Inspection robot in electrochemical energy storage system cabin and control method

Abstract

The embodiment of the invention provides an in-cabin inspection robot for an electrochemical energy storage system and a control method. The control method comprises the following steps: acquiring in-cabin environment information of the electrochemical energy storage system through a data acquisition module; a routing inspection strategy and a routing inspection route are determined through a route planning module according to the in-cabin environment information, so that the routing inspection strategy and the routing inspection route can be determined according to the in-cabin environment, and the autonomy of the routing inspection technology is improved; and the inspection robot is controlled by the inspection module to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route, so that the monitoring range is widened, and the comprehensive coverage of a key area in the cabin is realized.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of electrochemical energy storage technology, and in particular to an in-cabin inspection robot and a control method for an electrochemical energy storage system. Background Art

[0002] With the development of technology, the scale of electrochemical energy storage power stations continues to expand. During the energized operation of electrochemical energy storage power stations, the cabin environment is complex and dangerous. Traditional manual inspection methods can no longer meet the needs of efficiency and safety and there are safety risks. In the field of electrochemical energy storage, it is crucial to ensure the safe and stable operation of power stations.

[0003] Existing technologies achieve remote monitoring of equipment status by installing fixed cameras and sensors in the cabin, or by having automated inspection robots move in the cabin along preset paths to collect basic data. However, there are problems such as limited monitoring range and insufficient autonomy, which limit the effectiveness of existing technologies in ensuring the safe operation of energy storage systems. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide an electrochemical energy storage system cabin inspection robot and control method that overcome the above problems or at least partially solve the above problems.

[0005] According to a first aspect of the present invention, there is provided an electrochemical energy storage system cabin inspection robot, comprising: A data acquisition module, used to obtain in-cabin environmental information of the electrochemical energy storage system; A route planning module, used to determine the inspection strategy and inspection route according to the cabin environment information; The inspection module is used to control the inspection robot to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route.

[0006] Optionally, the cabin environment information includes at least: cabin picture information, cabin temperature information, cabin sound information and cabin gas information; The data acquisition module is used to determine the environmental state of the electrochemical energy storage system cabin according to the cabin environmental information.

[0007] Optionally, the route planning module is used to determine the environmental risk level according to the environmental status, and plan the inspection route of the inspection robot according to the environmental risk level.

[0008] Optionally, the route planning module is used to enable the inspection robot to build an environmental map in real time through an instant positioning and map building algorithm; determine the location information of the inspection robot based on the environmental map; obtain the environmental state corresponding to the location information; and determine the inspection strategy and the inspection route based on the instant positioning and map building algorithm and the environmental state corresponding to the location information.

[0009] Optionally, the inspection module is used to adjust the inspection height and set the movement mode according to the inspection strategy; and perform inspections inside and outside the cabin of the electrochemical energy storage system according to the inspection route.

[0010] Optionally, the inspection robot further comprises: A communication module, used for transmitting data with other inspection robots and obtaining the inspection routes and environmental information of other inspection robots outside the cabin; The energy replenishment module is used to obtain the power information of the inspection robot when the inspection robot is conducting an inspection, and when the power information meets the preset conditions, update the inspection route to obtain the energy replenishment route, and replenish the power of the inspection robot according to the energy replenishment route.

[0011] Optionally, the energy replenishment module is used to determine whether the inspection robot needs to be replenished based on the power information. If the inspection robot needs to be replenished, the inspection route is updated according to the power information and environmental conditions to determine the energy replenishment route; and the inspection robot is controlled according to the energy replenishment route to replenish the inspection robot's power.

[0012] Optionally, further comprising: The inspection module is used to control the inspection robot to stop inspection when the environmental risk level meets the preset conditions, and / or to notify the route planning module to plan a new inspection route according to the environmental risk level and environmental status.

[0013] According to a second aspect of the present invention, a control method for an electrochemical energy storage system cabin inspection robot is provided, the method comprising: Obtaining in-cabin environmental information of the electrochemical energy storage system; Determine the inspection strategy and inspection route according to the cabin environment information; The electrochemical energy storage system compartment is inspected according to the inspection strategy and the inspection route.

[0014] Optionally, the cabin environment information includes at least: cabin picture information, cabin temperature information, cabin sound information and cabin gas information; The determining of the inspection strategy and inspection route according to the cabin environment information includes: Determine the environmental state of the electrochemical energy storage system cabin according to whether the cabin picture information, the cabin temperature information, the cabin sound information, and the cabin gas information exceed an information threshold; determining an environmental risk level according to the environmental status; The inspection strategy and inspection route are determined according to the environmental risk level and the real-time positioning and map building algorithm.

[0015] Optionally, determining the environmental risk level according to the environmental state includes: Extracting image features of the in-cabin image information, performing model training on the image features, the in-cabin temperature information, the in-cabin sound information, and the in-cabin gas information to obtain a risk diagnosis model; A corresponding environmental risk level is determined according to the risk diagnosis model and the environmental status.

