A quadruped robot battery protection system

Abstract

The application discloses a kind of four-legged robot battery protection systems, it is related to robot technical field, the system can utilize the real-time monitoring effect of temperature sensor, to obtain the current temperature data of battery and environment in real time, and cooperate with transfer pump for corresponding transfer of heat-conducting fluid, heat-insulating fluid, and by backflow pump for the transfer of heat-conducting fluid, heat-insulating fluid, to realize the use purposes of heat preservation to battery in low temperature environment, heat conduction and heat dissipation to battery in battery overheating condition.By monitoring the temperature of robot working environment and carrying out heat preservation or cooling treatment on the battery, the endurance of the battery is increased and the overheating of the battery is avoided.The real-time monitoring of the battery capacity and temperature can be combined with the feedback alarm device, and the feedback to the background terminal or the staff when the battery appears unexpected condition;when the four-legged robot accidentally performs complex and signal non-coverage area, the physical positioning component can be used to facilitate the staff to track and find back.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a battery protection system for a quadruped robot particularly suitable for use in high-altitude and complex terrain scenarios. Background Art

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

[0003] Since quadruped robots face a relatively harsh ground environment 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 chemical reactions inside the battery. In a low-temperature environment, the discharge voltage and current of the quadruped robot's battery will decrease, resulting in a shorter working time of the quadruped robot and a lower actual endurance. Some robots operate in an environment with high altitude and complex terrain, making it impossible to carry out or complete actual production, rescue, and transportation tasks smoothly.

[0005] In addition, if the quadruped robot's battery runs out unexpectedly in a harsh outdoor environment, staff will have to spend time and effort to retrieve it to avoid damage to the equipment.

[0006] Therefore, how to enable a 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 technicians 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 solutions:

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

[0010] A housing, wherein a battery compartment, a first storage cavity, and a second storage cavity are provided inside the housing; the battery compartment is used to place a battery, and a hollow temperature-control layer is formed between the battery and the housing; the first storage cavity is used to accommodate a heat-insulating fluid, and the second storage cavity is used to accommodate a heat-conducting fluid; the first storage cavity is connected to the temperature-control layer via a first pipe and a second pipe, and the second storage cavity is connected to the temperature-control layer via 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 being disposed between the temperature control layer and the housing, and being used to detect ambient temperature;

[0012] a control module, the control module being communicatively connected to 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 a real-time ambient temperature value collected by the first temperature sensor, and determining a 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 pipe to achieve thermal insulation, and after thermal insulation is completed, controlling the first reflux pump to start up so that the thermal insulation fluid returns to the first receiving chamber through the second pipe;

[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 so that the heat transfer fluid flows back to the second receiving chamber through the fourth pipe.

[0017] Preferably, the device further 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;

[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: further comprising a power detection sensor, the power detection sensor being electrically connected to the battery;

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

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

[0025] Determining whether the power value is abnormal;

[0026] Determining that an abnormality exists 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 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 range of the ambient temperature detected by the first temperature sensor is 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 when the robot is located in a remote area or the battery power is insufficient, the coordinate sending program sends the current coordinate information to the receiving terminal.

[0031] Preferably, the housing is provided 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 suspends the movement operation of the robot.

[0032] Preferably, the control module is further configured 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, wherein 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] The embodiment of the present application provides a quadruped robot battery protection system that 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 heat from the battery in the event of battery overheating. By monitoring the temperature of the robot's operating environment and insulating or cooling the battery, the battery's endurance is increased and battery overheating is avoided. It can also 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; if 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] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0038] Figure 1 This is a schematic diagram of the structure of a quadruped robot battery protection system installed state according to an embodiment of the present invention;

[0039] Figure 2 1 is a schematic structural diagram of a quadruped robot battery protection system provided by an embodiment of the present invention;

[0040] Figure 3 1 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 taken along plane AA provided by an embodiment of the present invention;

[0043] Figure 6 1 is a partial enlarged schematic diagram of B provided in an embodiment of the present invention;

[0044] Figure 7 1. It 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 pipe 51, second pipe 52, third pipe 53, fourth pipe 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 following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within 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] The housing 1 is provided with a battery slot 11, a first storage cavity 12, and a second storage cavity 13; the battery slot 11 is used to place a battery 2, and a hollow temperature-control layer 14 is formed between the battery 2 and the housing 1; the first storage cavity 12 is used to accommodate a heat-insulating fluid 3, and the second storage cavity 13 is used to accommodate a heat-conducting fluid 4; the first storage cavity 12 is connected to the temperature-control layer 14 via a first pipe 51 and a second pipe 52, and the second storage cavity 13 is connected to the temperature-control layer 14 via a third pipe 53 and a fourth pipe 54; the first pipe 51 is provided with a first transfer pump 61, the second pipe 52 is provided with a first reflux pump 62, the third pipe 53 is provided with a second transfer pump 63, and the fourth pipe 54 is provided with a second reflux pump 64;

