Control method based on battery module of inspection robot and inspection robot

Abstract

The invention provides a control method based on a battery module of an inspection robot and the inspection robot, the control method can pre-judge the cooling requirement of a battery unit in advance through the battery temperature change rate and the cooling liquid temperature change rate, and a control system controls a cooling circulation system to enter an emergency cooling mode according to the cooling requirement. The temperature change rate of the battery and the temperature change rate of the cooling liquid are correspondingly reduced, so that the battery unit is cooled in advance, the temperature rise trend of the battery unit tends to be gentle, and in a controllable range, the operation stability of the battery unit, the battery module and the inspection robot is improved, and the working efficiency of the battery unit is enhanced. Therefore, the service life of the battery is prolonged, and adverse effects caused by large fluctuation of the battery unit due to sharp temperature rise are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a control method based on a battery module of an inspection robot and an inspection robot. Background Art

[0002] With the continuous development of new energy technologies, the scale of newly installed photovoltaic power generation capacity continues to expand, and photovoltaic energy has become an important part of the new energy structure. Photovoltaic power stations are generally set up in remote areas such as the wild, and photovoltaic equipment covers a wide area. They are exposed to harsh weather conditions for a long time outdoors. During the operation of photovoltaic power stations, data collection and daily maintenance and other inspections are required. If manual inspections are relied upon, there are problems such as low efficiency, long inspection time, great safety hazards, limited monitoring and diagnosis capabilities, and increased operation and maintenance costs. For this reason, inspection robots have appeared on the market to replace manual inspections. The inspection robots are equipped with intelligent control systems, battery packs, and cooling devices for cooling the battery packs. The battery packs provide power supply for the inspection robots, so that the inspection robots can complete the inspection work fully automatically, effectively avoiding the above problems. The cooling device can stabilize the temperature of the battery pack within a safe range.

[0003] However, inspection robots usually need to perform long-term inspection work outdoors, especially in some high-temperature and scorching sun environments. The battery pack is charged and discharged, and the battery pack is affected by factors such as its high energy density, electrochemical system, manufacturing process, and usage scenarios. This will cause the battery pack to be at risk of thermal runaway, such as a sharp rise in the temperature of the battery pack in a short period of time; or, in some scenarios, such as the inspection robot needs to turn on multiple electrical devices at the same time, or needs to turn on high-power electrical devices, which will also cause the temperature of the battery pack to rise rapidly in a short period of time. The battery pack will quickly rise to a high temperature at a large temperature rise rate, and the cooling device has no responsive early warning mechanism, so it has no time to react and takes a long time to cool down. Therefore, if the sharp rise in the battery pack temperature cannot be predicted and controlled in advance, the temperature of the battery pack will fluctuate greatly, affecting the battery's operating stability, work efficiency, service life, etc., and may even explode, causing great losses. Summary of the invention

[0004] In view of the above situation, it is necessary to provide a control method based on a patrol robot battery module and a patrol robot to effectively solve the above problems.

[0005] A first aspect of the present invention provides a control method based on a battery module of an inspection robot, wherein the battery module comprises a battery unit, a cooling circulation system and a control system, wherein the control system is used to control the cooling circulation system to dissipate heat and cool the battery unit; the control method comprises: A1: Detecting a battery temperature change rate of the battery unit within a first unit time, and the battery temperature change rate is greater than 0; A2: comparing the battery temperature change rate with a first preset value set by the control system; A31: When the battery temperature change rate is greater than the first preset value, the control system controls the cooling circulation system to enter an emergency cooling mode, and the cooling circulation system reduces the battery temperature change rate; A32: When the battery temperature change rate is less than or equal to the first preset value, the control system controls the cooling circulation system to enter a normal operation mode.

[0006] Preferably, a plurality of battery cells are provided, and the battery temperature change rate of each battery cell within the first unit time is detected and compared with the first preset value.

[0007] Preferably, the cooling circulation system includes a refrigeration module and a circulating coolant, the refrigeration module is used to cool the coolant, and the coolant and the battery unit cooperate in heat exchange to absorb the heat of the battery unit; the emergency cooling mode includes: The cooling circulation system reduces the battery temperature change rate by increasing the flow rate of the coolant; and / or The cooling circulation system reduces the battery temperature change rate by reducing the temperature of the coolant.