[0016] Optionally, determining a corresponding environmental risk level according to the risk diagnosis model and the environmental state includes: In the risk diagnosis model, when the environmental state is that the in-cabin picture information does not exist and meets the preset picture features, the in-cabin temperature information exceeds the temperature threshold, the in-cabin sound information has preset noise information, and the gas concentration of the preset gas in the in-cabin gas information exceeds the concentration threshold, the environmental risk level is determined to be the first environmental risk level; in the risk diagnosis model, when the environmental state is that the in-cabin picture information meets the preset picture features, the in-cabin temperature information exceeds the temperature threshold, the in-cabin sound information has preset noise information, and the gas concentration of the preset gas in the in-cabin gas information exceeds the concentration threshold, the environmental risk level is determined to be the second environmental risk level.

[0017] Optionally, the inspection strategy includes: a first inspection strategy and a second inspection strategy; The determining of the inspection strategy and inspection route according to the environmental risk level and the real-time positioning and map building algorithm includes: When the environmental risk level is the first environmental risk level, determining the inspection strategy as the first inspection strategy, and determining a first inspection route according to the real-time positioning and map building algorithm; When the environmental risk level is the second environmental risk level, the inspection strategy is determined to be the second inspection strategy, and a second inspection route is determined according to the real-time positioning and map building algorithm.

[0018] Optionally, controlling the inspection robot to perform inspection according to the inspection strategy and the inspection route includes: When the inspection strategy is the first inspection strategy, controlling the inspection robot to inspect the electrochemical energy storage system cabin according to the first inspection route; When the inspection strategy is the second inspection strategy, the inspection robot is controlled to stop inspection, or the inspection robot is controlled to travel along the second inspection route.

[0019] Optionally, the method further comprises: Determining whether the power information of the inspection robot meets the power required by the inspection route; If the power information satisfies the power required by the inspection route, the inspection robot is controlled to return to the charging station to replenish the power of the inspection robot after the inspection is completed; If the power information does not meet the power required by the inspection route, the inspection route is updated according to the power information and the environmental status, a replenishment route is determined, and the inspection robot is controlled according to the replenishment route to replenish the power of the inspection robot.

[0020] The embodiments of the present invention include the following advantages: In an embodiment of the present invention, the in-cabin environmental information of the electrochemical energy storage system is acquired through a data acquisition module; the route planning module determines the inspection strategy and the inspection route according to the in-cabin environmental information, so that the inspection strategy and the inspection route can be determined according to the in-cabin environment, thereby improving the autonomy of the inspection technology; the inspection module controls the inspection robot to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route, thereby increasing the monitoring range and achieving comprehensive coverage of key areas in the cabin.

[0021] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

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

[0024] Figure 1It is a structural block diagram of an electrochemical energy storage system cabin inspection robot provided in an embodiment of the present invention; Figure 2 It is a flowchart of the steps of a control method of an electrochemical energy storage system cabin inspection robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] 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.

[0026] With the development of technology, the scale of electrochemical energy storage power stations continues to expand. During the energized operation of electrochemical energy storage power stations, the cabin environment of the electrochemical energy storage system cabin is complex and dangerous. The traditional manual inspection method can no longer meet the needs of efficiency and safety and there are safety risks. In the field of electrochemical energy storage, it is crucial to ensure the safe and stable operation of the power station. Therefore, the inspection robot in the electrochemical energy storage system cabin came into being to meet this challenge.

[0027] The existing technology realizes remote monitoring of equipment status by installing fixed cameras and sensors in the cabin, and presets inspection paths so that the inspection robot moves in the cabin along the preset paths to collect basic data. Since the inspection robot moves in the cabin along the preset inspection paths, the autonomous navigation capability of the inspection robot depends on the preset programs and paths.

[0028] However, fixed cameras and sensors cannot cover electrochemical energy storage system cabins with high altitude changes or dense equipment, and inspection and navigation through preset inspection routes cannot adapt to dynamic changes in the cabin environment, resulting in blind spots in monitoring the equipment status in the electrochemical energy storage system cabin.

[0029] In response to the problems existing in the prior art, we proposed an electrochemical energy storage system cabin inspection robot and control method, which obtains the cabin environment information of the electrochemical energy storage system through a data acquisition module; determines the inspection strategy and inspection route according to the cabin environment information through a route planning module, so that the inspection strategy and inspection route can be determined according to the cabin environment, thereby improving the autonomy of the inspection technology; and controls the inspection robot through the inspection module to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route, thereby increasing the monitoring range and achieving comprehensive coverage of key areas in the cabin.

[0030] Reference Figure 1 , shows a structural block diagram of an electrochemical energy storage system cabin inspection robot provided in an embodiment of the present invention, which may specifically include: A data acquisition module, used to obtain in-cabin environmental information of the electrochemical energy storage system; In practical applications, the data acquisition module includes at least a laser radar (LiDAR), a camera and a sensor array. By integrating high-definition cameras, thermal imagers, sound sensors and gas sensors, it can achieve comprehensive monitoring of the cabin environment of the electrochemical energy storage system and obtain cabin environment information at the same time.

