Gravity energy storage method, controller, system and product based on load-carrying trolley

Abstract

The embodiment of the invention discloses a gravity energy storage method based on a load trolley, a controller, a system and a product, and the method comprises the steps: controlling the load trolley to load a discrete mass block at a target position before the load trolley reaches a starting end of a slope transmission path, and the discrete mass block is used for providing gravitational potential energy; adjusting the actual driving speed of the load-carrying trolley so as to enable the actual driving speed to be equal to the preset driving speed before the load-carrying trolley reaches the starting end; when the load-carrying trolley reaches the starting end, the load-carrying trolley is controlled to run to the stopping end of the slope conveying path according to the preset running speed, and in the process that the load-carrying trolley runs to the stopping end of the slope conveying path, electric energy of the load-carrying trolley is converted into gravitational potential energy through the discrete mass block to be stored. According to the technical scheme provided by the embodiment of the invention, the actual driving speed of the load trolley is adjusted according to the preset driving speed, the detection precision and the response speed of the monitoring system are improved, stable power output is realized, and power fluctuation of a power system is suppressed.

Description

Technical Field

[0001] The disclosed embodiments relate to the field of energy storage technology, and more particularly to a gravity energy storage method, controller, system and product based on a load-carrying trolley. Background Art

[0002] In the context of building a new power system, the proportion of power generation from renewable energy sources such as photovoltaics and wind power continues to increase. Since renewable energy power generation has the characteristics of volatility and uncertainty, it will have adverse consequences on the safe and stable operation of the power system. The development and application of energy storage technology can effectively promote the consumption of renewable energy power generation and smooth out the power fluctuations of new energy power generation.

[0003] Gravity energy storage based on solid media has been widely studied as a new type of physical energy storage in recent years. Since gravity energy storage technology uses discrete mass blocks as energy storage units, the discrete mass blocks are transported back and forth between high-level storage yards and low-level storage yards, and the gravitational potential energy changes of the discrete mass blocks are used to complete the mutual conversion of gravitational potential energy and electrical energy. The mass of a single mass block reaches several tons. In order to ensure the safe and stable operation of the gravity energy storage system; calculate the power absorbed / released by the gravity energy storage system; and suppress the power fluctuations generated by the gravity energy storage system, it is necessary to perform real-time detection of the position, speed, and acceleration of the mass block during the operation of the gravity system. The detection system response speed is required to be in the hundreds of milliseconds, and the detection and control accuracy is less than 5 centimeters. Since the gravity energy storage system is still in the initial research stage, the detection of mass blocks during the operation of the gravity system in the existing technology has problems such as low detection accuracy and slow response speed. Summary of the invention

[0004] The embodiments of the present disclosure provide a gravity energy storage method, controller, system and product based on a load-carrying trolley, which improve the detection accuracy and response speed of the monitoring system.

[0005] In a first aspect, a gravity energy storage method based on a load-carrying trolley is provided, wherein the method is applied to a controller and is characterized in that it includes:

[0006] Before the load-carrying trolley reaches the starting end of the ramp conveying path, controlling the load-carrying trolley to load a discrete mass block at a target position, wherein the discrete mass block is used to provide gravitational potential energy;

[0007] Adjusting the actual travel speed of the load-carrying trolley so that the actual travel speed is equal to the preset travel speed before the load-carrying trolley reaches the starting end;

[0008] When the load-carrying trolley reaches the starting end, the load-carrying trolley is controlled to travel to the terminal end of the slope transmission path at the preset driving speed. During the process of the load-carrying trolley traveling to the terminal end of the slope transmission path, the electrical energy of the load-carrying trolley is converted into gravitational potential energy storage through the discrete mass block.

[0009] In a second aspect, a controller is provided, comprising:

[0010] at least one processor; and

[0011] a memory communicatively connected to the at least one processor; wherein,

[0012] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the gravity energy storage method based on the load-carrying trolley as described in the first aspect above.

[0013] The third method provides a gravity energy storage system based on a load-carrying trolley, comprising: a load-carrying trolley, a host computer and a controller as described in the second aspect above; the host computer and the controller are connected via wireless communication; the load-carrying trolley carries a discrete mass block to provide gravity energy storage;

[0014] The host computer is used to transmit the preset driving speed to the controller;

[0015] The controller is used to adjust the actual driving speed of the load-carrying trolley before the load-carrying trolley reaches the starting end of the slope transmission path so that the actual driving speed is equal to the preset driving speed, and, after the load-carrying trolley reaches the starting end of the slope transmission path, control the load-carrying trolley to travel to the ending end of the slope transmission path at the preset speed.

