Battery protection system for quadruped robot

Abstract

The invention discloses a battery protection system for a quadruped robot, and relates to the technical field of robots, the system can utilize the real-time monitoring function of a temperature sensor to obtain the current temperature data of a battery and the current temperature data of the environment in real time, and is matched with a transfer pump to correspondingly transfer heat-conducting fluid and heat-insulating fluid; and the heat-conducting fluid and the heat-insulating fluid are transferred through the reflux pump, so that the use purposes of preserving heat of the battery in a low-temperature environment and conducting heat and dissipating heat of the battery under the condition that the battery is overheated are achieved. By monitoring the working environment temperature of the robot and conducting heat preservation or cooling treatment on the battery, the cruising ability of the battery is improved, and the battery is prevented from being overheated. In combination with real-time monitoring of electric quantity and temperature and a feedback alarm device, unexpected conditions of the battery can be fed back to a background terminal or a worker for treatment; and when the quadruped robot accidentally moves in a complex area without signal coverage, a worker can conveniently track and find the quadruped robot through the physical positioning assembly.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a battery protection system for a quadruped robot used in high-cold and complex terrain scenes. Background Art

[0002] As an intelligent robot, the quadruped robot has good adaptability in many fields such as security inspection, exploration and rescue. It has high adaptability to complex terrains such as stairs, rugged roads, steep slopes, and collapsed areas.

[0003] Since quadruped robots face relatively harsh ground environments and their work is highly complex, their batteries generally need to have large capacity and long endurance.

[0004] However, the temperature of the external environment will affect the speed of the chemical reaction inside the battery. In a low temperature environment, the discharge voltage and current of the quadruped robot's battery will decrease, resulting in a shortened working time of the quadruped robot and a reduction in its actual endurance. The operating environment of some robots is a high-altitude, cold environment with complex terrain, which makes it impossible to smoothly carry out or complete actual production, rescue, and transportation tasks.

[0005] In addition, if the quadruped robot runs out of power accidentally in a harsh outdoor environment, staff will need to spend time and effort to retrieve it to avoid damage to the equipment.

[0006] Therefore, how to enable the quadruped robot to maintain sufficient endurance in a high-altitude and complex environment and effectively protect the battery is a technical problem that urgently needs to be solved by technical personnel in this field. Summary of the invention

[0007] In view of the above problems, the present invention provides a quadruped robot battery protection system for overcoming the above problems or at least partially solving the above problems.

[0008] The present invention provides the following scheme:

[0009] A quadruped robot battery protection system, comprising:

[0010] A shell, wherein a battery slot, a first storage chamber, and a second storage chamber are provided inside the shell; the battery slot is used to place a battery so that a hollow temperature control layer is formed between the battery and the shell, the first storage chamber is used to accommodate a heat insulating fluid, and the second storage chamber is used to accommodate a heat conducting fluid; the first storage chamber is connected to the temperature control layer through a first pipe and a second pipe, and the second storage chamber is connected to the temperature control layer through a third pipe and a fourth pipe; a first transfer pump is provided on the first pipe, a first reflux pump is provided on the second pipe, a second transfer pump is provided on the third pipe, and a second reflux pump is provided on the fourth pipe;

[0011] A detection module, the detection module comprising a first temperature sensor, the first temperature sensor is arranged between the temperature control layer and the shell, and the first temperature sensor is used to detect the ambient temperature;

[0012] a control module, wherein the control module is communicatively connected with the first transfer pump, the second transfer pump, the first reflux pump, the second reflux pump, and the first temperature sensor;

[0013] The control module is used to perform the following operations:

[0014] Receiving the real-time ambient temperature value collected by the first temperature sensor, and determining the magnitude relationship between the real-time ambient temperature value and a preset ambient temperature value;

[0015] After determining that the real-time ambient temperature value is less than the preset ambient temperature value, controlling the first transfer pump to start up so that the thermal insulation fluid fills the temperature control layer through the first pipeline to achieve the purpose of thermal insulation, and after the thermal insulation is completed, controlling the first reflux pump to start up so that the thermal insulation fluid refluxes to the first receiving chamber through the third pipeline;

[0016] After determining that the real-time ambient temperature value is greater than the preset ambient temperature value, the second transfer pump is controlled to start so that the heat transfer fluid fills the temperature control layer to achieve the purpose of heat conduction, and after the heat conduction is completed, the second reflux pump is controlled to start through the fourth pipe to allow the heat transfer fluid to flow back to the second storage chamber.

