Electric energy control method and device, shuttle vehicle and storage medium

Abstract

The invention provides an electric energy control method and device, a shuttle vehicle and a storage medium, and relates to the field of control. The electric energy control method comprises the steps that under the conditions that the shuttle vehicle stops running or runs in a decelerating mode and a motor of the shuttle vehicle is in a running state, a first control instruction is sent to a motor driver so that the motor driver can provide electric energy generated by the motor to energy storage equipment for storage through a preset line.

Description

Technical Field

[0001] The present disclosure relates to the field of control, and in particular to an electric energy control method and device, a shuttle vehicle and a storage medium. Background Art

[0002] In current high-bay warehouses, box-type shuttles are usually powered by busbars, that is, busbars are set on each shelf of the high-bay warehouse, and the shuttles obtain electricity by contacting the busbars.

[0003] When the shuttle stops or decelerates, if the motor is still running, it will feed back electrical energy to the DC bus. The greater the deceleration, the more electrical energy fed back to the DC bus. In order to prevent the feedback electrical energy from having a negative impact on the shuttle, a braking resistor is usually set in the shuttle so that the feedback electrical energy can be dissipated in the form of heat energy by using the braking resistor. Summary of the invention

[0004] The inventors noticed that in the related art, the feedback electric energy is dissipated in the form of heat energy by utilizing the braking resistor, thereby causing energy waste. Meanwhile, the temperature of the braking resistor is high during the heat dissipation process, which may bring safety hazards to the normal operation of the shuttle vehicle.

[0005] Accordingly, the present disclosure provides an electric energy control solution, which utilizes energy storage devices to store the generated feedback electric energy so that it can be provided to the motor when needed, thereby effectively saving the electric energy consumption of the shuttle vehicle, and effectively avoiding the safety hazards to the shuttle vehicle caused by heat dissipation through braking resistors.

[0006] According to a first aspect of an embodiment of the present disclosure, there is provided an electric energy control method, comprising: when a shuttle vehicle stops running or slows down and a motor of the shuttle vehicle is in operation, sending a first control instruction to a motor driver so that the motor driver provides the electric energy generated by the motor to an energy storage device through a predetermined line for storage.

[0007] In some embodiments, the predetermined circuit includes a first circuit and a second circuit electrically connected to the first circuit, wherein the motor driver is electrically connected to a power source through the first circuit, and the power source is electrically connected to the energy storage device through the second circuit.

[0008] In some embodiments, the energy storage device stores electrical energy provided by the power source through the second line.

[0009] In some embodiments, when the shuttle is running, a second control instruction is sent to the motor driver so that the motor driver controls the operation of the motor using the electric energy provided by the energy storage device through the predetermined line and the electric energy provided by the power supply through the first line.

[0010] In some embodiments, the energy storage device stores electrical energy provided by the power source through the second line.

[0011] In some embodiments, during the shuttle vehicle power-on process, the first switch on the third line is controlled to be closed, and the second switch on the second line is controlled to be opened, so that the energy storage device stores the electric energy provided by the power supply through the third line, wherein the impedance on the third line is greater than the impedance on the second line; when the voltage of the energy storage device is greater than a preset voltage threshold, the first switch is controlled to be opened, and the second switch is controlled to be closed, so that the energy storage device stores the electric energy provided by the power supply through the second line.

[0012] In some embodiments, a resistor connected in series with the first switch is disposed on the third line.

[0013] According to a second aspect of an embodiment of the present disclosure, there is provided an electric energy control device, comprising: a control module, configured to send a first control instruction to a motor driver when a shuttle vehicle stops running or slows down and a motor of the shuttle vehicle is in operation, so that the motor driver provides the electric energy generated by the motor to an energy storage device through a predetermined line for storage.

[0014] According to a third aspect of an embodiment of the present disclosure, there is provided an electric energy control device, comprising: a memory configured to store instructions; a processor coupled to the memory, the processor being configured to execute a method as described in any of the above embodiments based on the instructions stored in the memory.