[0008] Preferably, the refrigeration module comprises a closed pipe and a compressor, a condenser, an expansion valve, and an evaporator arranged in sequence on the closed pipe, a circulating refrigerant is arranged in the closed pipe, and the evaporator cooperates with the coolant for heat exchange to cool the coolant; and / or, The refrigeration module includes a fan, and the fan is used to dissipate heat and cool the coolant.

[0009] Preferably, the operating power of the refrigeration module in the emergency cooling mode is greater than the operating power of the refrigeration module in the normal operating mode.

[0010] Preferably, the cooling circulation system comprises a first liquid cooling pipeline, at least one second liquid cooling pipeline connected to the first liquid cooling pipeline, and a coolant that can circulate in the first liquid cooling pipeline and the second liquid cooling pipeline, the first liquid cooling pipeline and the second liquid cooling pipeline are both used for heat exchange with the battery unit, and a control valve is provided between the first liquid cooling pipeline and the second liquid cooling pipeline; When the cooling circulation system is in the normal operation mode, the coolant circulates in the first liquid cooling pipeline, and the control valve is closed to prevent the coolant from entering the second liquid cooling pipeline; When the cooling circulation system is in the emergency cooling mode, the control valve is opened, and the coolant circulates in the first liquid cooling pipeline and the second liquid cooling pipeline.

[0011] A second aspect of the present invention provides a control method based on a battery module of an inspection robot, wherein the battery module includes a battery unit, a cooling circulation system and a control system, wherein the cooling circulation system includes a circulating coolant, and the control system is used to control the cooling circulation system to dissipate heat and cool the battery unit; the control method includes: B1: detecting a battery temperature change rate of the battery unit in a first unit time, and detecting a coolant temperature change rate of the coolant in a second unit time, and both the battery temperature change rate and the coolant temperature change rate are greater than 0; B2: comparing the battery temperature change rate with a first preset value set by the control system, and comparing the coolant temperature change rate with a second preset value set by the control system; B31: When the battery temperature change rate is greater than the first preset value and / or the coolant temperature change rate is greater than the second preset value, the control system controls the cooling circulation system to enter an emergency cooling mode, and the cooling circulation system correspondingly reduces the battery temperature change rate and the coolant temperature change rate; B32: When the battery temperature change rate is less than or equal to the first preset value, and the coolant temperature change rate is less than the second preset value, the control system controls the cooling circulation system to enter a normal operation mode.

[0012] Preferably, the emergency cooling mode includes: The cooling circulation system reduces the battery temperature change rate and the coolant temperature change rate by increasing the flow rate of the coolant; and / or The cooling circulation system reduces the battery temperature change rate and the coolant temperature change rate by reducing the temperature of the coolant.

[0013] Preferably, the flow rate of the coolant in the emergency cooling mode is greater than the flow rate of the coolant in the normal operation mode; and / or, The temperature of the coolant in the emergency cooling mode is lower than the temperature of the coolant in the normal operation mode.

[0014] A third aspect of the present invention provides an inspection robot, comprising a robot body and a battery module arranged inside the robot body, wherein the battery module operates according to the above-mentioned control method based on the inspection robot battery module.

[0015] Compared with the prior art, the present invention provides a control method and an inspection robot based on a battery module of an inspection robot. The control method can predict the cooling and temperature reduction requirements of the battery unit in advance through the battery temperature change rate and the coolant temperature change rate. The control system controls the cooling circulation system to enter the emergency cooling mode according to the cooling requirement to reduce the battery temperature change rate and the coolant temperature change rate accordingly, thereby realizing early cooling of the battery unit, so that the temperature increase trend of the battery unit tends to be smooth. Within a controllable range, the stability of the operation of the battery unit, the battery module and the inspection robot is improved, the working efficiency of the battery unit is enhanced, the service life is extended, and the battery unit is prevented from having large fluctuations due to a sharp increase in temperature and thus causing adverse effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only used to illustrate the technical solutions of the present invention and are not intended to limit the protection scope of the present invention.

[0017] In the figure: Figure 1 It is a schematic diagram of the architecture of a battery module in one embodiment of the present invention.

[0018] Figure 2 It is a flowchart of the control method in the first embodiment of the present invention.