[0017] Preferably: it also includes a second temperature sensor and an alarm module, wherein the second temperature sensor is arranged in the temperature control layer, and the second temperature sensor is used to monitor the temperature of the temperature control layer;

[0018] The control module is also used to perform the following operations:

[0019] receiving the internal temperature of the temperature control layer collected by the second temperature sensor;

[0020] Determining whether the internal temperature is abnormal;

[0021] After determining that an abnormality exists and that the temperature cannot be regulated, the alarm module is controlled to issue an alarm message.

[0022] Preferably: it also includes a power detection sensor, and the power detection sensor is electrically connected to the battery;

[0023] The control module is also used to perform the following operations:

[0024] Receiving the power value of the battery collected by the power detection sensor;

[0025] Determine whether the power value is abnormal;

[0026] Determining that there is an abnormality controls the alarm module to issue an alarm message.

[0027] Preferably: the alarm module includes a signal transmission module and a receiving terminal, and the alarm information includes sound information, light information, pop-up window information, and vibration prompt information.

[0028] Preferably: a detection cavity is provided between the temperature control layer and the inner wall of the shell, and the first temperature sensor is provided in the detection cavity.

[0029] Preferably, the first temperature sensor detects the ambient temperature in a range of the air temperature at a distance of 4.5 to 5.5 centimeters from the housing.

[0030] Preferably: it also includes a positioning module, which is arranged on the shell, and the control module is preset with a cruising range program and a coordinate sending program synchronized with the battery power; the control module is also used to determine that the robot is located in a remote area or the battery power is low, and the coordinate sending program sends the current coordinate information to the receiving terminal.

[0031] Preferably: the shell is equipped with a backup battery, and when it is determined that the power level of the battery is lower than a preset value, the control module is connected to the circuit of the backup battery and reduces or pauses the movement operation of the robot.

[0032] Preferably: the control module is also used to control the position positioning component to send a position message when it is determined that the power level of the battery is lower than a preset value, and the position message includes a smoke flare during the day and a flashing light at night.

[0033] Preferably: the position positioning component includes a track positioning component arranged at the bottom of the shell, and the track positioning component includes a spray head, a control valve and a liquid storage chamber; the control valve is arranged between the liquid storage chamber and the spray head, and the liquid storage chamber is filled with a liquid of a striking color, and the control valve is connected to the control module; when it is determined that the battery is in a low-power state, the control module controls the control valve to open, so that the spray head leaves a tracking mark on the ground of the walking path.

[0034] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0035] A quadruped robot battery protection system provided by the embodiment of the present application can utilize the real-time monitoring function of the temperature sensor to obtain the current temperature data of the battery and the environment in real time, and cooperate with the transfer pump to transfer the heat-conducting fluid and the heat-insulating fluid accordingly, and use the reflux pump to transfer the heat-conducting fluid and the heat-insulating fluid, so as to achieve the purpose of keeping the battery warm in a low-temperature environment and dissipating the heat of the battery when the battery is overheated. By monitoring the temperature of the robot's operating environment and keeping the battery warm or cooling the battery, the battery's endurance is increased and battery overheating is avoided. And it can be combined with real-time monitoring of power and temperature, as well as a feedback alarm device, to feedback to the background terminal or staff for processing when the battery has an unexpected condition; when the quadruped robot accidentally performs a complex operation and the signal has no coverage area, the physical positioning component can be used to facilitate staff tracking and retrieval.

[0036] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a structural schematic diagram of the installation state of a quadruped robot battery protection system provided by an embodiment of the present invention;

[0039] Figure 2 is a schematic structural diagram of a quadruped robot battery protection system provided by an embodiment of the present invention;

[0040] Figure 3 is another structural schematic diagram of a quadruped robot battery protection system provided by an embodiment of the present invention;

[0041] Figure 4 is a top view of a quadruped robot battery protection system provided by an embodiment of the present invention;

[0042] Figure 5 is a cross-sectional view of the AA plane provided by an embodiment of the present invention;

[0043] Figure 6 is a partial enlarged schematic diagram of B provided in an embodiment of the present invention;

[0044] Figure 7 is a bottom view of a quadruped robot battery protection system provided by an embodiment of the present invention;

[0045] Figure 8 It is a cross-sectional view of the CC plane provided by an embodiment of the present invention.