[0015] According to a fourth aspect of an embodiment of the present disclosure, a shuttle vehicle is provided, comprising: an electric energy control device as described in any of the above embodiments; a motor and an energy storage device; and a motor driver, configured to provide the electric energy generated by the motor to the energy storage device for storage through a preset circuit according to a first control instruction sent by the electric energy control device.

[0016] In some embodiments, the predetermined circuit includes a first circuit and a second circuit electrically connected to the first circuit, wherein the motor driver is electrically connected to a power source through the first circuit, and the power source is electrically connected to the energy storage device through the second circuit.

[0017] In some embodiments, the motor driver is further configured to control the operation of the motor according to a second control instruction sent by the power control device, using the power provided by the energy storage device through the predetermined line and the power provided by the power supply through the first line.

[0018] In some embodiments, the energy storage device is configured to store electrical energy provided by the power source through the second line.

[0019] In some embodiments, the shuttle vehicle also includes a first switch arranged on a third line, a second switch arranged on the second line, and a voltage detection device, wherein: the voltage detection device is configured to detect the voltage of the energy storage device and send the detection result to the power control device; the energy storage device is configured to store the electric energy provided by the power supply through the third line when the first switch is closed by the power control device and the second switch is opened by the power control device, wherein the impedance on the third line is greater than the impedance on the second line; and is also configured to store the electric energy provided by the power supply through the second line when the first switch is opened by the power control device and the second switch is closed by the power control device.

[0020] In some embodiments, the shuttle further includes: a resistor disposed on the third line and connected in series with the first switch.

[0021] According to a fifth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method involved in any of the above embodiments is implemented.

[0022] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 A schematic diagram of a flow chart of a power control method according to an embodiment of the present disclosure;

[0025] Figure 2 This is a schematic diagram of electric energy recovery according to an embodiment of the present disclosure;

[0026] Figure 3 A schematic flow chart of a power control method according to another embodiment of the present disclosure;

[0027] Figure 4 A schematic diagram of power supply for a shuttle vehicle according to an embodiment of the present disclosure;

[0028] Figure 5 This is a schematic diagram of power supply according to an embodiment of the present disclosure;

[0029] Figure 6 A schematic flow chart of a power control method according to another embodiment of the present disclosure;

[0030] Figure 7 A charging schematic diagram of an embodiment of the present disclosure;

[0031] Figure 8 It is a structural schematic diagram of a power control device according to an embodiment of the present disclosure;

[0032] Fig. 9 It is a structural schematic diagram of a power control device according to another embodiment of the present disclosure;

[0033] Fig.10 This is a schematic diagram of the structure of a shuttle vehicle according to an embodiment of the present disclosure;

[0034] Fig.11 A schematic structural diagram of a shuttle vehicle according to another embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0036] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0037] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0038] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0039] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0040] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0041] Figure 1 The flowchart of the power control method of one embodiment of the present disclosure is shown in FIG.

[0042] In step 101, the current state of the shuttle is detected.

[0043] In step 102, when the shuttle stops running or slows down and the motor of the shuttle is in operation, a first control instruction is sent to the motor driver so that the motor driver provides the electric energy generated by the motor to the energy storage device through a predetermined line for storage.

[0044] In some embodiments, Figure 2 The predetermined circuit (i.e., the electric energy recovery circuit A) includes a first circuit 1 and a second circuit 2 electrically connected to the first circuit 1, wherein the motor 21 is electrically connected to the motor driver 22, the motor driver 22 is electrically connected to the power supply 23 through the first circuit 1, and the power supply 23 is electrically connected to the energy storage device 24 through the second circuit 2.

[0045] In some embodiments, the energy storage device includes a capacitor.

