robustness.

[0055] After incremental simplified calculation and optimization of dead zone limitation, the single-loop PID algorithm is:

[0056] u[k]=u[k-1]+Δu[k]

[0057] Δu[k]=K p ·(e[k]-e[k-1])+K i ·e[k]+K d (e[k]-2e[k-1]+e[k-2])

[0058]

[0059] e[k]=r[k]-y[k]

[0060] Where r0 is the dead zone range, r[k] is the expected value of the PID algorithm, and y[k] is the corresponding actual parameter input.

[0061] The optimized single-loop PID algorithm uses the output of this loop as the expected value input of the next loop, and superimposes it three times to form the optimized three-loop PID algorithm, namely:

[0062] e i [k]=u i-1 [k]-y i [k]

[0063] where u i-1 [k] is the expected value input of this loop, y i [k] still corresponds to the actual parameter input.

[0064] For the position loop, the expected value is the temperature to be maintained; for the velocity loop, the expected value is the position loop output; for the current loop, the expected value is the velocity loop output. Finally, the current loop output is used to control the current of the liquid pump and the electric heating pipe. For the position loop, the corresponding actual parameter is the actual temperature; for the velocity loop, the actual parameter is the actual temperature change rate; and for the current loop, the actual current of the liquid pump and the electric heating pipe.

[0065] The expected value of the position loop is primarily determined by the current control strategy, battery temperature, and remaining battery capacity. Different control strategies have different target battery temperature ranges, with the sleep state exceeding the standby state and the run state exceeding the operating state. Within the target temperature range, the position loop parameters remain unchanged, and the expected value is at the target temperature range boundary to conserve energy. Below the target temperature range, the battery capacity that can be salvaged is calculated based on the current battery temperature and remaining battery capacity. When this value exceeds a certain percentage of the remaining capacity, regulation is initiated. Above the target temperature, regulation is immediately initiated to ensure optimal heat dissipation. As the battery approaches its operating limit, regulation is initiated to move away from the limit.

[0066] The following is the specific working conditions of the liquid pump 6 and the electric heating tube 5:

[0067] When the temperature is too high: the liquid pump 6 is started, the electric heating tube 5 is turned off, and the internal liquid is exchanged with the external liquid to achieve internal and external heat exchange and reduce the battery temperature. At this time, the current loop controls the operating speed of the liquid pump 6.

[0068] When the temperature is too low: the electric heating tube 5 is activated, the liquid pump 6 is turned off, and the electric heating tube 5 is used to heat the internal battery compartment to prevent excessive loss of battery capacity. At this time, the current loop controls the operating current of the electric heating tube 5.