[0046] In the figure: battery protection system 100, receiving terminal 200, shell 1, battery slot 11, first storage chamber 12, second storage chamber 13, temperature control layer 14, detection chamber 15, battery 2, insulation fluid 3, heat transfer fluid 4, first pipeline 51, second pipeline 52, third pipeline 53, fourth pipeline 54, first transfer pump 61, first reflux pump 62, second transfer pump 63, second reflux pump 64, first temperature sensor 71, second temperature sensor 72, backup battery 8, trajectory positioning component 9, spray head 91, control valve 92, liquid storage chamber 93. DETAILED DESCRIPTION

[0047] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0048] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , is a quadruped robot battery protection system provided by an embodiment of the present invention, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, the system may include:

[0049] A shell 1, wherein a battery slot 11, a first storage chamber 12, and a second storage chamber 13 are provided inside the shell 1; the battery slot 11 is used to place a battery 2 and form a hollow temperature control layer 14 between the battery 2 and the shell 1; the first storage chamber 12 is used to accommodate a heat-insulating fluid 3, and the second storage chamber 13 is used to accommodate a heat-conducting fluid 4; the first storage chamber 12 is connected to the temperature control layer 14 through a first pipe 51 and a second pipe 52, and the second storage chamber 13 is connected to the temperature control layer 14 through a third pipe 53 and a fourth pipe 54; a first transfer pump 61 is provided on the first pipe 51, a first reflux pump 62 is provided on the second pipe 52, a second transfer pump 63 is provided on the third pipe 53, and a second reflux pump 64 is provided on the fourth pipe 54;

[0050] A detection module, the detection module includes a first temperature sensor 71, the first temperature sensor 71 is arranged between the temperature control layer 14 and the shell 1, and the first temperature sensor 71 is used to detect the ambient temperature;

[0051] a control module, wherein the control module is communicatively connected with the first transfer pump 61, the second transfer pump 63, the first reflux pump 62, the second reflux pump 64, and the first temperature sensor 71;

[0052] The control module is used to perform the following operations:

[0053] Receiving the real-time ambient temperature value collected by the first temperature sensor 71, and determining the magnitude relationship between the real-time ambient temperature value and the preset ambient temperature value;

[0054] After determining that the real-time ambient temperature value is less than the preset ambient temperature value, the first transfer pump 61 is controlled to start to allow the thermal insulation fluid 3 to fill the temperature control layer 14 through the first pipe 51 to achieve the purpose of thermal insulation, and after the thermal insulation is completed, the first reflux pump 62 is controlled to start to allow the thermal insulation fluid 3 to flow back to the first receiving chamber 12 through the third pipe 53;

[0055] After determining that the real-time ambient temperature value is greater than the preset ambient temperature value, the second transfer pump 63 is controlled to start so that the heat transfer fluid 4 fills the temperature control layer 14 to achieve the purpose of heat conduction, and after the heat conduction is completed, the second reflux pump 64 is controlled to start through the fourth pipe 54 to allow the heat transfer fluid 4 to reflux to the second storage chamber 13.

[0056] The quadruped robot battery protection system 100 provided in the embodiment of the present application can determine whether insulation or cooling operations are needed by real-time monitoring of the current temperature of the battery and the temperature change trend. For batteries that continue to lose temperature, the thermal insulation fluid 3 can be driven into the temperature control layer 14 to wrap the outside of the battery to form an insulation layer, which not only reduces the impact of external low temperatures, but also can store the heat of the battery to improve the output and endurance of the battery; for batteries that continue to heat up, the heat-conducting fluid 4 can be driven into the temperature control layer 14 to transfer part of the heat to the outside of the shell 1 by physical heat conduction to avoid overheating of the battery.

[0057] The temperature sensor provided in the embodiment of the present application can adopt a contact temperature sensor or a non-contact temperature sensor, such as a thermistor or an infrared temperature sensor. In this embodiment, in order to increase the accuracy of temperature monitoring, a thermal resistor temperature sensor is adopted, and its resistance value is a coefficient of the measured battery temperature.