[0016] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the gravity energy storage method based on the load-carrying trolley as described in the first aspect above is implemented.

[0017] In a fifth aspect, a computer program product is provided, the computer program product comprising a computer program, and the computer program, when executed by a processor, implements the gravity energy storage method based on a load-carrying trolley as described in the first aspect above.

[0018] The disclosed embodiment discloses a gravity energy storage method, controller, system and product based on a load-carrying trolley, including: before the load-carrying trolley reaches the starting end of the ramp transmission path, controlling the load-carrying trolley to load a discrete mass block at the target position, the discrete mass block is used to provide gravitational potential energy; adjusting the actual driving speed of the load-carrying trolley to make the actual driving speed equal to the preset driving speed before the load-carrying trolley reaches the starting end; when the load-carrying trolley reaches the starting end, controlling the load-carrying trolley to travel to the terminal end of the ramp transmission path at the preset driving speed, and in the process of the load-carrying trolley traveling to the terminal end of the ramp transmission path, the electric energy of the load-carrying trolley is converted into gravitational potential energy storage through the discrete mass block. The technical solution provided in this embodiment adjusts the actual driving speed of the load-carrying trolley according to the preset driving speed, improves the detection accuracy and response speed of the monitoring system, and achieves the purpose of safe and stable operation of the gravity energy storage system, stable power output, and suppression of power fluctuations of the power system.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the embodiments of the present disclosure. Other features of the embodiments of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a flow chart of a gravity energy storage method based on a load-carrying trolley provided in the first embodiment of the present disclosure;

[0022] Figure 2 is a structural diagram of a controller provided in Embodiment 2 of the present disclosure;

[0023] Figure 3 It is a structural block diagram of a gravity energy storage system based on a load-carrying trolley provided in Embodiment 3 of the present disclosure. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solutions of the embodiments of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the embodiments of the present disclosure.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0026] Embodiment 1

[0027] Figure 1 This is a flow chart of a gravity energy storage method based on a load-carrying trolley provided in the first embodiment of the present disclosure. This embodiment can be applied to the case of gravity energy storage. The method can be applied to a controller, which includes but is not limited to a computer, a terminal, a server and other devices with data processing capabilities. Figure 1 As shown, the method includes:

[0028] S110, before the load-carrying trolley reaches the starting end of the ramp transmission path, the load-carrying trolley is controlled to load a discrete mass block at a target position, and the discrete mass block is used to provide gravitational potential energy.

[0029] In this embodiment, the load-carrying trolley can be a trolley for carrying discrete mass blocks, and the discrete mass blocks can be heavy objects for storing energy. They can be solid block objects, such as concrete blocks, metal blocks or other types of weight materials. These mass blocks are selected because of their high density and relatively small volume, so that they can store a large amount of potential energy when they are lifted to a certain height. In the gravity energy storage system, energy storage and release are achieved by lifting and lowering these discrete mass blocks.

[0030] Continuing with the above description, before the load-carrying trolley reaches the ramp conveying path, the load-carrying trolley can be controlled to reach the target position and meet the discrete mass block at the target position. The target position can be the position where the discrete mass block is located. For example, the target position can be the position where the crane of the palletizing system is located. The controller can control the load-carrying trolley to park under the crane of the palletizing system so that the crane can place the discrete mass block on the load-carrying trolley, such as: each load-carrying trolley can hold a discrete mass block, and the number of load-carrying trolleys can be set according to the number of discrete mass blocks.

[0031] S120, adjusting the actual travel speed of the load-carrying trolley so that the actual travel speed is equal to the preset travel speed before the load-carrying trolley reaches the starting end.

[0032] Specifically, after the load-carrying trolley carries the discrete mass block, the actual driving speed of the load-carrying trolley can be adjusted according to the preset driving speed, so that the actual driving speed is equal to the preset driving speed before the load-carrying trolley reaches the starting end. The preset driving speed can be the running speed of the discrete mass block calculated according to the power required to be emitted / absorbed by the gravity energy storage. The speed of the loaded trolley can be controlled by a controller, so that the actual driving speed of the load-carrying trolley is equal to the preset driving speed.