[0050] a detection module, the detection module comprising a first temperature sensor 71, the first temperature sensor 71 being arranged between the temperature control layer 14 and the shell 1, and the first temperature sensor 71 being configured to detect an ambient temperature;

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

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

[0053] receive a real-time ambient temperature value collected by the first temperature sensor 71, and determine a size relationship between the real-time ambient temperature value and a preset ambient temperature value;

[0054] after determining that the real-time ambient temperature value is less than the preset ambient temperature value, control the first transfer pump 61 to be turned on to fill the temperature control layer 14 with the heat insulation fluid 3 through the first pipeline 51 to achieve the purpose of heat insulation, and control the first return pump 62 to be turned on to return the heat insulation fluid 3 to the first receiving cavity 12 through the second pipeline 52 after the heat insulation is completed;

[0055] after determining that the real-time ambient temperature value is greater than the preset ambient temperature value, control the second transfer pump 63 to be turned on to fill the temperature control layer 14 with the heat conduction fluid 4 to achieve the purpose of heat conduction, and control the second return pump 64 to be turned on to return the heat conduction fluid 4 to the second receiving cavity 13 through the fourth pipeline 54 after the heat conduction is completed.

[0056] The four-legged robot battery protection system 100 provided by the embodiment of the present application can monitor the current temperature of the battery and the temperature change trend in real time, determine whether to perform a temperature preservation or cooling operation, for a continuously hypothermic battery, drive the heat insulation fluid 3 into the temperature control layer 14 to form a heat insulation layer outside the battery, not only reduce the influence of the external low temperature, but also store the heat of the battery to improve the output and endurance of the battery; for a continuously hypothermic battery, drive the heat conduction fluid 4 into the temperature control layer 14 to transfer part of the heat to the outside of the shell 1 through physical conduction of heat, to avoid overheating of the battery.

[0057] The temperature sensor provided by 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 the embodiment, a thermistor temperature sensor is adopted to increase the accuracy of temperature monitoring, and the resistance value of the thermistor temperature sensor 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 based on the preset value and preset program, that is, it 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 insulating 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 1 to avoid overheating or overloading of the battery.

[0062] In order to promptly alert personnel 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. The second temperature sensor 72 is disposed in the temperature control layer 14 and 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 battery power value collected by the power detection sensor;

[0070] Determining whether the power value is abnormal;

[0071] Determining that an abnormality exists 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 information, and vibration prompt information.

[0073] By combining real-time battery monitoring with temperature monitoring and adjustment, an alarm module can be used to alert back-end terminals or staff in special situations where temperature adjustment is unavailable or battery levels are abnormal, allowing for prompt processing and recovery of the quadruped robot. This reduces the risk of battery damage, such as fires in the quadruped robot, damage to the robot itself, or damage to other people's property. The receiving terminal 200 can be a server, smart mobile device, or mobile phone; the signal transmission module can utilize a GSM module, Bluetooth, infrared, or other wireless data transmission protocols.

[0074] The alarm message consists of sound, light, pop-up, and vibration prompts. The alarm module includes a signal transmission module and a receiving terminal 200, which is located at the staff's location. The control module sends the alarm message through the signal transmission module. For scenarios where the quadruped robot is close to the staff, sound prompts and messages can be used to remind the staff to quickly handle the situation. For scenarios where the staff is remotely controlling the robot or the quadruped robot is operating autonomously, relevant messages can be sent to provide feedback.

[0075] In specific implementation, the embodiment of the present application may also provide a detection cavity 15 provided between the temperature control layer 14 and the inner wall of the shell 1, and the first temperature sensor 71 is provided 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 monitoring the temperature of the outer wall of the temperature control layer 14 by the first temperature sensor 71 in combination 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, thereby increasing 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, thereby issuing a corresponding alarm message through the alarm component.

[0076] Furthermore, the first temperature sensor 71 detects ambient temperature within a range of 4.5 to 5.5 cm from the housing. The ambient temperature detection range is preferably 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 is determined, thereby coordinating with the control structure to accurately and in real time adjust the battery temperature.

[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, which 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 when the robot is located in a remote area or the battery power is low, the coordinate sending program is used to send a message to the receiving terminal 200.

[0078] A positioning module is employed, and the control module is pre-configured with a range program and a coordinate transmission program synchronized with the battery level. When the housing 1 is located in a remote area or the battery level is low, the coordinate transmission program transmits the current coordinate information to the receiving terminal 200. The positioning module is utilized to clearly indicate the location of the quadruped robot in an alarm message, and in conjunction with a mapping program, when the quadruped robot is located in a remote area, the battery level is low, or it is about to enter an area without signal coverage, the location information is synchronized to the backend server, the terminal, and the staff's mobile device, thereby facilitating the staff's subsequent retrieval of the device.

[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 houses a backup battery 8. If the battery level drops below a preset value, the control module automatically connects to the backup battery 8 and reduces or suspends the robot's movement. When the robot's battery level is low, sufficient power is provided for temperature control, alarm generation, and location information. Even in the event of battery damage, these functions can still function normally, effectively protecting the battery and the robot. Furthermore, by restricting the robot's movement, the robot can remain mobile and enter more complex and inconvenient locations.