[0046] In the electric energy control method provided in the above-mentioned embodiment of the present disclosure, when the shuttle stops running or slows down and the motor of the shuttle is in operation, the motor driver provides the electric energy generated by the motor to the energy storage device through a predetermined circuit for storage, so that the electric energy can be provided to the motor when needed, thereby effectively saving the electric energy consumption of the shuttle and effectively avoiding the safety hazard to the shuttle caused by heat dissipation of the braking resistor.

[0047] In some embodiments, Figure 2 As shown, the energy storage device 24 stores the electrical energy provided by the power source 23 through the second line 2 .

[0048] It should be noted here that the energy storage device is provided with electric energy by the power supply so that when the power supply fails or the contact between the shuttle car and the busbar is poor, the energy storage device can provide electric energy to the motor in time to ensure the normal operation of the shuttle car.

[0049] Figure 3 FIG. 1 is a flow chart of a power control method according to another embodiment of the present disclosure. In some embodiments, the following power control method is executed by a power control device.

[0050] In step 301, the current state of the shuttle is detected.

[0051] In step 302, when the shuttle is running, a second control instruction is sent to the motor driver so that the motor driver controls the operation of the motor using the power provided by the energy storage device through the predetermined line and the power provided by the power supply through the first line.

[0052] It should be noted here that Figure 4 As shown, the DC power supply 41 supplies power to the shuttles 431, 432 and 433 through the busbars 421, 422 and 423. If the shuttles 431, 432 and 433 are started at the same time, the voltage of the DC power supply 41 will be reduced, thereby affecting the normal operation of the shuttles 431, 432 and 433.

[0053] In order to solve this problem, the present disclosure proposes to use a power supply and a capacitor to power the motor. Usually, the instantaneous discharge speed of the capacitor is faster than that of the busbar. Therefore, the capacitor will first provide power to the motor, and then the power supply will supply power to the motor. This ensures that the power supply will not be pulled down, thereby ensuring that the normal operation of other shuttles will not be affected.

[0054] In some embodiments, Figure 5 As described above, when the shuttle is running, the motor driver 22 uses the electric energy provided by the energy storage device 24 through the capacitor power supply circuit B (i.e., the second line 2 and the first line 1), and the electric energy provided by the power supply 23 through the busbar power supply circuit C (i.e., the first line 1) to control the operation of the motor 21.

[0055] Since the capacitor 24 will first provide electric energy to the motor 21, and then the power supply 23 will supply power to the motor, it can be ensured that the power supply of the power supply 23 will not be pulled down, thereby ensuring that the normal operation of other shuttles will not be affected.

[0056] In some embodiments, Figure 5 As shown, the energy storage device 24 stores the electrical energy provided by the power source 23 through the second line 2 .

[0057] It should be noted here that the energy storage device is provided with electric energy by the power supply so that when the power supply fails or the contact between the shuttle car and the busbar is poor, the energy storage device can provide electric energy to the motor in time to ensure the normal operation of the shuttle car.

[0058] Figure 6 FIG. 1 is a flow chart of a power control method according to another embodiment of the present disclosure. In some embodiments, the following power control method is executed by a power control device.

[0059] In step 601, the current state of the shuttle is detected.

[0060] In step 602, during the shuttle power-on process, the first switch on the third line is controlled to be closed, and the second switch on the second line is controlled to be opened, so that the energy storage device stores the electric energy provided by the power source through the third line, wherein the impedance on the third line is greater than the impedance on the second line.

[0061] For example, a resistor connected in series with the first switch is disposed on the third line.

[0062] In step 603, when the voltage of the energy storage device is greater than a preset voltage threshold, the first switch is controlled to be opened, and the second switch is controlled to be closed, so that the energy storage device stores the electric energy provided by the power source through the second line.