[0033] S130. When the load-carrying trolley reaches the starting end, the load-carrying trolley is controlled to travel to the terminal end of the slope transmission path at a preset speed. During the process of the load-carrying trolley traveling to the terminal end of the slope transmission path, the electrical energy of the load-carrying trolley is converted into gravitational potential energy storage through discrete mass blocks.

[0034] Specifically, when the load-carrying trolley reaches the starting end of the slope transmission path, the load-carrying trolley can be controlled to travel to the end end of the slope transmission path at a preset driving speed. In the process of the load-carrying trolley traveling to the end end of the slope transmission path, the electrical energy of the load-carrying trolley is converted into gravitational potential energy storage through discrete mass blocks.

[0035] This embodiment provides a gravity energy storage method based on a load-carrying trolley, including: before the load-carrying trolley reaches the starting end of the ramp transmission path, controlling the load-carrying trolley to load a discrete mass block at the target position, the discrete mass block is used to provide gravitational potential energy; adjusting the actual driving speed of the load-carrying trolley to make the actual driving speed equal to the preset driving speed before the load-carrying trolley reaches the starting end; when the load-carrying trolley reaches the starting end, controlling the load-carrying trolley to travel to the terminal end of the ramp transmission path at the preset driving speed, and in the process of the load-carrying trolley traveling to the terminal end of the ramp transmission path, the electric energy of the load-carrying trolley is converted into gravitational potential energy storage through the discrete mass block. The technical solution provided in this embodiment adjusts the actual driving speed of the load-carrying trolley according to the preset driving speed, improves the detection accuracy and response speed of the monitoring system, and achieves the purpose of safe and stable operation of the gravity energy storage system, stable power output, and suppression of power fluctuations of the power system.

[0036] As an optional implementation of this embodiment, the gravity energy storage method based on the load-carrying trolley provided in this embodiment, after controlling the load-carrying trolley to reach the target coordinate position according to the real-time coordinate position of the load-carrying trolley, further includes:

[0037] The actual travel speed of the vehicle is determined based on the real-time coordinate position of the load-carrying vehicle at different times before the load-carrying vehicle reaches the starting end.

[0038] Specifically, after the load-carrying vehicle reaches the target coordinate position and loads the discrete mass block, the actual driving speed of the vehicle can be determined according to the real-time coordinate positions at different times before the load-carrying vehicle reaches the starting section of the ramp transmission path.

[0039] For example, for the i-th load-carrying trolley, the coordinates of the load-carrying trolley are obtained at time t0. At time t1 (t1>t0), obtain the coordinates of the load-carrying vehicle at time t0 Calculate the velocity v of the discrete mass block i , the velocity v of the discrete mass block i It can be expressed as:

[0040]

[0041] It should be noted that the acceleration a of the discrete mass block within the time Δt can also be measured by an acceleration sensor on the load-carrying trolley.

[0042] As an optional implementation of this embodiment, the controlling the load-carrying trolley to load a discrete mass block at a target position includes:

[0043] 1) Determining the real-time position and standard position of the load-carrying vehicle based on a differential global positioning system; the differential global positioning system includes a mobile station and a reference station; the real-time position is determined by the mobile station; the standard position is determined by the reference station;

[0044] In this embodiment, the Differential Global Positioning System (DGPS) is a technology that improves the positioning accuracy of the Global Positioning System (GPS). DGPS uses a reference station with a known precise position to measure and correct the error of the GPS signal, so that the positioning accuracy reaches the meter level or even higher. The real-time position and standard position of the load-carrying vehicle can be determined based on the differential global positioning system, wherein the real-time position can be determined by the mobile station; the standard position can be determined by the reference station. In this embodiment, the mobile station can be installed on the load-carrying vehicle to determine the real-time position of the load-carrying vehicle, and the reference station can be installed at a fixed position. The differential GPS signal can be output by the reference station to the mobile station, and the mobile station performs positioning correction according to the differential signal, so that the position detection accuracy of the discrete mass block reaches the centimeter level.

[0045] 2) Establishing a plane coordinate system with the standard position as the origin.