[0058] The heat insulating fluid 3 may be a heat-insulating gas, and the heat conducting fluid 4 may be a fluid with heat conducting properties. In this embodiment, the heat conducting fluid 4 may be mercury.

[0059] The transfer pump can adopt a micro-liquid pump or a negative pressure pump, and the reflux pump can adopt a solenoid valve structure or a negative pressure suction pump structure.

[0060] If the quadruped robot is located in a high-altitude and cold area, the temperature sensor installed on one side of the battery monitors the battery temperature in real time and synchronously transmits the battery temperature data to the control module. The control module determines that the current battery needs to be insulated according to the preset value and the preset program, that is, drives the first transfer pump 61 to operate, transfers the insulating gas serving as the insulating fluid 3 and fills it into the temperature control layer 14, and forms an insulation layer on the outside of the battery without contacting the battery, isolating the external low temperature from the battery, and storing the trace heat emitted by the battery to increase the battery's endurance in a low temperature environment.

[0061] If the quadruped robot is located in a high-temperature area, the control module drives the first reflux pump 62 to transfer the insulating fluid 3 back to the chamber according to the data of the first temperature sensor 71, and operates the second transfer pump 63 to transfer the mercury serving as the heat-conducting fluid 4 to and fill the temperature control layer 14, so as to transfer part of the heat of the battery to the detection cavity 15 and the outside of the shell 11 to avoid overheating or overloading of the battery.

[0062] In order to promptly send an alarm to the staff when the battery temperature continues to be abnormal, the embodiment of the present application may further provide a second temperature sensor 72 and an alarm module, wherein the second temperature sensor 72 is disposed in the temperature control layer 14, and the second temperature sensor 72 is used to monitor the temperature of the temperature control layer 14;

[0063] The control module is also used to perform the following operations:

[0064] Receiving the internal temperature of the temperature control layer 14 collected by the second temperature sensor 72;

[0065] Determining whether the internal temperature is abnormal;

[0066] After determining that an abnormality exists and that the temperature cannot be regulated, the alarm module is controlled to issue an alarm message.

[0067] In order to monitor the battery power in real time and issue a warning to the staff when the power is detected to be too low, the embodiment of the present application may also provide a power detection sensor, which is electrically connected to the battery;

[0068] The control module is also used to perform the following operations:

[0069] Receiving the power value of the battery collected by the power detection sensor;

[0070] Determine whether the power value is abnormal;

[0071] Determining that there is an abnormality controls the alarm module to issue an alarm message.

[0072] Furthermore, the alarm module includes a signal transmission module and a receiving terminal 200, and the alarm information includes sound information, light information, pop-up window information, and vibration prompt information.

[0073] Through real-time monitoring of power, combined with monitoring and adjustment of temperature, in special situations where the temperature cannot be adjusted or the power is abnormal, the alarm module can be used to remind the back-end terminal or staff, so as to timely handle and recycle the quadruped robot, reduce a series of problems caused by battery damage, such as fire of the battery or quadruped robot, damage to the robot body or other people's property, etc. The receiving terminal 200 can be any one of a server, a smart mobile device or a mobile phone; the signal transmission module can be a GSM module, Bluetooth, infrared or other wireless data transmission protocols.

[0074] The alarm message consists of sound information, light information, pop-up information, and vibration prompt information. The alarm module includes a signal transmission module and a receiving terminal 200. The receiving terminal 200 is located at the staff. The control module sends the alarm message through the signal transmission module. For operating scenarios where the quadruped robot is close to the staff, the staff can be reminded to handle it quickly through sound prompts and sending messages; for scenarios where the staff is remotely controlled or the quadruped robot is operating autonomously, feedback can be provided by sending relevant messages.

[0075] In specific implementation, the embodiment of the present application may also provide a detection cavity 15 between the temperature control layer 14 and the inner wall of the shell 1, and the first temperature sensor 71 is arranged in the detection cavity 15. A detection cavity 15 is provided between the temperature control layer 14 and the inner wall of the shell 1, and a temperature sensor coupled to the control module is integrated in the detection cavity 15. The temperature data after insulation or cooling is determined by the first temperature sensor 71 for monitoring the temperature of the outer wall of the temperature control layer 14, combined with the second temperature sensor 72 where the battery is located, so as to adaptively adjust the amount of material used for insulation and cooling, and increase the insulation or cooling effect; and in conjunction with the control module's monitoring of the power, it can be preliminarily determined whether the insulation layer or the battery is abnormal or damaged, so that a corresponding alarm message is issued through the alarm component.