[0063] It should be noted here that if the energy storage device is charged directly using the second circuit, the internal resistance of the energy storage device is small, resulting in a large charging current, for example, up to 50A or even 100A. The resulting current shock will damage the energy storage device. In order to avoid this situation, the energy storage device is first charged using the third circuit with a larger resistance. After the voltage of the energy storage device reaches a certain voltage value, the second circuit is used to charge the energy storage device. Through the above processing, the following beneficial effects can be obtained:

[0064] 1. Protecting power equipment: This embodiment can eliminate voltage shock when power equipment is started, reduce the harm of current shock, and avoid damage to the equipment.

[0065] 2. Extending the service life of power equipment: This embodiment can reduce the voltage shock when the equipment is started, protect the equipment, and ultimately extend the service life of the equipment.

[0066] 3. Improve system stability: This embodiment can eliminate voltage shock during startup, reduce interference in the system, and improve system stability.

[0067] In some embodiments, Figure 7 As shown, the second line 2 is provided with a switch 211 , and the third line 3 is provided with a switch 311 and a resistor 312 .

[0068] For example, the switches 211 and 311 are relays.

[0069] First, the control switch 211 is turned off, and the control switch 311 is turned on. The power supply 23 provides electric energy to the energy storage device 24 for storage through the pre-charging circuit D (i.e., the third line 3). When the voltage of the energy storage device 24 is greater than the preset voltage threshold, the control switch 311 is turned off, and the control switch 211 is turned on, and the power supply 23 provides electric energy to the energy storage device 24 for storage by running the charging circuit E (i.e., the second line 2).

[0070] Figure 8FIG. 1 is a schematic diagram of the structure of an electric energy control device according to an embodiment of the present disclosure. Figure 8 As shown, the electric energy control device 80 includes a control module 81 .

[0071] The control module 81 is configured to send a first control instruction to the motor driver when the shuttle stops running or slows down and the motor of the shuttle is in operation, so that the motor driver provides the electric energy generated by the motor to the energy storage device through a predetermined line for storage.

[0072] In some embodiments, Figure 2 The predetermined circuit (i.e., the electric energy recovery circuit A) includes a first circuit 1 and a second circuit 2 electrically connected to the first circuit 1, wherein the motor 21 is electrically connected to the motor driver 22, the motor driver 22 is electrically connected to the power supply 23 through the first circuit 1, and the power supply 23 is electrically connected to the energy storage device 24 through the second circuit 2.

[0073] In some embodiments, the energy storage device includes a capacitor.

[0074] In the electric energy control device provided in the above-mentioned embodiment of the present disclosure, when the shuttle stops running or slows down and the motor of the shuttle is in operation, the motor driver provides the electric energy generated by the motor to the energy storage device through a predetermined circuit for storage, so that the electric energy can be provided to the motor when needed, thereby effectively saving the electric energy consumption of the shuttle and effectively avoiding the safety hazard to the shuttle caused by heat dissipation of the braking resistor.

[0075] In some embodiments, Figure 2 As shown, the energy storage device 24 stores the electrical energy provided by the power source 23 through the second line 2 .

[0076] It should be noted here that the energy storage device is provided with electric energy by the power supply so that when the power supply fails or the contact between the shuttle car and the busbar is poor, the energy storage device can provide electric energy to the motor in time to ensure the normal operation of the shuttle car.

[0077] In some embodiments, the control module 81 is configured to send a second control instruction to the motor driver when the shuttle is running, so that the motor driver uses the power provided by the energy storage device through a predetermined line and the power provided by the power supply through the first line to control the operation of the motor.

[0078] In some embodiments, Figure 5 As described above, when the shuttle is running, the motor driver 22 uses the electric energy provided by the energy storage device 24 through the capacitor power supply circuit B (i.e., the second line 2 and the first line 1), and the electric energy provided by the power supply 23 through the busbar power supply circuit C (i.e., the first line 1) to control the operation of the motor 21.

[0079] Since the capacitor 24 will first provide electric energy to the motor 21, and then the power supply 23 will supply power to the motor, it can be ensured that the power supply of the power supply 23 will not be pulled down, thereby ensuring that the normal operation of other shuttles will not be affected.