[0046] Continuing with the above description, according to the standard position, a plane coordinate system with the standard position as the origin can be established through coordinate transformation.

[0047] 3) Determine the real-time coordinate position of the load-carrying trolley based on the plane coordinate system and the real-time position of the load-carrying trolley.

[0048] Specifically, the real-time position of the load-carrying vehicle can be determined based on the mobile station. In this embodiment, the real-time position of the load-carrying vehicle can be WGS-84 coordinates. The real-time coordinate position of the load-carrying vehicle in the plane coordinate system can be obtained based on the determined plane coordinate system and the real-time position of the load-carrying vehicle. For example, the real-time coordinate position of the load-carrying vehicle can be expressed as (x i ,y i ,z i ), where i can be the serial number of the load-carrying vehicle, i = 1, 2, 3. y Since the load-carrying vehicles are all traveling at the same altitude, the WGS-84 coordinate system can be converted into a plane coordinate system to determine the real-time coordinate position of the load-carrying vehicle.

[0049] For example, the WGS-84 coordinates of the reference station can be transformed into a plane coordinate system. The coordinates of the reference station in the plane coordinate system can be expressed as (x o ,y o ), then:

[0050]

[0051]

[0052] The WGS-84 coordinates of the mobile station load-carrying trolley are transformed into the plane coordinate system, and its coordinates can be expressed as (x a ,y a ), then:

[0053]

[0054] The coordinates (x o ,y o ) as the origin of the plane coordinate system, the plane coordinates (x, y) of the mobile station relative to the base station can be expressed as:

[0055]

[0056] y=x o ×Log

[0057] Among them, a is the major semi-axis of the earth ellipsoid; b is the minor semi-axis of the earth ellipsoid; Lato is the latitude of the origin; Lata is the longitude of the mobile station, (x o ,y o ) is the rectangular coordinate of the origin; (x a ,y a ) is the rectangular coordinate of the intersection of the latitude line along the mobile station and the meridian line passing through the origin; Log is the longitude difference between the latitude circle passing through the origin and the intersection of the mobile station along the meridian line with it, tg can be a tangent function, and ctg can be a cotangent function.

[0058] 4) According to the real-time coordinate position of the load-carrying trolley, control the load-carrying trolley to reach the target coordinate position.

[0059] In this embodiment, the target position can be the position of the discrete mass block. Based on the plane coordinate system, the target coordinate position corresponding to the target position in the plane coordinate system can be determined, and then the load-carrying trolley can be controlled to reach the target coordinate position according to the real-time coordinate position of the load-carrying trolley.

[0060] The gravity energy storage method based on the load-carrying trolley provided in this embodiment uses differential GPS technology to complete the positioning of the discrete mass block, and calculates the speed of the discrete mass block through the spatial positioning coordinates; the actual driving speed of the load-carrying trolley is adjusted according to the preset driving speed, thereby improving the detection accuracy and response speed of the monitoring system, thereby achieving the purpose of safe and stable operation of the gravity energy storage system, stabilizing power output, and suppressing power fluctuations of the power system.

[0061] Embodiment 2

[0062] Figure 2 A schematic diagram of a controller 10 that can be used to implement an embodiment of the present disclosure is shown. The controller is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present disclosure described and / or claimed herein.

[0063] like Figure 2 As shown, the controller 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the controller 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0064] A number of components in the controller 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the controller 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0065] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microprocessor, etc. The processor 11 executes the various methods and processes described above, such as a gravity energy storage method based on a load-carrying trolley.

[0066] In some embodiments, the gravity energy storage method based on the load-carrying trolley can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the controller 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the gravity energy storage method based on the load-carrying trolley described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the gravity energy storage method based on the load-carrying trolley by any other appropriate means (for example, by means of firmware).

[0067] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0068] The computer programs for implementing the methods of the embodiments of the present disclosure may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0069] In the context of the disclosed embodiments, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0070] To provide interaction with a user, the systems and techniques described herein may be implemented on a controller having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the controller. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0071] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0072] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0073] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in the embodiments of the present disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions of the embodiments of the present disclosure can be achieved, and this document does not limit this.

[0074] The above specific implementations do not constitute a limitation on the protection scope of the embodiments of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the embodiments of the present disclosure shall be included in the protection scope of the embodiments of the present disclosure.