[0019] Figure 3 It is a flowchart of the control method in the second embodiment of the present invention.

[0020] Figure 4 It is a flowchart of the control method in the third embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the 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 described embodiments 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 without creative work are within the scope of protection of the present invention.

[0022] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centrally disposed element at the same time. When an element is considered to be "disposed on" another element, it may be directly disposed on the other element or there may be a centrally disposed element at the same time.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0024] See also Figure 1 As shown, the present invention provides an inspection robot, which can be applied to scenes such as photovoltaic power stations and wind farms to perform intelligent inspection work. The inspection robot includes a robot body and a battery module 10 arranged inside the robot body. The battery module 10 can provide power supply support for the operation of the inspection robot. The battery module 10 can operate according to a control method based on the battery module of the inspection robot, so that the battery module 10 and the inspection robot can operate within a safe and controllable range, avoid large temperature fluctuations in the battery module 10, improve the temperature stability of the battery module 10, and then improve the working stability and work efficiency of the battery module 10 and the inspection robot, and extend their service life.

[0025] Specifically, the battery module 10 includes a battery cell 101, a cooling circulation system and a control system. A plurality of battery cells 101 may be provided, and the plurality of battery cells 101 may be connected in series or in parallel as required. The battery cell 101 may be packaged and sealed with a housing 102, which may protect the battery cell 101 and prevent leakage. The housing 102 is provided with a connection inlet 103 and a connection outlet 104. The cooling circulation system includes a cooling circulation pipe 105 and a coolant circulating in the cooling circulation pipe 105. The coolant and the battery cell 101 are heat exchanged and cooperated. The circulation of the coolant is used to dissipate heat and cool the battery cell 101. The control system is used to control the cooling circulation system to dissipate heat and cool the battery cell 101.

[0026] Preferably, the cooling circulation pipeline 105 includes a connected heat exchange pipe section and an external pipe section, wherein the heat exchange pipe section is placed in the outer shell 102 through a connection inlet 103 and a connection outlet 104, and the heat exchange pipe section cooperates with the battery cell 101 for heat exchange. Optionally, the heat exchange pipe section is coiled and attached to the outside of the battery cell 101, and when the coolant flows through the heat exchange pipe section, heat exchange with the battery cell 101 is achieved to absorb the heat generated by the battery cell 101, and the external pipe section is located outside the outer shell 102.

[0027] Further, the heat exchange pipe section includes a first liquid cooling pipeline and at least one second liquid cooling pipeline connected to the first liquid cooling pipeline, the coolant can circulate in the first liquid cooling pipeline and the second liquid cooling pipeline, the first liquid cooling pipeline and the second liquid cooling pipeline are both in heat exchange with the battery unit, and a control valve is provided between the first liquid cooling pipeline and the second liquid cooling pipeline; When the cooling circulation system is in the normal operation mode, the cooling demand of the battery unit 101 is small, and the control valve is closed to prevent the coolant from entering the second liquid cooling pipeline. The coolant circulates only in the first liquid cooling pipeline, so that the battery unit 101 can be cooled to a safe and controllable range. When the cooling circulation system is in the emergency cooling mode, the control system controls the control valve to open, and the coolant circulates in the first liquid cooling pipeline and the second liquid cooling pipeline. At this time, the battery unit 101 has a greater cooling demand, and the heat exchange area between the coolant and the battery unit 101 can be increased to enhance the heat dissipation and cooling efficiency.

[0028] It can be understood that in other embodiments, one end of the cooling circulation pipe 105 can be connected to the connection inlet 103, and the other end of the cooling circulation pipe 105 is connected to the connection outlet 104. The coolant enters the interior of the shell 102 through the connection inlet 103 and immerses the battery cell 101 to achieve liquid cooling of the battery cell 101. The coolant then enters the cooling circulation pipe 105 through the connection outlet 104, and circulates in this way to take away the heat of the battery cell 101.