[0080] In some embodiments, Figure 5 As shown, the energy storage device 24 stores the electrical energy provided by the power source 23 through the second line 2 .

[0081] It should be noted here that the energy storage device is provided with electric energy by the power supply so that when the power supply fails or the contact between the shuttle car and the busbar is poor, the energy storage device can provide electric energy to the motor in time to ensure the normal operation of the shuttle car.

[0082] In some embodiments, the control module 81 is configured to control the first switch on the third line to close and the second switch on the second line to open during the shuttle vehicle power-on process, so that the energy storage device stores the electric energy provided by the power supply through the third line, wherein the impedance on the third line is greater than the impedance on the second line. In addition, the control module 81 is configured to control the first switch to open and the second switch to close when the voltage of the energy storage device is greater than a preset voltage threshold, so that the energy storage device stores the electric energy provided by the power supply through the second line.

[0083] For example, a resistor connected in series with the first switch is disposed on the third line.

[0084] It should be noted here that if the energy storage device is charged directly using the second circuit, the internal resistance of the energy storage device is small, resulting in a large charging current, for example, up to 50A or even 100A, and the resulting current shock will damage the energy storage device. In order to avoid this situation, the energy storage device is first charged using the third circuit with a larger resistance. After the voltage of the energy storage device reaches a certain voltage value, the energy storage device is charged using the second circuit.

[0085] In some embodiments, Figure 7 As shown, the second line 2 is provided with a switch 211 , and the third line 3 is provided with a switch 311 and a resistor 312 .

[0086] For example, the switches 211 and 311 are relays.

[0087] First, the control switch 211 is turned off, and the control switch 311 is turned on. The power supply 23 provides electric energy to the energy storage device 24 for storage through the pre-charging circuit D (i.e., the third line 3). When the voltage of the energy storage device 24 is greater than the preset voltage threshold, the control switch 311 is turned off, and the control switch 211 is turned on, and the power supply 23 provides electric energy to the energy storage device 24 for storage by running the charging circuit E (i.e., the second line 2).

[0088] Fig. 9 FIG. 1 is a schematic diagram of the structure of an electric energy control device according to another embodiment of the present disclosure. Fig. 9 As shown, the power control device includes a memory 91 and a processor 92 .

[0089] The memory 91 is used to store instructions. The processor 92 is coupled to the memory 91. The processor 92 is configured to execute the instructions stored in the memory to implement the following. Figure 1 , Figure 3 or Figure 6 The method of any one of the embodiments.

[0090] like Fig. 9 As shown, the power control device further includes a communication interface 93 for information exchange with other devices. At the same time, the power control device further includes a bus 94 through which the processor 92, the communication interface 93, and the memory 91 communicate with each other.

[0091] The memory 91 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory. The memory 91 may also be a memory array. The memory 91 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0092] In addition, the processor 92 may be a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0093] The present disclosure also relates to a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, which are executed by a processor to implement the following Figure 1 , Figure 3 or Figure 6 The method of any one of the embodiments.

[0094] Fig.10 FIG. 1 is a schematic diagram of the structure of a shuttle vehicle according to an embodiment of the present disclosure. Fig.10 As shown, the shuttle vehicle includes a motor 1001, a motor drive device 1002, a power supply 1003, an energy storage device 1004 and an electric energy control device 1005. The electric energy control device 1005 is Figure 8 or Fig. 9 An electric energy control device according to any one of the embodiments.

[0095] The motor driver 1002 is configured to provide the electric energy generated by the motor 1001 to the energy storage device 1004 through a preset line for storage according to the first control instruction sent by the electric energy control device 1005.

[0096] In some embodiments, the predetermined circuit includes a first circuit 1 and a second circuit 2 electrically connected to the first circuit 1 , wherein the motor driver 1002 is electrically connected to the power supply 1003 through the first circuit 1 , and the power supply 1003 is electrically connected to the energy storage device 1004 through the second circuit 2 .

