Graded storage and transportation optimization design method for heavy blocks of high-capacity gravity energy storage system

Abstract

The invention provides a high-capacity gravity energy storage system weight block hierarchical storage and transportation optimization design method, which comprises the following steps of: planning and designing a gravity energy storage system which comprises a vertical shaft, weight blocks, a weight block storage area, a transportation road, an automatic guide vehicle and a motor generator, the method comprises the following steps: determining the minimum mass of weight blocks of the gravity energy storage system according to the highest output power which can be reached by electrochemical energy storage, proportionally increasing the minimum mass of the weight blocks to obtain the mass of other weight blocks, planning and dividing weight block storage areas of the gravity energy storage system, numbering the weight block storage areas at all levels, and storing the weight blocks in the gravity energy storage system. And planning a transportation path from the vertical shaft to each numbered position based on an optimal path planning algorithm, and transporting the weight block to a corresponding position through an automatic guided vehicle based on the planned path. The gravity energy storage system can reduce energy loss in the weight block transportation process, save the transportation time and improve the transportation efficiency, so that stable operation of the gravity energy storage system is ensured.

Description

Technical Field

[0001] The present invention relates to the field of energy storage technology, and in particular to an optimization design method for hierarchical storage and transportation of heavy objects in a large-capacity gravity energy storage system. Background Art

[0002] For large-capacity gravity energy storage systems, the power of MW-class 100-ton heavy block energy storage systems is highly intermittent, and it is impossible to achieve flexible power output. How to classify heavy blocks is a key issue that needs to be urgently solved in the operation of gravity energy storage systems. Smooth output power can reduce the impact on the power grid, improve energy utilization efficiency, and reduce dependence on other regulating equipment, thereby ensuring the continuity and quality of power supply. Current research is mostly focused on the complementary advantages of hybrid energy storage or multi-machine coordinated control and speed regulation. There is relatively little research on the graded and smooth power output of heavy blocks in large-capacity gravity energy storage units.

[0003] For a gravity energy storage system with a capacity of 100MWh, there are many heavy blocks. How to store and transport the heavy blocks is a key issue that needs to be solved in the operation of the gravity energy storage system. It is of great significance to plan the reasonable storage and transportation routes of the heavy blocks, which can ensure the continuity and efficiency of the gravity energy storage system in the energy storage and release process and improve the system performance.

[0004] Therefore, it is necessary to design an optimal design method for the graded storage and transportation of heavy objects in a large-capacity gravity energy storage system. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a method for optimizing the design of graded storage and transportation of heavy blocks in a large-capacity gravity energy storage system.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a method for optimizing the design of hierarchical storage and transportation of heavy objects in a large-capacity gravity energy storage system, comprising:

[0008] Planning and designing a gravity energy storage system, which includes shafts, weight blocks, weight block storage areas, haul roads, automated guided vehicles, and electric generators;

[0009] The minimum mass of the weight block of the gravity energy storage system is determined by the maximum output power that can be achieved by the electrochemical energy storage, and the minimum mass of the weight block is increased proportionally to obtain the mass of other weight blocks;

[0010] Plan and divide the heavy object block storage area of ​​the gravity energy storage system, and number the heavy object block storage areas at each level;

[0011] Plan the transportation path from the shaft to each numbered location based on the optimal path planning algorithm;

[0012] Based on the planned path, the heavy blocks are transported to the corresponding locations by automated guided vehicles.

[0013] Preferably, the gravity energy storage system is planned and designed as follows:

[0014] The gravity energy storage system includes a vertical shaft, weight blocks, a weight block storage area, a transportation road, an automatic guided vehicle and an electric generator, wherein the gravity energy storage system is in the shape of a field, the vertical shaft is arranged at the center of the gravity energy storage system, the transportation roads are arranged on the four sides of the vertical shaft and the surrounding side of the gravity energy storage system, and the transportation roads together constitute four weight block storage areas, four automatic guided vehicles are arranged on the transportation roads corresponding to the four sides of the vertical shaft, and the electric generator is arranged on the top of the vertical shaft.