[0029] Preferably, a refrigeration module 106, a liquid storage tank 107 and a hydraulic pump 108 are further provided on the external pipe section of the cooling circulation pipeline 105, wherein the liquid storage tank 107 is provided between the refrigeration module 106 and the hydraulic pump 108, and is used to store the coolant that is not involved in the circulation, the refrigeration module 106 is provided between the liquid storage tank 107 and the connection inlet 103, and is used to cool the coolant, and the hydraulic pump 108 is provided between the liquid storage tank 107 and the connection outlet 104, and is used to provide power for the circulation of the coolant in the cooling circulation pipeline 105. During operation, the coolant is cooled by the refrigeration module 106 and then enters the housing 102 through the connection inlet 103 to exchange heat with the battery unit 101, and the coolant after heat exchange flows out from the connection outlet 104, and the coolant is recirculated to the refrigeration module 106 under the drive of the hydraulic pump 108.

[0030] Optionally, the refrigeration module 106 includes a refrigeration system, which is used to cool the coolant. The refrigeration system includes a closed pipe and a compressor, a condenser, an expansion valve, and an evaporator arranged in sequence on the closed pipe. A circulating refrigerant is arranged in the closed pipe, wherein the evaporator cooperates with the coolant for heat exchange to cool the coolant. Among them, the compressor is responsible for compressing the low-temperature and low-pressure gaseous refrigerant into a high-temperature and high-pressure gas to provide power for the refrigerant circulation. The condenser is used to output heat energy to condense the refrigerant from the gaseous state into a liquid state, which can usually be divided into two types: air-cooled and water-cooled. The expansion valve is used to reduce the pressure and temperature of the refrigerant to turn it into a low-temperature and low-pressure liquid. The evaporator absorbs the heat of the coolant through the evaporation of the refrigerant to reduce the temperature of the coolant. Alternatively, the refrigeration module 106 may include a fan, which is used to dissipate heat and cool the coolant.

[0031] Preferably, the refrigeration module 106 can be configured with a refrigeration system and a fan at the same time to enhance the cooling capacity.

[0032] See also Figure 2 As shown, the present invention provides a control method based on a battery module of an inspection robot, the control method comprising: A1: Detect the battery temperature change rate of the battery cell 101 within a first unit time. The first unit time can be set according to specific needs, and the battery temperature change rate is greater than 0. It can be understood that a battery temperature change rate greater than 0 indicates that the battery cell 101 has a temperature rise, and when the battery temperature change rate is less than 0, it indicates that the battery cell 101 has a temperature drop. By limiting the battery temperature change rate to be greater than 0, it means that only the situation when the battery cell 101 has a temperature rise is monitored, and the situation when the battery cell 101 has a temperature drop is not monitored.

[0033] A2: Compare the detected battery temperature change rate with a first preset value set by the control system.

[0034] A31: When the battery temperature change rate is greater than the first preset value, the control system controls the cooling circulation system to enter the emergency cooling mode. The cooling circulation system reduces the battery temperature change rate to promptly respond to the rapid heating of the battery cell 101, predict the cooling demand of the battery cell 101 in advance, and take corresponding cooling measures in time to avoid the battery cell 101 from heating up to a dangerous, uncontrollable high temperature level at a high heating rate and causing adverse effects, slowing down the heating rate of the battery cell 101, reducing the temperature fluctuation amplitude, making the temperature rise of the battery cell 101 tend to be smooth, reducing the cooling load and energy consumption of the cooling circulation system, and enhancing the operating stability of the battery cell 101.

[0035] A32: When the battery temperature change rate is less than or equal to a first preset value, the control system controls the cooling circulation system to enter a normal operation mode.

[0036] See also Figure 3 As shown, the present invention also provides a control method based on the battery module of the inspection robot, and the control method includes: B1: Detect the battery temperature change rate of the battery cell 101 within a first unit time, and detect the coolant temperature change rate of the coolant within a second unit time. The first unit time and the second unit time can be set according to specific needs, and the battery temperature change rate and the coolant temperature change rate are both greater than 0; it can be understood that a battery temperature change rate greater than 0 indicates that the battery cell 101 has a temperature rise, and when the battery temperature change rate is less than 0, it indicates that the battery cell 101 has a temperature drop, and by limiting the battery temperature change rate to be greater than 0, it means that only the situation when the battery cell 101 has a temperature rise is monitored, and the situation when the battery cell 101 has a temperature drop is not monitored; the coolant temperature change rate is greater than 0, indicating that the battery cell 101 has a temperature rise, and when the coolant temperature change rate is less than 0, it indicates that the battery cell 101 has a temperature drop, and by limiting the coolant temperature change rate to be greater than 0, it means that only the situation when the battery cell 101 has a temperature rise is monitored, and the situation when the battery cell 101 has a temperature drop is not monitored.