[0075] The embodiments of the present disclosure also provide a computer program product, including a computer program and / or instructions, which, when executed by a processor, implements the gravity energy storage method based on a load-carrying trolley as provided in any embodiment of the present application.

[0076] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to write computer program codes for performing the operation of the disclosed embodiments, the programming languages ​​including object-oriented programming languages, such as Java, Smalltalk, C++, and also including conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0077] Note that the above are only preferred embodiments of the embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the embodiments of the present disclosure are not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the embodiments of the present disclosure. Therefore, although the embodiments of the present disclosure are described in more detail through the above embodiments, the embodiments of the present disclosure are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the embodiments of the present disclosure, and the scope of the embodiments of the present disclosure is determined by the scope of the attached claims.

[0078] Embodiment 3

[0079] The present embodiment provides a gravity energy storage system based on a load-carrying trolley, comprising: a load-carrying trolley, a host computer and a controller as described in the above embodiment; the host computer is connected to the controller via wireless communication; the load-carrying trolley carries a discrete mass block to provide gravity energy storage; the host computer is used to transmit a preset driving speed to the controller; the controller is used to adjust the actual driving speed of the load-carrying trolley before the load-carrying trolley reaches the starting end of the slope transmission path so that the actual driving speed is equal to the preset driving speed, and, after the load-carrying trolley reaches the starting end of the slope transmission path, control the load-carrying trolley to travel to the ending end of the slope transmission path at the preset speed.

[0080] Figure 3 A structural block diagram of a gravity energy storage system 30 based on a load-carrying trolley is provided in this embodiment, as shown in FIG. Figure 3 As shown, the system includes a load-carrying trolley 301, a host computer 302 and a controller 303; the host computer 302 is connected to the controller 303 via wireless communication; the load-carrying trolley 301 carries a discrete mass block to provide gravity energy storage;

[0081] The host computer 302 is used to transmit the preset driving speed to the controller;

[0082] The controller 303 is used to adjust the actual driving speed of the load-carrying trolley 301 before the load-carrying trolley 301 reaches the starting end of the slope transmission path so that the actual driving speed is equal to the preset driving speed, and, after the load-carrying trolley reaches the starting end of the slope transmission path, control the load-carrying trolley 301 to travel to the ending end of the slope transmission path at the preset speed.

[0083] In this embodiment, the controller may be a programmable logic controller (PLC). PLC may be an electronic device widely used in industrial automation, which may be composed of one or more digital computer modules and interact with external devices such as sensors and actuators through input and output modules.

[0084] Specifically, the power instruction amount required to be issued / absorbed by the gravity energy storage system can be input into the host computer according to the needs of the dispatching instructions. After the host computer processes and calculates the data, the preset driving speed of the load-carrying trolley is output and sent to the controller; the controller can receive the given preset driving speed and compare it with the real-time speed v of the asynchronous motor. The speed deviation can be eliminated through the PID controller, and the speed error can be finally eliminated, so that the load-carrying trolley reaches the preset running speed.

[0085] The load-carrying trolley is provided with: a differential global positioning system; the differential global positioning system includes a mobile station and a reference station; the mobile station is arranged in the load-carrying trolley; the reference station is arranged in a standard position;

[0086] The mobile station is used to determine the real-time position of the load-carrying vehicle;

[0087] The controller is also used to: perform coordinate conversion based on the standard position to establish a plane coordinate system with the standard position as the origin; determine the real-time coordinate position of the load-carrying trolley based on the plane coordinate system and the real-time position of the load-carrying trolley; and control the load-carrying trolley to reach the target coordinate position and load the mass block before reaching the starting end of the slope transmission path according to the real-time coordinate position of the load-carrying trolley.

[0088] Exemplarily, the differential global positioning system includes two GPSs, one base station and one mobile station. When in use, the base station is fixed and the mobile station is installed on a load-carrying trolley loaded with discrete mass blocks. The differential signal is output from the base station to the mobile station, and the mobile station performs positioning correction according to the differential signal.