[0015] Preferably, the minimum mass of the weight block of the gravity energy storage system is determined by the maximum output power that can be achieved by the electrochemical energy storage, and the minimum mass of the weight block is increased proportionally to obtain the mass of other weight blocks, specifically:

[0016] The maximum output power P that can be achieved by obtaining electrochemical energy storage is based on the formula:

[0017] P=mgv

[0018] In the formula, P is the output power, m is the mass, and v is the speed. When the rated speed is determined, the minimum mass m1 of the weight block at this time can be obtained according to the output power of the electrochemical energy storage. The mass of other weight blocks can be increased proportionally on the basis of the minimum mass m1. Finally, the masses of the four-level weight blocks are m1, m2, m3, and m4 respectively.

[0019] According to the mass m1, m2, m3, and m4 of the four-level weight block, the following formula is obtained:

[0020] m=ρV

[0021] In the formula, m is the mass of the weight block, ρ is the material density, V is the volume of the weight block, and the weight block is in the shape of a cube. After the weight block material is selected, its volume can be calculated according to the mass of the four-level weight blocks, and then its side lengths can be obtained as l1, l2, l3, and l4 respectively;

[0022] Each group of four-level weight blocks is set to meet the needs of a load forecast. The number of weight blocks of the first three quality levels, i.e., the number of weight blocks of m1, m2, and m3, is determined according to the load forecast time interval. The number of weight blocks corresponding to the highest quality level m4 is determined according to the energy storage capacity.

[0023] Preferably, the weight block storage area of ​​the gravity energy storage system is planned and divided, and the weight block storage areas at each level are numbered, specifically:

[0024] According to the volumes l1, l2, l3, l4 of the four-level weight blocks, the lengths of the storage grids of the four weight block storage areas are determined to be L1, L2, L3, L4 respectively, and the weight block storage areas for placing weight blocks of mass m1, m2, m3 are respectively arranged at the lower left side, lower right side and upper right side of the shaft, and the weight block storage area for the weight block of mass m4 is arranged at the upper left side of the shaft, wherein the remaining areas at the lower left side, lower right side and upper right side of the shaft are also used to place the weight block of mass m4;

[0025] The storage squares in the heavy object storage area are numbered, where number 1 is the side close to the shaft, and the remaining symbols are arranged in a circle from the inside to the outside.

[0026] Preferably, the optimal path planning algorithm is Dijkstra algorithm.

[0027] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0028] The present invention provides a method for optimizing the storage and transportation of heavy blocks in a large-capacity gravity energy storage system. The method includes: planning and designing a gravity energy storage system, the system including a shaft, a heavy block, a heavy block storage area, a transportation road, an automatic guided vehicle and an electric generator, determining the minimum mass of the heavy block of the gravity energy storage system with the highest output power that can be achieved by electrochemical energy storage, increasing the minimum mass of the heavy block in proportion to obtain the mass of other heavy blocks, planning and dividing the heavy block storage area of ​​the gravity energy storage system, and numbering the heavy block storage areas at all levels, planning the transportation path from the shaft to each numbered position based on the optimal path planning algorithm, and transporting the heavy block to the corresponding position by an automatic guided vehicle based on the planned path. The present invention can smooth the output power through the mass classification of the heavy block to reduce the impact on the power grid. In addition, by planning the storage and transportation path of multi-level heavy blocks, the accumulation or vacancy of heavy objects can be avoided during the energy storage and release process, the energy loss during the transportation of the heavy blocks can be reduced, the transportation time can be saved, and the transportation efficiency can be improved, thereby ensuring the stable operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 It is a schematic diagram of the total storage area of ​​the gravity energy storage system;

[0031] Figure 2 The diagram is a numbered diagram of the upper left weight block storage area;

[0032] Figure 3 It is the flow chart of Dijkstra algorithm;

[0033] Figure 4 It is a schematic diagram of the transportation division of the total storage area of ​​the gravity energy storage system;

[0034] Figure 5 The present invention provides a flow chart of the method.