[0037] B2: Compare the battery temperature change rate with a first preset value set by the control system, and compare the coolant temperature change rate with a second preset value set by the control system.

[0038] B31: When the battery temperature change rate is greater than the first preset value and / or the coolant temperature change rate is greater than the second preset value, the control system controls the cooling circulation system to enter the emergency cooling mode, and the cooling circulation system correspondingly reduces the battery temperature change rate and the coolant temperature change rate, so as to promptly respond to the rapid heating of the battery cell 101, predict the cooling demand of the battery cell 101 in advance, and take corresponding cooling measures in time to avoid the battery cell 101 from heating up to a dangerous and uncontrollable high temperature level at a high heating rate and causing adverse effects, delay the heating rate of the battery cell 101, reduce the temperature fluctuation amplitude, make the temperature rise of the battery cell 101 tend to be gentle, reduce the cooling load and energy consumption of the cooling circulation system, and enhance the operating stability of the battery cell 101.

[0039] B32: When the battery temperature change rate is less than or equal to the first preset value, and the coolant temperature change rate is less than the second preset value, the control system controls the cooling circulation system to enter the normal operation mode.

[0040] See also Figure 4As shown, the present invention also provides a control method based on the battery module of the inspection robot, and the control method includes: C1: Detect the rate of change of the coolant temperature of the coolant in the second unit time. The second unit time can be set according to specific needs, and the rate of change of the coolant temperature is greater than 0. It can be understood that when the rate of change of the coolant temperature is greater than 0, it means that the temperature of the battery cell 101 rises, and when the rate of change of the coolant temperature is less than 0, it means that the temperature of the battery cell 101 drops. By limiting the rate of change of the coolant temperature to be greater than 0, it means that only the situation when the temperature of the battery cell 101 rises is monitored, and the situation when the temperature of the battery cell 101 drops is not monitored.

[0041] C2: Compare the coolant temperature change rate with a second preset value set by the control system.

[0042] C31: When the rate of change of the coolant temperature is greater than the second preset value, the control system controls the cooling circulation system to enter the emergency cooling mode. The cooling circulation system reduces the rate of change of the coolant temperature to promptly respond to the rapid heating of the battery cell 101, predict the cooling demand of the battery cell 101 in advance, and take corresponding cooling measures in time to avoid the battery cell 101 from heating up to a dangerous, uncontrollable high temperature level at a high heating rate and causing adverse effects, slowing down the heating rate of the battery cell 101, reducing the temperature fluctuation amplitude, making the temperature rise of the battery cell 101 tend to be gentle, reducing the cooling load and energy consumption of the cooling circulation system, and enhancing the operating stability of the battery cell 101.

[0043] C32: When the coolant temperature change rate is less than or equal to a second preset value, the control system controls the cooling circulation system to enter a normal operation mode.

[0044] Among the three control methods described above, the emergency cooling mode includes: (1) The cooling circulation system reduces the rate of change of battery temperature and coolant temperature by increasing the flow rate of the coolant.

[0045] (2) The cooling circulation system reduces the rate of change of battery temperature and coolant temperature by lowering the temperature of the coolant.

[0046] (3) The cooling circulation system reduces the battery temperature change rate and the coolant temperature change rate by increasing the heat exchange area between the coolant and the battery unit 101.

[0047] (4) The cooling circulation system reduces the rate of change of battery temperature and coolant temperature by activating the fan or increasing the speed of the fan.

[0048] It is understandable that the emergency cooling mode may include at least one of the above (1), (2), (3), and (4), or a combination of any two, or a combination of any three, or a combination of all four, and the best choice can be made according to actual needs.

[0049] Preferably, the operating power of the refrigeration module in the emergency cooling mode is greater than the operating power of the refrigeration module in the normal operating mode. Specifically: When the cooling circulation system is in the normal operation mode, the hydraulic pump 108 operates at a first power; when the cooling circulation system is in the emergency cooling mode, the hydraulic pump 108 operates at a second power, and the second power is greater than the first power, that is, the flow rate of the coolant in the emergency cooling mode is greater than the flow rate of the coolant in the normal operation mode.