[0089] The load-carrying trolley is provided with: an asynchronous motor, a frequency converter, an encoder and a braking device;

[0090] The asynchronous motor is used to provide power for the load-carrying trolley;

[0091] The frequency converter is used to adjust the speed of the asynchronous motor to control the actual travel speed of the load-carrying trolley;

[0092] The encoder is used to detect the number of pulses generated by the asynchronous motor and transmit the number of pulses to the controller so that the controller adjusts the actual travel speed of the load-carrying trolley according to the number of pulses;

[0093] The braking device is used to brake the load-carrying trolley according to the braking instruction of the controller.

[0094] Specifically, asynchronous motors and frequency converters can be used as power units for load-carrying trolleys. An asynchronous motor and a frequency converter can be installed on each load-carrying trolley. An encoder can be installed corresponding to the asynchronous motor. The asynchronous motor adopts a variable voltage and variable frequency speed control strategy. The controller (such as: PLC) calculates and executes to change the output voltage of the frequency converter to accelerate and decelerate the load-carrying trolley, accurately change the running speed of the load-carrying trolley, and simultaneously control the braking device to make the load-carrying trolley stop at the target point to facilitate the loading and unloading of discrete mass blocks.

[0095] The controller is also used to determine the actual travel speed of the load-carrying trolley based on the coordinate position of the load-carrying trolley at different times before the load-carrying trolley reaches the starting end of the ramp transmission path.

[0096] Specifically, before the load-carrying vehicle reaches the starting end of the ramp transmission path, the coordinate position of the load-carrying vehicle at different times can be determined by DGPS, and then the actual driving speed of the load-carrying vehicle can be determined. Exemplarily, the coordinates (x0, y0) of the discrete mass block are obtained at time t0, and the real-time coordinate position of the discrete mass block is detected at time t1, and the output coordinates are (x1, y1); the movement speed v1 of the discrete mass block is determined according to the coordinates at different times:

[0097]

[0098] It should be noted that an acceleration sensor may also be installed on the load-carrying trolley carrying the discrete mass block to measure the acceleration a of the discrete mass block within the time Δt;

[0099] This embodiment also provides an application example of a gravity energy storage system based on a load-carrying trolley. Taking the system operating under energy storage conditions as an example, a start command is issued by the host computer to the unloaded load-carrying trolley, which is transmitted to the PLC module (controller) through the wireless communication system. The output voltage of the frequency converter is controlled to make the load-carrying trolley run in the low-level yard to the vicinity of the palletizing system, and the braking device and DGPS are used to accurately park it under the crane of the palletizing system, so that the crane can place the discrete mass block on the load-carrying trolley.

[0100] After the operation of loading the discrete mass block is completed, the host computer calculates the time difference of the load-carrying trolley entering the ramp transmission path according to the received power dispatching instruction (the power dispatching instruction can be issued by the power grid), and finally calculates the running speed of the load-carrying trolley. The host computer sends a start instruction to the load-carrying trolley again, and inputs the actual travel of the load-carrying trolley, which is then transmitted to the controller (PLC module). According to the power dispatching instruction, the power instruction amount required to be issued / absorbed by the system is input into the host computer. After the host computer performs data processing and calculation, the preset travel speed of the discrete mass block is output and sent to the PLC module.

[0101] The controller receives the preset driving speed, and the encoder of the load-carrying trolley detects the number of pulses generated by one rotation of the motor, and transmits it back to the controller to obtain the speed v of the asynchronous motor. The actual driving speed of the load-carrying trolley can be determined by the speed of the asynchronous motor. The controller can include a proportional-integral-derivative controller (PID). The PID controller can regulate the speed deviation between the speed v of the asynchronous motor and the preset driving speed, and finally eliminate the speed error, so that the discrete mass block reaches the preset running speed.

[0102] The gravity energy storage system based on the load-carrying trolley provided in this embodiment can obtain the real-time position of the discrete mass block in real time, so that the palletizing system can accurately load and unload the mass block and control the movement speed and acceleration of the discrete mass block, thereby ensuring the safe and stable operation of the system; improving the response speed and detection accuracy of the system. At the same time, according to the requirements of the power dispatching instruction, by detecting and detecting the position, speed and acceleration of the heavy object, the moment when the heavy object enters and exits the transmission system can be controlled, thereby suppressing the power fluctuation.

[0103] The gravity energy storage system based on a load-carrying trolley provided in the third embodiment can be used to execute the gravity energy storage method based on a load-carrying trolley provided in any of the above embodiments, and has corresponding functions and beneficial effects.