[0035] Figure numerals: 1. vertical shaft; 2. weight block; 3. four-level weight block storage area; 4. transportation road; 5. automatic guided vehicle; 6. electric generator. DETAILED DESCRIPTION

[0036] 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.

[0037] The purpose of the present invention is to provide an optimization design method for the graded storage and transportation of heavy blocks in a large-capacity gravity energy storage system. The output power can be smoothed by grading the quality of the heavy blocks to reduce the impact on the power grid. In addition, the storage and transportation path planning of multi-level heavy blocks can avoid the accumulation or gaps of heavy objects during the energy storage and release process, reduce the energy loss during the transportation of heavy blocks, save transportation time, and improve transportation efficiency, thereby ensuring the stable operation of the gravity energy storage system.

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Figure 5 The method flow chart provided by the embodiment of the present invention is shown in Figure 5. The present invention provides a method for optimizing the storage and transportation of heavy blocks in a large-capacity gravity energy storage system, including:

[0040] Step 100: planning and designing a gravity energy storage system, the system comprising a shaft 1, a weight block 2, a weight block storage area 3, a transport road 4, an automatic guided vehicle 5 and an electric generator 6;

[0041] Step 200: Determine the minimum mass of the weight block of the gravity energy storage system based on the highest output power that can be achieved by the electrochemical energy storage, and increase the minimum mass of the weight block in proportion to obtain the mass of other weight blocks;

[0042] Step 300: planning and dividing the heavy object block storage area of ​​the gravity energy storage system, and numbering the heavy object block storage areas at each level;

[0043] Step 400: planning a transport path from the shaft to each numbered position based on an optimal path planning algorithm;

[0044] Step 500: transport the heavy object to the corresponding position by an automatic guided vehicle based on the planned path.

[0045] Step 100, planning and designing a gravity energy storage system, specifically:

[0046] like Figure 1 As shown, the gravity energy storage system includes a vertical shaft 1, weight blocks 2, a weight block storage area 3, a transport road 4, an automatic guided vehicle 5 and an electric generator 6, wherein the gravity energy storage system is in the shape of a field, the vertical shaft 1 is arranged at the center of the gravity energy storage system, the transport roads 4 are arranged on the four sides of the vertical shaft 1 and the surrounding side of the gravity energy storage system, and the transport roads 4 together constitute four weight block storage areas 3, four automatic guided vehicles 5 are arranged on the transport roads 4 corresponding to the four sides of the vertical shaft, and the electric generator 6 is arranged on the top of the vertical shaft 1.

[0047] In step 200, the minimum mass of the weight block 2 of the gravity energy storage system is determined based on the maximum output power that can be achieved by the electrochemical energy storage, and the minimum mass of the weight block 2 is increased proportionally to obtain the mass of other weight blocks 2, specifically:

[0048] The maximum output power P that can be achieved by obtaining electrochemical energy storage is based on the formula:

[0049] P=mgv

[0050] Where P is the output power, m is the mass, and v is the speed. When the rated speed is determined, the minimum mass m1 of the weight block 2 can be obtained according to the output power of the electrochemical energy storage. The masses of other weight blocks 2 can be increased proportionally based on the minimum mass m1. Finally, the masses of the four-level weight blocks 2 are m1, m2, m3, and m4 respectively.