[0081] During use, the control module monitors the current battery charge level 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 after a period of cooling and control, the temperature remains unchanged, 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 a sudden increase in the temperature of the battery 2 and the housing 1, and the control module detects an abnormal battery charge level, it may be that the battery or battery circuit is damaged, and there is 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 take emergency measures.

[0082] Furthermore, the control module is further configured to control the positioning component to emit a location signal when the battery charge level is below a preset value. This location signal includes, but is not limited to, daytime smoke flares and nighttime strobe lights. When determining the quadruped robot's location using this location signal, it can be combined with physical signals from the scene (such as signal smoke or lights) to further facilitate personnel locating the quadruped robot in complex environments.

[0083] If the quadruped robot accidentally enters an area where the signal is not available, the controller, based on the positioning module and built-in mapping program, will transmit the last available location information to the receiving terminal 200 when it reaches the edge of the signal coverage area. To facilitate subsequent tracking and recovery of the device, the location information includes but is not limited to daytime smoke flares and nighttime strobe lights. When the signal is not available or the battery is about to run out, the controller connects the backup battery circuit and fires daytime smoke flares or continuously operates the 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 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 that it is suitable for longer distance path marking.

[0086] In practice, control valve 92 is connected to the control module via a signal transmission module. If the battery detects a low charge, it activates spray head 91 to leave a tracking mark on the ground along the robot's path. As the battery nears depletion, the controller gradually reduces the power supplied to the robot's movements, using the remaining power and the backup battery's charge for sending messages and physically locating the component. Furthermore, by intermittently opening and closing control valve 92, the liquid in reservoir 93 is sprayed onto the ground along the robot's last path, facilitating tracking and locating.

[0087] Based on the above-mentioned quadruped robot battery protection system suitable for use in high-altitude and complex terrain scenarios, 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 thermal conductivity is driven to surround the outer side of the battery 2 to dissipate heat outward;

[0091] Step 4.0: According to a preset program, driving the heat preservation gas 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 level. If only the temperature is abnormal, jump to step 6.0. If both the temperature of the housing 1 and the battery level are abnormal, jump to step 7.0.

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

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

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

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

[0097] In summary, the quadruped robot battery protection system provided by this 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 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 heat from the battery in the event of overheating. By monitoring the temperature of the robot's operating environment and keeping the battery warm or cooling it, the battery's endurance is increased and battery overheating is avoided. It can also 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.

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

[0099] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of 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 various embodiments of the present application or certain parts of the embodiments.

[0100] The various embodiments described in this specification are presented as examples of the application. Each example is provided by way of best mode, and variations of or additions to these examples can be possible. For example, the various embodiments described in this specification can be combined in different combinations. Further, other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. For example, to implement a system embodiment, one can implement a method embodiment and one or more system modules needed to implement the method embodiment. One of ordinary skill in the art will be able to practice the application with the disclosed materials, without undue experimentation. It will be apparent to one of ordinary skill in the art that features from different embodiments can be interchanged, and / or modified, and / or substituted. Therefore, it is the intention of the inventors to be limited only by the scope of the claims and the full breadth of equivalents thereof.

[0101] The preferred embodiments of the application described herein are examples of the application only. The scope of the application is not limited by the preferred embodiments described herein, but only by the claims that follow, the full breadth of equivalents thereof, and the full breadth of the following claims.

Claims

1. A quadruped robot battery protection system, characterized in that: include: A housing, wherein a battery compartment, a first storage cavity, and a second storage cavity are provided inside the housing; the battery compartment is used to place a battery, and a hollow temperature-control layer is formed between the battery and the housing; the first storage cavity is used to accommodate a heat-insulating fluid, and the second storage cavity is used to accommodate a heat-conducting fluid; the first storage cavity is connected to the temperature-control layer via a first pipe and a second pipe, and the second storage cavity is connected to the temperature-control layer via 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 being disposed between the temperature control layer and the housing, and being used to detect ambient temperature; a control module, the control module being communicatively connected to 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 configured to perform the following operations: receiving a real-time ambient temperature value collected by the first temperature sensor, and determining a 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 pipe to achieve thermal insulation, and after thermal insulation is completed, controlling the first reflux pump to start up so that the thermal insulation fluid returns to the first receiving chamber through the second pipe; 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 so that the heat transfer fluid flows back to the second receiving chamber through the fourth pipe.

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: Also included is a power detection sensor, the power detection sensor being electrically connected to the battery; The control module is also used to perform the following operations: Receiving the battery power value collected by the power detection sensor; Determining whether the power value is abnormal; Determining that an abnormality exists 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 information, and vibration prompt information.

5. The quadruped robot battery protection system according to claim 1, characterized in that: 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.

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

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 housing 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 connects to the circuit of the backup battery and reduces or suspends the movement operation of the robot.

9. The quadruped robot battery protection system according to claim 1, characterized in that: The control module is further configured to control the position positioning component to send a position message when it determines that the power level 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. 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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