[0076] Furthermore, the first temperature sensor 71 detects the ambient temperature in the range of air temperature at a distance of 14.5 to 5.5 cm from the housing. The ambient temperature detection range is preferably the air temperature at a distance of 5 cm from the housing 1. By monitoring the ambient temperature around the housing 1, the degree to which the battery is actually affected by the ambient temperature can be determined, thereby cooperating with the control structure to control the degree of adjustment of the battery temperature in real time and accurately.

[0077] In order to provide the user with the robot positioning information in real time, the embodiment of the present application may also provide a positioning module, and the positioning module is arranged on the shell 1. The control module is preset with a cruising range program and a coordinate sending program synchronized with the battery power; the control module is also used to determine that the robot is located in a remote area or the battery power is low, and the coordinate sending program is used to send a message to the receiving terminal 200.

[0078] The positioning module is used and the control module is preset with a range program and a coordinate sending program that are synchronized with the battery power. When the housing 1 is located in a remote area or the battery power is low, the coordinate sending program sends the current coordinate information to the receiving terminal 200. The positioning module is used to clearly indicate the position of the quadruped robot in the alarm message, and in conjunction with the map program, when the quadruped robot is located in a remote area, the battery power is low, or it is about to enter an area without signal coverage, the location information is synchronized to the background server, the terminal, and the mobile device of the staff, so as to facilitate the staff to retrieve the device later.

[0079] In order to still be able to send positioning information when the battery is exhausted, the embodiment of the present application can provide that the shell 1 is configured with a backup battery 8, and when it is determined that the battery power is lower than a preset value, the control module connects to the circuit of the backup battery 8 and reduces or pauses the movement operation of the robot.

[0080] The housing 1 is equipped with a backup battery 8. If the power level is lower than a preset value, the control module automatically connects to the circuit of the backup battery 8 and reduces or suspends the movement of the robot. When the power level of the robot is low, sufficient power can be provided for the robot to control temperature, send alarm messages, and send location messages. In the case of battery damage, the above functions can still be operated normally, thereby effectively protecting the battery and the robot body; and by limiting the movement of the robot, the robot can still move and enter more complex and inconvenient areas for recovery.

[0081] During use, the control module monitors the current battery power status in real time through the circuit. If the first temperature sensor 71 and the second temperature sensor 72 located on one side of the battery and in the detection cavity 15 simultaneously detect abnormal or continuously rising temperatures, and the temperature cannot be changed after a period of cooling and regulation, the control module will automatically connect the circuit with the backup battery 8 and send a message to the staff's receiving terminal 200. If the temperature sensor detects that the temperature of the battery 2 and the housing 1 rises suddenly, and the control module detects that the battery power is abnormal, it may be that the battery or the battery circuit is damaged, and there may be a risk of battery fire. At this time, the control module sends an alarm message to the receiving terminal 200 through the signal transmission module to remind the staff to deal with it urgently.

[0082] Furthermore, the control module is also used to control the position positioning component to send a position message when the battery power is lower than a preset value, and the position message includes but is not limited to a daytime smoke signal flare and a nighttime flashing light. When the position of the quadruped robot is determined by the above position message, it is combined with the physical information of the scene (such as signal smoke or light) to further facilitate the staff to find the quadruped robot in a complex environment.

[0083] If the quadruped robot accidentally enters an area that cannot be covered by the signal, according to the positioning module and the built-in map program, when it is at the edge of the area covered by the signal, the controller will send the last transmittable location information to the receiving terminal 200. In order to facilitate the subsequent staff to track and retrieve the equipment, the location information includes but is not limited to daytime smoke flares and nighttime strobe lights. When the signal cannot be covered or the battery is about to run out of power, the controller connects the circuit of the backup battery and launches daytime smoke flares or continuously operates nighttime strobe lights.