[0051] According to the mass m1, m2, m3, and m4 of the fourth-level weight block 2, the following formula is obtained:

[0052] m=ρV

[0053] In the formula, m is the mass of the weight block, ρ is the material density, V is the volume of the weight block, and the shape of the weight block 2 is a cube. After the material of the weight block 2 is selected, its volume can be calculated according to the mass of the four-level weight block 2, and then its side lengths can be obtained as l1, l2, l3, and l4 respectively; the weight block is generally made of concrete material;

[0054] Set each group of four - level heavy objects 2 to meet the requirements of one - time load prediction. Determine the number of heavy - object blocks of the first three quality levels, that is, the number of heavy - object blocks of m1, m2, and m3, according to the load - prediction time interval. The number of heavy - object blocks corresponding to the highest quality level m4 is determined according to the energy - storage capacity;

[0055] Store the heavy - object blocks 2 of different quality levels in a "field" - shaped total storage area. Among them, the central intersection is the shaft position, the squares are the storage areas for four - level heavy - object blocks, and the remaining positions are transportation roads. The automatic guided vehicle runs on the transportation roads and is responsible for transporting heavy - object blocks.

[0056] In step 300, plan and divide the heavy - object - block storage area of the gravity energy - storage system, and number each level of heavy - object - block storage area. Specifically;

[0057] According to the volumes l1, l2, l3, and l4 of the four - level heavy - object blocks, determine the lengths of the storage squares of the four heavy - object - block storage areas, which are L1, L2, L3, and L4 respectively, so that each heavy - object block can be stored with a certain margin to facilitate the transportation of the automatic guided vehicle and prevent them from rubbing against and colliding with each other;

[0058] For the width of the transportation road, it depends on the length and width of the automatic guided vehicle. The width of the transportation road needs to meet the requirements of the automatic guided vehicle for turning or fixed - point rotation;

[0059] Set the heavy - object - block storage areas for placing heavy - object blocks of m1, m2, and m3 on the lower - left side, lower - right side, and upper - right side of the shaft respectively, and set the heavy - object - block storage area for heavy - object blocks of m4 on the upper - left side of the shaft. Among them, the remaining areas on the lower - left side, lower - right side, and upper - right side of the shaft are also used to place heavy - object blocks of m4, saving space and making the structure more compact;

[0060] Regard the center of each storage square as a storage point and number the heavy - object - block storage area to determine the order of heavy - object - block transportation. Taking the storage area in the upper - left corner of the heavy - object - block storage area as an example, as Figure 2 shown, where the 1 - numbered position is close to the shaft side. The numbering of the heavy - object - block storage areas of other quality levels is the same. The heavy - object blocks are transported and stored in the order of the numbers, and are stored from the inside to the outside in a "return" - shaped pattern. When the heavy - object blocks of the m4 quality level in the upper - left storage area are stored to the same layer as any one of the other three areas, the heavy - object - block storage area of the m4 quality level in the corresponding area starts to store heavy - object blocks until all the m4 - quality - level storage areas on the outside of the four areas are working.

[0061] In step 400, the optimal path planning algorithm is the Dijkstra algorithm. In the transportation optimization problem of heavy blocks, the shortest path planning problem from the starting point (shaft location) to the end point (numbered location) is faced. The Dijkstra algorithm is used to solve this problem. In the process of path planning, the Dijkstra algorithm will consider the existing transportation network and identify the obstacle areas formed by the storage of heavy blocks. By intelligently avoiding these areas, the algorithm can generate an optimal path that avoids obstacles. Figure 3 It is the flow chart of Dijkstra algorithm;

[0062] Four motors are used to run simultaneously. Since the heavy-load automatic guided vehicle has a low running speed, only one automatic guided vehicle cannot meet the transportation needs of heavy objects. Therefore, the total storage area of ​​the gravity energy storage system is partitioned and four automatic guided vehicles are used to transport heavy objects. Figure 4 It is a schematic diagram of the transportation division of the total storage area of ​​the gravity energy storage system;

[0063] Taking the energy storage process as an example, the energy that the gravity energy storage system needs to store is E 储 (MWh), the energy generated by the photovoltaic system is E 光 , the load demand is E L ;