[0097] For example, Figure 2 The predetermined circuit (i.e., the electric energy recovery circuit A) includes a first circuit 1 and a second circuit 2 electrically connected to the first circuit 1, wherein the motor 21 is electrically connected to the motor driver 22, the motor driver 22 is electrically connected to the power supply 23 through the first circuit 1, and the power supply 23 is electrically connected to the energy storage device 24 through the second circuit 2.

[0098] In some embodiments, the motor driver 1002 is further configured to control the operation of the motor 1001 according to a second control instruction sent by the power control device 1005, using the power provided by the energy storage device 1004 through a predetermined line and the power provided by the power supply 1003 through a first line.

[0099] For example, Figure 5 As described above, when the shuttle is running, the motor driver 22 uses the electric energy provided by the energy storage device 24 through the capacitor power supply circuit B (i.e., the second line 2 and the first line 1), and the electric energy provided by the power supply 23 through the busbar power supply circuit C (i.e., the first line 1) to control the operation of the motor 21.

[0100] In some embodiments, the energy storage device 1004 is configured to store the electrical energy provided by the power source 1003 through the second line 2 .

[0101] Fig.11 A schematic structural diagram of a shuttle vehicle according to another embodiment of the present invention. Fig.11 and Fig.10 The difference is that in Fig.11 In the illustrated embodiment, the shuttle vehicle further includes a third line 3 and a voltage detection device 1006. The impedance on the third line 3 is greater than the impedance on the second line 2. The third line 3 is provided with a first switch 311 and a resistor 312 connected in series with the first switch 311, and the second line 2 is provided with a second switch 211.

[0102] The voltage detection device 1006 is configured to detect the voltage of the energy storage device 1004 and send the detection result to the power control device 1005 .

[0103] The energy storage device 1004 is configured to store the electric energy provided by the power source 1003 through the third line 3 when the first switch 311 is closed by the power control device 1005 and the second switch 211 is opened by the power control device 1005. The energy storage device 1004 is also configured to store the electric energy provided by the power source 1003 through the second line 2 when the first switch 311 is opened by the power control device 1005 and the second switch 211 is closed by the power control device 1005.

[0104] It should be noted here that if the energy storage device is charged directly using the second circuit, the internal resistance of the energy storage device is small, resulting in a large charging current, for example, up to 50A or even 100A, and the resulting current shock will damage the energy storage device. In order to avoid this situation, the energy storage device is first charged using the third circuit with a larger resistance. After the voltage of the energy storage device reaches a certain voltage value, the energy storage device is charged using the second circuit.

[0105] For example, Figure 7 As shown, first, the switch 211 is controlled to be disconnected, and the switch 311 is controlled to be closed. The power supply 23 provides electric energy to the energy storage device 24 for storage through the pre-charging circuit D (i.e., the third line 3). When the voltage of the energy storage device 24 is greater than the preset voltage threshold, the switch 311 is controlled to be disconnected, and the switch 211 is controlled to be closed, and the power supply 23 provides electric energy to the energy storage device 24 for storage by running the charging circuit E (i.e., the second line 2).

[0106] By implementing the above embodiments of the present disclosure, the following beneficial effects can be obtained:

[0107] 1. The braking resistor can be removed and the heating of the shuttle can be effectively reduced by storing the braking energy in the energy storage device, thereby improving the reliability of the shuttle;

[0108] 2. Effectively solve the problem of insufficient motor voltage and system undervoltage fault caused by starting multiple vehicles at the same time;

[0109] 3. By storing the braking energy in the energy storage device, the DC bus voltage can be prevented from rising, thus effectively achieving voltage stabilization control;

[0110] 4. By using energy storage equipment to power the motor, the capacity of the DC power supply can be effectively reduced, effectively reducing costs;

[0111] 5. It effectively solves the problem of occasional poor contact between the shuttle car relay and the busbar due to long-term use, aging, dust accumulation, etc., which causes the shuttle car to be powered off and restarted in a short time.