[0084] In order to form a mark of the robot's movement process on the ground and prevent the robot from being unable to be found in the extreme case where all communication facilities fail, and to facilitate the staff to quickly track and find the quadruped robot, the embodiment of the present application can also provide that the position positioning component includes a track positioning component 9 arranged at the bottom of the shell 1, and the track positioning component 9 includes a spray head 91, a control valve 92 and a liquid storage chamber 93; the control valve 92 is arranged between the liquid storage chamber 93 and the spray head 91, and the liquid storage chamber 93 is filled with a liquid of a striking color, and the control valve 92 is connected to the control module; when it is determined that the battery is in a low-power state, the control module controls the control valve 92 to open, so that the spray head 91 leaves a tracking mark on the ground of the walking path.

[0085] The control valve 92 can be opened to spray a conspicuous liquid for prompting on the ground, so as to leave a mark on the walking path of the quadruped robot, which is convenient for the staff to conduct on-site tracking; and by reciprocatingly opening and closing the control valve 92, while being able to meet the marking requirements, the amount of prompting liquid can be effectively saved, so as to be suitable for longer distance path marking.

[0086] In specific implementation, the control valve 92 is connected to the control module through the signal transmission module. If the battery is detected to be in a low power state, the spray head 91 is driven to leave a tracking mark on the ground of the walking path. When the battery power is about to run out, the controller will gradually reduce the power supply to the robot's actions, and use the remaining power and the power of the backup battery to send messages and physical positioning components, and intermittently open and close the control valve 92 to spray the liquid in the liquid storage chamber 93 on the ground of the last walking path in a dot spraying manner, which is convenient for the staff to track and find.

[0087] Based on the above-mentioned quadruped robot battery protection system suitable for use in high-cold and complex terrain scenes, the specific battery protection method is as follows:

[0088] Step 1.0: With the robot as the center, collect the ambient temperature near the robot shell;

[0089] Step 2.0: After obtaining the ambient temperature, compare it with the preset temperature value. If the ambient temperature is higher than the preset temperature, jump to step 3.0; if the ambient temperature is lower than the preset temperature, jump to step 4.0;

[0090] Step 3.0: According to a preset program, a fluid with heat conductivity is driven to surround the outer side of the battery 2 to dissipate heat outwards;

[0091] Step 4.0: According to a preset program, the heat preservation gas is driven to surround the outer side of the battery 2 to form a heat preservation layer;

[0092] Step 5.0: Monitor the internal temperature of the housing 1 and the battery power. If only the temperature is abnormal, jump to step 6.0; if both the temperature of the housing 1 and the battery power are abnormal, jump to step 7.0;

[0093] Step 6.0: Increase the temperature control strength. If the temperature cannot be controlled, adjust to step 7.0;

[0094] Step 7.0: It is determined that the insulation layer or the battery 2 is damaged, and the alarm component sends an alarm message;

[0095] Step 8.0: The robot sends location information to the surrounding environment;

[0096] Step 9.0: The staff will track and find the robot based on the alarm message and location information, and recycle it.

[0097] In summary, the quadruped robot battery protection system provided by the present application can utilize the real-time monitoring function of the temperature sensor to obtain the current temperature data of the battery and the environment in real time, and cooperate with the transfer pump to transfer the heat-conducting fluid and the heat-insulating fluid accordingly, as well as the transfer of the heat-conducting fluid and the heat-insulating fluid by the reflux pump, so as to achieve the purpose of keeping the battery warm in a low-temperature environment and dissipating heat from the battery when the battery is overheated. By monitoring the temperature of the robot's operating environment and keeping the battery warm or cooling the battery, the battery's endurance is increased and battery overheating is avoided. And it can be combined with real-time monitoring of power and temperature, as well as a feedback alarm device, and feedback can be sent to the background terminal or staff for processing when the battery has an unexpected condition; when the quadruped robot accidentally performs a complex operation and the signal has no coverage area, the physical positioning component can be used to facilitate staff tracking and retrieval.