[0064] E 储 =E 光 -E L

[0065] The number of weight blocks with the required mass m1, m2, m3, and m4 are a, b, c, and d respectively;

[0066] The energy stored or released by each weight block can be obtained according to E=mgh, where m is the mass of the weight block, g is the acceleration of gravity, and h is the depth of the shaft. After converting the unit joule (J) into MWh, the energy stored or released by the weight blocks with masses of m1, m2, m3, and m4 are E1, E2, E3, and E4 respectively;

[0067] E 储 =E1·a+E2·b+E3·c+E4·d

[0068] Total number of weights f = min(a+b+c+d);

[0069] By rounding down the total number of heavy blocks under the minimum constraint condition, the number of heavy blocks of each quality grade required for daily scheduling can be obtained. The same is true for the power generation process.

[0070] The present invention provides a specific embodiment:

[0071] The battery energy storage system has a maximum unit output power of about 2700kw. Based on this, the minimum mass level of the weight block is designed to have an output power of 2700kw.

[0072] The transportation speed of the heavy block in the shaft is about 16m / s, so the minimum mass of the heavy block is determined to be 17.5t. For other intermediate mass levels of heavy blocks, their output power can be increased on the basis of the minimum heavy block to achieve graded power output. Finally, the mass levels of the heavy blocks are determined to be 104t, 70t, 35t, and 17.5t.

[0073] The weight blocks are all in the shape of cubes and made of concrete. The side lengths of the weight blocks of 104t, 70t, 35t, and 17.5t are 3.42m, 3.04m, 2.41m, and 1.91m, respectively, and the corresponding output powers are 16MW, 10.77MW, 5.39MW, and 2.69MW, respectively.

[0074] Considering that the shortest time interval of ultra-short-term prediction is 15 minutes, the gravity energy storage system should be able to meet the energy demand of this time period. Therefore, the four-quality weight blocks are designed as a group. Each group of weight blocks needs to meet the demand of the difference between new energy and load forecast within 15 minutes. The longest sunshine time on the summer solstice will not exceed 16 hours. Therefore, 64 groups of weight blocks are required, that is, 64 weight blocks of each level are required to meet the flexibility of daily scheduling of the power grid and the demand for peak-shaving and valley-filling capabilities. At the same time, in order to ensure that the entire gravity energy storage system can meet the capacity demand of 100 megawatt hours, the number of 104-ton weight blocks is set to 374.

[0075] According to the side lengths of the weight blocks of each quality grade, the side lengths of the corresponding single storage grids are determined to be 4m, 3.5m, 3m and 2.5m respectively;

[0076] Each storage area is designed as a square with a side length of 44m. The transportation road is designed to be 8m wide according to the length and width of the automated guided vehicle. The upper left area is the storage area for 104t heavy blocks, which can store a total of 121 blocks. By adjusting the size of the storage area in proportion, it is ensured that 70t, 35t, and 17.5t heavy blocks are stored next to the shaft to achieve rapid transportation, and the remaining space is used to store 104t heavy blocks to maximize the use of space.

[0077] The shaft depth is 1000m, so the energy stored in each 104t weight block is about 1.02×109J, which is about 0.283MWh after conversion. Similarly, the energy stored in the 70t, 35t and 17.5t weight blocks is 0.1905MWh, 0.0953MWh and 0.0476MWh respectively;

[0078] Taking the energy storage process as an example, the energy that the gravity energy storage system needs to store is E储 (MWh), the energy generated by the photovoltaic system is E 光 , the load demand is E L ;

[0079] E 储 =E 光 -E L

[0080] The numbers of 104t, 70t, 35t and 17.5t weight blocks required are a, b, c and d respectively;

[0081] E 储 =0.283·a+0.1905·b+0.0953·c+0.0476·d

[0082] Total number of weights f = min(a+b+c+d);

[0083] By rounding down the total number of heavy blocks under the minimum constraint condition, the number of heavy blocks of each quality grade required for daily scheduling can be obtained. The same is true for the power generation process.