[0112] In some embodiments, the functional unit module described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components or any appropriate combination thereof for performing the functions described in the present disclosure.

[0113] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0114] The description of the present disclosure is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A method for controlling electric energy, comprising: When the shuttle stops running or runs at a reduced speed and the motor of the shuttle is in operation, a first control instruction is sent to the motor driver so that the motor driver provides the electric energy generated by the motor to the energy storage device through a predetermined line for storage.

2. The method according to claim 1, wherein: The predetermined circuit includes a first circuit and a second circuit electrically connected to the first circuit, wherein the motor driver is electrically connected to a power source through the first circuit, and the power source is electrically connected to the energy storage device through the second circuit.

3. The method according to claim 2, wherein: The energy storage device stores the electric energy provided by the power source through the second line.

4. The method according to claim 2, further comprising: When the shuttle is running, a second control instruction is sent to the motor driver so that the motor driver controls the operation of the motor using the electric energy provided by the energy storage device through the predetermined line and the electric energy provided by the power supply through the first line.

5. The method according to claim 4, wherein: The energy storage device stores the electric energy provided by the power source through the second line.

6. The method according to claim 2, further comprising: During the power-on process of the shuttle vehicle, controlling the first switch on the third line to close, and controlling the second switch on the second line to open, so that the energy storage device stores the electric energy provided by the power supply through the third line, wherein the impedance on the third line is greater than the impedance on the second line; When the voltage of the energy storage device is greater than a preset voltage threshold, the first switch is controlled to be opened, and the second switch is controlled to be closed, so that the energy storage device stores the electric energy provided by the power source through the second line.

7. The method according to claim 6, wherein: The third line is provided with a resistor connected in series with the first switch.

8. An electric energy control device, comprising: The control module is configured to send a first control instruction to the motor driver when the shuttle stops running or slows down and the motor of the shuttle is in operation, so that the motor driver provides the electric energy generated by the motor to the energy storage device through a predetermined line for storage.

9. An electric energy control device, comprising: a memory configured to store instructions; A processor is coupled to the memory, and the processor is configured to execute the method according to any one of claims 1 to 7 based on instructions stored in the memory.

10. A shuttle vehicle, comprising: The electric energy control device as claimed in claim 8 or 9; Electric machines and energy storage devices; The motor driver is configured to provide the electric energy generated by the motor to the energy storage device through a preset circuit for storage according to a first control instruction sent by the electric energy control device.

11. The shuttle vehicle according to claim 10, wherein: The predetermined circuit includes a first circuit and a second circuit electrically connected to the first circuit, wherein the motor driver is electrically connected to a power source through the first circuit, and the power source is electrically connected to the energy storage device through the second circuit.

12. The shuttle vehicle according to claim 11, wherein: The motor driver is also configured to control the operation of the motor according to a second control instruction sent by the power control device, using the power provided by the energy storage device through the predetermined line and the power provided by the power supply through the first line.

13. The shuttle vehicle according to claim 11, wherein: The energy storage device is configured to store electric energy provided by the power source through the second line.

14. The shuttle vehicle according to claim 11, further comprising a first switch provided on the third line, a second switch provided on the second line, and a voltage detection device, wherein: The voltage detection device is configured to detect the voltage of the energy storage device and send the detection result to the power control device; The energy storage device is configured to store the electric energy provided by the power supply through the third line when the first switch is closed by the electric energy control device and the second switch is opened by the electric energy control device, wherein the impedance on the third line is greater than the impedance on the second line; The device is further configured to store electric energy provided by the power source through the second line when the first switch is opened by the electric energy control device and the second switch is closed by the electric energy control device.

15. The shuttle vehicle according to claim 14, further comprising: A resistor is provided on the third line and is connected in series with the first switch.

16. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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