Claims

1. A gravity energy storage method based on a load-carrying trolley, the method being applied to a controller, characterized in that: include: Before the load-carrying trolley reaches the starting end of the ramp conveying path, controlling the load-carrying trolley to load a discrete mass block at a target position, wherein the discrete mass block is used to provide gravitational potential energy; Adjusting the actual travel speed of the load-carrying trolley so that the actual travel speed is equal to the preset travel speed before the load-carrying trolley reaches the starting end; When the load-carrying trolley reaches the starting end, the load-carrying trolley is controlled to travel to the terminal end of the slope transmission path at the preset driving speed. During the process of the load-carrying trolley traveling to the terminal end of the slope transmission path, the electrical energy of the load-carrying trolley is converted into gravitational potential energy storage through the discrete mass block.

2. The method according to claim 1, characterized in that: The controlling the load-carrying trolley to load a discrete mass block at a target position comprises: Determine the real-time position and standard position of the load-carrying vehicle based on a differential global positioning system; the differential global positioning system includes a mobile station and a reference station; the real-time position is determined by the mobile station; the standard position is determined by the reference station; Establishing a plane coordinate system with the standard position as the origin; Determining the real-time coordinate position of the load-carrying trolley based on the plane coordinate system and the real-time position of the load-carrying trolley; According to the real-time coordinate position of the load-carrying trolley, the load-carrying trolley is controlled to reach the target coordinate position.

3. The method according to claim 2, characterized in that After controlling the load-carrying trolley to reach the target coordinate position according to the real-time coordinate position of the load-carrying trolley, the method further comprises: The actual travel speed of the vehicle is determined based on the real-time coordinate position of the load-carrying vehicle at different times before the load-carrying vehicle reaches the starting end.

4. A controller, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the gravity energy storage method based on the load-carrying vehicle as described in any one of claims 1-3.

5. A gravity energy storage system based on a load-carrying trolley, characterized in that: include: A load-carrying trolley, a host computer and a controller as claimed in claim 4; The host computer is connected to the controller via wireless communication; the load-carrying trolley carries a discrete mass block to provide gravity energy storage; The host computer is used to transmit the preset driving speed to the controller; The controller is used to adjust the actual driving speed of the load-carrying trolley before the load-carrying trolley reaches the starting end of the slope transmission path so that the actual driving speed is equal to the preset driving speed, and, after the load-carrying trolley reaches the starting end of the slope transmission path, control the load-carrying trolley to travel to the ending end of the slope transmission path at the preset speed.

6. The system according to claim 5, characterized in that The load-carrying trolley is provided with: a differential global positioning system; the differential global positioning system includes a mobile station and a reference station; the mobile station is arranged in the load-carrying trolley; the reference station is arranged in a standard position; The mobile station is used to determine the real-time position of the load-carrying vehicle; The controller is also used to: perform coordinate conversion based on the standard position to establish a plane coordinate system with the standard position as the origin; determine the real-time coordinate position of the load-carrying trolley based on the plane coordinate system and the real-time position of the load-carrying trolley; According to the real-time coordinate position of the load-carrying trolley, the load-carrying trolley is controlled to reach the target coordinate position and load the mass block before reaching the starting end of the slope transmission path.

7. The system according to claim 5, characterized in that The load-carrying trolley is provided with: an asynchronous motor, a frequency converter, an encoder and a braking device; The asynchronous motor is used to provide power for the load-carrying trolley; The frequency converter is used to adjust the speed of the asynchronous motor to control the actual travel speed of the load-carrying trolley; The encoder is used to detect the number of pulses generated by the asynchronous motor and transmit the number of pulses to the controller so that the controller adjusts the actual travel speed of the load-carrying trolley according to the number of pulses; The braking device is used to brake the load-carrying trolley according to the braking instruction of the controller.

8. The method according to claim 5, characterized in that The controller is also used to determine the actual travel speed of the load-carrying trolley based on the coordinate position of the load-carrying trolley at different times before the load-carrying trolley reaches the starting end of the ramp transmission path.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a gravity energy storage method based on a load-carrying vehicle as described in any one of claims 1 to 3 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the gravity energy storage method based on the load-carrying trolley as described in any one of claims 1 to 3.

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