[0084] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0085] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for optimizing the storage and transportation of heavy objects in a large-capacity gravity energy storage system, characterized in that: include: Planning and designing a gravity energy storage system, which includes shafts, weight blocks, weight block storage areas, haul roads, automated guided vehicles, and electric generators; The minimum mass of the weight block of the gravity energy storage system is determined by the maximum output power that can be achieved by the electrochemical energy storage, and the minimum mass of the weight block is increased proportionally to obtain the mass of other weight blocks; Plan and divide the heavy object block storage area of ​​the gravity energy storage system, and number the heavy object block storage areas at each level; Plan the transportation path from the shaft to each numbered location based on the optimal path planning algorithm; Based on the planned path, the heavy blocks are transported to the corresponding locations by automated guided vehicles.

2. The method according to claim 1, characterized in that Plan and design the gravity energy storage system, specifically: The gravity energy storage system includes a vertical shaft, weight blocks, a weight block storage area, a transportation road, an automatic guided vehicle and an electric generator, wherein the gravity energy storage system is in the shape of a field, the vertical shaft is arranged at the center of the gravity energy storage system, the transportation roads are arranged on the four sides of the vertical shaft and the surrounding side of the gravity energy storage system, and the transportation roads together constitute four weight block storage areas, four automatic guided vehicles are arranged on the transportation roads corresponding to the four sides of the vertical shaft, and the electric generator is arranged on the top of the vertical shaft.

3. The method according to claim 2, characterized in that The minimum mass of the weight block of the gravity energy storage system is determined by the maximum output power that can be achieved by the electrochemical energy storage. The minimum mass of the weight block is increased proportionally to obtain the mass of other weight blocks, specifically: The maximum output power P that can be achieved by obtaining electrochemical energy storage is based on the formula: P=mgv In the formula, P is the output power, m is the mass, and v is the speed. When the rated speed is determined, the minimum mass m1 of the weight block at this time can be obtained according to the output power of the electrochemical energy storage. The mass of other weight blocks can be increased proportionally on the basis of the minimum mass m1. Finally, the masses of the four-level weight blocks are m1, m2, m3, and m4 respectively. According to the mass m1, m2, m3, and m4 of the four-level weight block, the following formula is obtained: m=ρV In the formula, m is the mass of the weight block, ρ is the material density, V is the volume of the weight block, and the weight block is in the shape of a cube. After the weight block material is selected, its volume can be calculated according to the mass of the four-level weight blocks, and then its side lengths can be obtained as l1, l2, l3, and l4 respectively; Each group of four-level weight blocks is set to meet the needs of a load forecast. The number of weight blocks of the first three quality levels, i.e., the number of weight blocks of m1, m2, and m3, is determined according to the load forecast time interval. The number of weight blocks corresponding to the highest quality level m4 is determined according to the energy storage capacity.

4. The method according to claim 3, characterized in that The heavy object block storage area of ​​the gravity energy storage system is planned and divided, and the heavy object block storage areas at each level are numbered, specifically; According to the volumes l1, l2, l3, l4 of the four-level weight blocks, the lengths of the storage grids of the four weight block storage areas are determined to be L1, L2, L3, L4 respectively, and the weight block storage areas for placing weight blocks of mass m1, m2, m3 are respectively arranged at the lower left side, lower right side and upper right side of the shaft, and the weight block storage area for the weight block of mass m4 is arranged at the upper left side of the shaft, wherein the remaining areas at the lower left side, lower right side and upper right side of the shaft are also used to place the weight block of mass m4; The storage squares in the heavy object storage area are numbered, where number 1 is the side close to the shaft, and the remaining symbols are arranged in a circle from the inside to the outside.

5. The method according to claim 4, characterized in that The optimal path planning algorithm is the Dijkstra algorithm.

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