[0050] When the cooling circulation system is in normal operation mode, the compressor operates at a third power; when the cooling circulation system is in emergency cooling mode, the compressor operates at a fourth power, and the fourth power is greater than the third power, that is, the temperature of the coolant in the emergency cooling mode is lower than the temperature of the coolant in the normal operation mode.

[0051] When the cooling circulation system is in normal operation mode, the coolant circulates in the first liquid cooling pipeline, the control valve is closed, and no coolant flows in the second liquid cooling pipeline; when the cooling circulation system is in emergency cooling mode, the control valve is opened, and the coolant circulates in the first liquid cooling pipeline and the second liquid cooling pipeline.

[0052] When the cooling circulation system is in normal operation mode, the fan is not started; when the cooling circulation system is in emergency cooling mode, the fan is started; or, when the cooling circulation system is in normal operation mode, the fan runs at a first speed; when the cooling circulation system is in emergency cooling mode, the fan runs at a second speed, and the second speed is greater than the first speed, that is, the temperature of the coolant in the emergency cooling mode is lower than the temperature of the coolant in the normal operation mode.

[0053] Preferably, a plurality of battery cells 101 are provided, and the control method includes: detecting the battery temperature change rate of each battery cell 101 within a first unit time and comparing it with a first preset value, so as to ensure the safety and stability of the operation of the entire battery module 10 .

[0054] Preferably, detecting the rate of change of the coolant temperature of the coolant in the second unit time refers to detecting the rate of change of the coolant temperature of the coolant at the position connected to the outlet 104 .

[0055] In some embodiments, the control system monitors the temperature of the battery cell 101 and the coolant in real time, and can also set a warning critical temperature for the battery cell 101. Generally speaking, the setting value of the warning critical temperature is relatively high. When it is monitored that the temperature of the battery cell 101 exceeds the warning critical temperature, the control system controls all components of the cooling circulation system to enter maximum power operation to provide emergency cooling for the battery cell 101. A preset time can be set. If the temperature of the battery cell 101 does not drop below the warning critical temperature within the preset time, the control system cuts off the power to the battery module 10, causing the inspection robot to shut down in an emergency to avoid uncontrollable adverse effects and damages such as excessive temperature of the battery cell 101.

[0056] It can be understood that, since the setting value of the warning critical temperature is high, once the temperature of the battery cell 101 rises sharply, the temperature of the battery cell 101 will rise to the warning critical temperature in a short time. When the control system finds it, the temperature of the battery cell 101 has fluctuated greatly, and the reaction delay has caused adverse effects and damage. If the setting value of the warning critical temperature is lowered, the inspection robot will often shut down, affecting the normal operation of the inspection robot, and the cooling circulation system needs to run at a large load or full load frequently, which increases energy consumption. The control method of the present invention predicts the cooling and cooling requirements of the battery cell in advance by the battery temperature change rate and the coolant temperature change rate. The control system controls the cooling circulation system to enter the emergency cooling mode according to the cooling requirement, so as to reduce the battery temperature change rate and the coolant temperature change rate accordingly, thereby realizing the early cooling of the battery cell, so that the temperature rise trend of the battery cell tends to be gentle, and within the controllable range, the stability of the operation of the battery cell, the battery module and the inspection robot is improved, the working efficiency of the battery cell is enhanced, and its service life is extended, so as to avoid the battery cell from having a large fluctuation due to the sharp increase in temperature and thus causing adverse effects.

[0057] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or computer devices stated in the computer device claim can also be implemented by the same unit or computer device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A control method based on a battery module of an inspection robot, characterized in that: The battery module includes a battery cell, a cooling circulation system and a control system, wherein the control system is used to control the cooling circulation system to dissipate heat and cool the battery cell; the control method includes: A1: Detecting a battery temperature change rate of the battery unit within a first unit time, and the battery temperature change rate is greater than 0; A2: comparing the battery temperature change rate with a first preset value set by the control system; A31: When the battery temperature change rate is greater than the first preset value, the control system controls the cooling circulation system to enter an emergency cooling mode, and the cooling circulation system reduces the battery temperature change rate; A32: When the battery temperature change rate is less than or equal to the first preset value, the control system controls the cooling circulation system to enter a normal operation mode.