Claims

1. An underwater robot power management system, characterized in that: The underwater robot power management system includes a battery compartment shell, a heat pipe, a liquid pump, an electric heating pipe, a heat insulation layer, a battery, a power management module and a sensor; The battery compartment shell is made of metal material with high thermal conductivity. Its shape is adapted to the shape of the underwater robot and is easy to disassemble. The heat pipe is arranged in the battery compartment to conduct heat away from the battery; The thermal insulation layer is arranged on the top and bottom of the battery compartment and the inner side of the first part of the heat pipe to keep the temperature from being too low. The liquid pump is used to connect the heat pipe to achieve internal and external liquid exchange and promote internal and external heat exchange; The electric heating tube passes through the internal battery to increase the contact area and is used to heat the internal battery compartment; The power management module includes a main control chip, a bidirectional wireless and wired power supply module, and a communication module. Together with the liquid pump, it is placed at the bottom of the battery compartment to facilitate external power supply and communication. The main control chip is responsible for the operation and control of the underwater robot's power management system, dynamically adjusting the working status of the electric heating pipe and liquid pump based on sensor feedback data. The bidirectional wireless and wired power supply module switches between wireless and wired modes to ensure power supply needs in different environments. Sensors are placed throughout the battery compartment to monitor overall and local temperatures to prevent local overheating or overcooling. They collect temperature, voltage, and current data in real time and transmit the data to the main control chip for processing. Sensors are directly connected to each battery pack to monitor the voltage, capacity, and current parameters of the battery pack. The battery management system manages the battery's charge and discharge process, ensuring that the battery operates within a safe range and extending its life. The control strategy of the underwater robot power management system is mainly divided into four different temperature control strategies: standby state, sleep state, charging state and running state. In the running state, if there is no operation for a long time or a command to enter the standby state is received, the robot will enter the standby state. If the robot is in standby state for a long time, it will enter dormant state. If the robot is in standby state and is operated or receives a wake-up signal, it will be hot-started to enter running state. If the robot is in dormant state and is operated or receives a wake-up signal, it will be cold-started to enter running state. Charging state has a separate control strategy. The intelligent temperature control algorithm is mainly based on the improvement of the optimized three-loop PID algorithm; There are three nested control loops in the three-loop PID algorithm: position loop, speed loop, and current loop; The position loop corresponds to temperature, the speed loop corresponds to the speed of temperature change, and the current loop corresponds to controlling the liquid pump and electric heating pipe; After incremental simplified calculation and optimization of dead zone limitation, the single-loop PID algorithm is: u[k]=u[k-1]+Δu[k] Δu[k]=K p (e[k]-e[k-1])+K i ·e[k]+K d (e[k]-2e[k-1]+e[k-2]) e[k]=r[k]-y[k] Among them, r0 is the dead zone range, e[k] is the error at the current moment, r[k] is the expected value of the PID algorithm at the current moment, y[k] corresponds to the actual parameter input at the current moment, and u[k] is the single-loop output at the current moment; K p is the proportional gain coefficient, K i is the integral gain coefficient, K d is the differential gain coefficient; [k] represents the current moment, and [k-1] represents the previous moment; The optimized single-loop PID algorithm uses the output of this loop as the expected value input of the next loop. The three-loop PID algorithm is superimposed three times to form the optimized three-loop PID algorithm. The error at the current moment is changed to: e i [k]=u i-1 [k]-y i [k] Among them, e i [k] is the current time error of this loop; u i-1 [k] is the expected value input of this loop at the current moment, that is, the expected output value of the previous loop at the current moment; y i [k] is still the actual parameter input of this loop at the current moment; i = 1 for position loop, i = 2 for speed loop, i = 3 for current loop; The expected value of the position loop is the temperature to be maintained, the expected value of the speed loop is the output of the position loop, the expected value of the current loop is the output of the speed loop, and the output of the current loop is used to control the current of the liquid pump and the electric heating pipe. The actual parameter input corresponding to the position loop is the actual temperature, the actual parameter input corresponding to the speed loop is the actual temperature change speed, and the actual parameter input of the current loop is the actual current of the liquid pump and the electric heating pipe. The expected value of the position loop is mainly determined by the current control strategy, battery temperature and remaining battery capacity; different control strategies have different target battery temperature ranges, where the sleep state is greater than the standby state and greater than the running state; when within the target battery temperature range, the position loop parameters are maintained unchanged, and the expected value is the boundary of the target temperature range to save energy; below the target battery temperature range, the battery capacity that can be saved is calculated based on the current battery temperature and the remaining battery capacity, and when it is greater than a certain proportion of the remaining capacity, adjustment is started; above the target battery temperature, adjustment is started immediately to ensure good heat dissipation; when approaching the battery's limit operating temperature, adjustment is started to move away from the limit operating temperature.

2. The underwater robot power management system according to claim 1, characterized in that: The heat pipe is used to conduct heat away from the battery and is divided into three parts. The first part of the heat pipe is attached to the inner wall of the battery compartment shell, the second part of the heat pipe is spirally wrapped around the insulation layer, and the third part of the heat pipe is arranged in a grid format and passes through the internal battery.

3. The underwater robot power management system according to claim 1, characterized in that: The heat insulating material used in the heat insulating layer is made of composite material.

4. The underwater robot power management system according to claim 1, characterized in that: The liquid is water or other liquid with high heat capacity. The liquid pump transports the cooling liquid to the heat pipe through the pipeline system, and then discharges the liquid that has absorbed heat to keep the temperature of the battery compartment stable.

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