[0098] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0099] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0100] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A quadruped robot battery protection system, characterized in that: include: A shell, wherein a battery slot, a first storage chamber, and a second storage chamber are provided inside the shell; the battery slot is used to place a battery so that a hollow temperature control layer is formed between the battery and the shell, the first storage chamber is used to accommodate a heat insulating fluid, and the second storage chamber is used to accommodate a heat conducting fluid; the first storage chamber is connected to the temperature control layer through a first pipe and a second pipe, and the second storage chamber is connected to the temperature control layer through a third pipe and a fourth pipe; a first transfer pump is provided on the first pipe, a first reflux pump is provided on the second pipe, a second transfer pump is provided on the third pipe, and a second reflux pump is provided on the fourth pipe; A detection module, the detection module comprising a first temperature sensor, the first temperature sensor is arranged between the temperature control layer and the shell, and the first temperature sensor is used to detect the ambient temperature; a control module, wherein the control module is communicatively connected with the first transfer pump, the second transfer pump, the first reflux pump, the second reflux pump, and the first temperature sensor; The control module is used to perform the following operations: Receiving the real-time ambient temperature value collected by the first temperature sensor, and determining the magnitude relationship between the real-time ambient temperature value and a preset ambient temperature value; After determining that the real-time ambient temperature value is less than the preset ambient temperature value, controlling the first transfer pump to start up so that the thermal insulation fluid fills the temperature control layer through the first pipeline to achieve the purpose of thermal insulation, and after the thermal insulation is completed, controlling the first reflux pump to start up so that the thermal insulation fluid refluxes to the first receiving chamber through the third pipeline; After determining that the real-time ambient temperature value is greater than the preset ambient temperature value, the second transfer pump is controlled to start so that the heat transfer fluid fills the temperature control layer to achieve the purpose of heat conduction, and after the heat conduction is completed, the second reflux pump is controlled to start through the fourth pipe to allow the heat transfer fluid to flow back to the second storage chamber.

2. The quadruped robot battery protection system according to claim 1, characterized in that: It also includes a second temperature sensor and an alarm module, wherein the second temperature sensor is disposed in the temperature control layer and is used to monitor the temperature of the temperature control layer; The control module is also used to perform the following operations: receiving the internal temperature of the temperature control layer collected by the second temperature sensor; Determining whether the internal temperature is abnormal; After determining that an abnormality exists and that the temperature cannot be regulated, the alarm module is controlled to issue an alarm message.

3. The quadruped robot battery protection system according to claim 2, characterized in that: It also includes a power detection sensor, which is electrically connected to the battery; The control module is also used to perform the following operations: Receiving the power value of the battery collected by the power detection sensor; Determine whether the power value is abnormal; Determining that there is an abnormality controls the alarm module to issue an alarm message.

4. The quadruped robot battery protection system according to claim 2, characterized in that: The alarm module includes a signal transmission module and a receiving terminal, and the alarm information includes sound information, light information, pop-up window information, and vibration prompt information.

5. The quadruped robot battery protection system according to claim 1, characterized in that: A detection cavity is arranged between the temperature control layer and the inner wall of the shell, and the first temperature sensor is arranged in the detection cavity.

6. The quadruped robot battery protection system according to claim 5, characterized in that: The range of the environmental temperature detection by the first temperature sensor is the air temperature at a distance of 4.5 to 5.5 centimeters from the shell.

7. The quadruped robot battery protection system according to claim 1, characterized in that: It also includes a positioning module, which is arranged on the shell. The control module is preset with a cruising range program and a coordinate sending program synchronized with the battery power. The control module is also used to determine that the robot is located in a remote area or the battery power is low, and the coordinate sending program sends the current coordinate information to the receiving terminal.

8. The quadruped robot battery protection system according to claim 7, characterized in that: The shell is equipped with a backup battery. When it is determined that the power level of the battery is lower than a preset value, the control module is connected to the circuit of the backup battery and reduces or pauses the movement operation of the robot.

9. The quadruped robot battery protection system according to claim 1, characterized in that: The control module is also used to control the position positioning component to send a position message when it is determined that the power of the battery is lower than a preset value. The position message includes a smoke flare during the day and a flashing light at night.

10. The quadruped robot battery protection system according to claim 9, characterized in that: The position positioning component includes a track positioning component arranged at the bottom of the shell, and the track positioning component includes a spray head, a control valve and a liquid storage chamber; the control valve is arranged between the liquid storage chamber and the spray head, and the liquid storage chamber is filled with a liquid of a striking color, and the control valve is connected to the control module; when it is determined that the battery is in a low-power state, the control module controls the control valve to open so that the spray head leaves a tracking mark on the ground of the walking path.

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