2. The control method based on the battery module of the inspection robot according to claim 1 is characterized in that: A plurality of battery cells are provided, and a battery temperature change rate of each battery cell within the first unit time is detected and compared with the first preset value.

3. The control method based on the battery module of the inspection robot according to claim 1 is characterized in that: The cooling circulation system includes a refrigeration module and a circulating coolant, the refrigeration module is used to cool the coolant, and the coolant and the battery unit cooperate in heat exchange to absorb the heat of the battery unit; the emergency cooling mode includes: The cooling circulation system reduces the battery temperature change rate by increasing the flow rate of the coolant; and / or The cooling circulation system reduces the battery temperature change rate by reducing the temperature of the coolant.

4. The control method based on the battery module of the inspection robot according to claim 3, characterized in that: The refrigeration module comprises a closed pipe and a compressor, a condenser, an expansion valve, and an evaporator arranged in sequence on the closed pipe, a circulating refrigerant is arranged in the closed pipe, and the evaporator cooperates with the coolant for heat exchange to cool the coolant; and / or, The refrigeration module includes a fan, and the fan is used to dissipate heat and cool the coolant.

5. The control method based on the battery module of the inspection robot according to claim 3, characterized in that: The operating power of the refrigeration module in the emergency cooling mode is greater than the operating power of the refrigeration module in the normal operating mode.

6. The control method based on the battery module of the inspection robot according to claim 1 is characterized in that: The cooling circulation system comprises a first liquid cooling pipeline, at least one second liquid cooling pipeline connected to the first liquid cooling pipeline, and a coolant that can circulate in the first liquid cooling pipeline and the second liquid cooling pipeline, the first liquid cooling pipeline and the second liquid cooling pipeline are both used for heat exchange with the battery unit, and a control valve is provided between the first liquid cooling pipeline and the second liquid cooling pipeline; When the cooling circulation system is in the normal operation mode, the coolant circulates in the first liquid cooling pipeline, and the control valve is closed to prevent the coolant from entering the second liquid cooling pipeline; When the cooling circulation system is in the emergency cooling mode, the control valve is opened, and the coolant circulates in the first liquid cooling pipeline and the second liquid cooling pipeline.

7. A control method based on a battery module of an inspection robot, characterized in that: The battery module includes a battery cell, a cooling circulation system and a control system. The cooling circulation system includes a circulating coolant. The control system is used to control the cooling circulation system to dissipate heat and cool the battery cell. The control method includes: B1: detecting a battery temperature change rate of the battery unit in a first unit time, and detecting a coolant temperature change rate of the coolant in a second unit time, and both the battery temperature change rate and the coolant temperature change rate are greater than 0; B2: comparing the battery temperature change rate with a first preset value set by the control system, and comparing the coolant temperature change rate with a second preset value set by the control system; B31: When the battery temperature change rate is greater than the first preset value and / or the coolant temperature change rate is greater than the second preset value, the control system controls the cooling circulation system to enter an emergency cooling mode, and the cooling circulation system correspondingly reduces the battery temperature change rate and the coolant temperature change rate; B32: When the battery temperature change rate is less than or equal to the first preset value, and the coolant temperature change rate is less than the second preset value, the control system controls the cooling circulation system to enter a normal operation mode.

8. The control method based on the battery module of the inspection robot according to claim 7, characterized in that: The emergency cooling mode includes: The cooling circulation system reduces the battery temperature change rate and the coolant temperature change rate by increasing the flow rate of the coolant; and / or The cooling circulation system reduces the battery temperature change rate and the coolant temperature change rate by reducing the temperature of the coolant.

9. The control method based on the battery module of the inspection robot according to claim 7, characterized in that: The flow rate of the coolant in the emergency cooling mode is greater than the flow rate of the coolant in the normal operation mode; and / or, The temperature of the coolant in the emergency cooling mode is lower than the temperature of the coolant in the normal operation mode.

10. A patrol robot, characterized in that: It comprises a robot body and a battery module arranged inside the robot body, and the battery module operates according to the control method based on the battery module of the inspection robot according to any one of claims 1 to 9.

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