[0031] A route planning module, used to determine the inspection strategy and inspection route according to the cabin environment information; Specifically, the route planning module uses the in-cabin environmental information obtained by laser radar (LiDAR), cameras and sensor arrays, and develops the SLAM (Simultaneous Localization and Mapping) algorithm to enable the inspection robot to build an environmental map and locate itself in real time. Then, the machine learning algorithm is applied to analyze the collected in-cabin environmental information, identify abnormal conditions of the equipment in the electrochemical energy storage system cabin and predict potential failures, and determine the inspection strategy and inspection route in combination with the SLAM algorithm.

[0032] The inspection module is used to control the inspection robot to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route.

[0033] After obtaining the inspection strategy and inspection route, the inspection robot is controlled to inspect the electrochemical energy storage system cabin according to the inspection strategy and inspection route, and the cabin environment information during the inspection process is analyzed in real time. The analysis results are fed back to the operator and route planning module through the remote diagnosis system, and the inspection strategy and inspection route are updated when the real-time cabin environment information meets the preset conditions.

[0034] An electrochemical energy storage system cabin inspection robot provided by an embodiment of the present invention obtains cabin environment information of the electrochemical energy storage system through a data acquisition module; determines an inspection strategy and an inspection route according to the cabin environment information through a route planning module, so that the inspection strategy and the inspection route can be determined according to the cabin environment, thereby improving the autonomy of the inspection technology; and controls the inspection robot through an inspection module to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route, thereby improving the monitoring range and achieving comprehensive coverage of key areas in the cabin.

[0035] In an embodiment of the present invention, the cabin environment information at least includes: cabin picture information, cabin temperature information, cabin sound information and cabin gas information; The data acquisition module is used to determine the environmental state of the electrochemical energy storage system cabin according to the cabin environmental information.

[0036] In this embodiment, the data acquisition module of the inspection robot can deploy multiple sensors to collect data, for example: obtain the concentration information of the gas in the cabin through a high-sensitivity gas leakage sensor, obtain the temperature information in the cabin through a temperature sensor, obtain the frequency information of the sound in the cabin through a sound sensor, and obtain the vibration frequency information of the equipment in the cabin or the electrochemical energy storage system cabin through a pressure sensor and a vibration sensor. In addition, the data acquisition module can also obtain the robot performance parameters (for example: navigation accuracy, sensor response time, battery life) and system stability data in real time to determine the environmental status of the electrochemical energy storage system cabin. Through high-precision monitoring equipment such as high-definition cameras, thermal imaging and sound sensors, the inspection robot can collect more accurate and comprehensive data, providing high-quality original information for subsequent analysis.

[0037] In an embodiment of the present invention, the route planning module is used to determine the environmental risk level according to the environmental state, and plan the inspection route of the inspection robot according to the environmental risk level.

[0038] In this embodiment, an intelligent diagnosis system is configured in the route planning module, and a machine learning algorithm is used to analyze the collected cabin image information, cabin temperature information, cabin sound information, cabin gas information, and thermal imaging data, and compare them with preset image features and preset safety thresholds, wherein the preset safety thresholds at least include: temperature thresholds, preset noise information, and concentration thresholds. Once the presence of preset image features and / or the situation exceeding the preset safety threshold is detected, the system will immediately evaluate the risk level, determine the environmental risk level, and plan the inspection route of the inspection robot based on the environmental risk level.

[0039] Specifically, the route planning module will pre-process the cabin environment information, such as denoising, normalization and feature extraction, and combine the historical data collected by the inspection robot and the historical operation and maintenance data of the electrochemical energy storage system power station to build a comprehensive data set, where the historical data may include equipment maintenance records, fault logs and performance indicators, etc.; using domain knowledge and data science methods, extract features that are helpful for fault prediction from the original data, including at least information such as temperature change patterns, gas concentration anomalies, and sound frequency distribution, and select appropriate machine learning models, such as random forests, support vector machines (SVMs), deep neural networks (DNNs), etc., to train the characterized data and obtain a risk diagnosis model. The choice of model will be determined based on the fault type, data characteristics and prediction accuracy requirements.

[0040] After obtaining the risk diagnosis model, the trained model is deployed to the main control unit of the inspection robot, enabling it to analyze the inspection data in real time and predict the health status of the equipment. It can also build an equipment failure case library based on historical data to collect and analyze various failure cases, including the environmental conditions, equipment status and maintenance process of the failure. This case library will serve as an important resource for training and verifying machine learning models.

[0041] For example, suppose the inspection robot finds that the thermal imaging data of a certain electrochemical energy storage system compartment shows abnormal hot spots during the inspection. The inspection robot compares this data with historical failure cases and analyzes it through the trained deep learning model. The model predicts that the unit is at risk of overheating failure and can display early warning information on the user interface. At the same time, the inspection robot recommends preventive maintenance measures, such as adjusting the cooling system or checking electrical connections.

[0042] In this embodiment, the image features of the cabin image information collected in real time, the image features, cabin temperature information, cabin sound information and cabin gas information can be input into the risk diagnosis model, and then the corresponding environmental risk level can be determined based on the environmental information obtained in real time by the inspection robot.

[0043] In the risk diagnosis model, when the environmental status is that the cabin image information meets the preset image features, the cabin temperature information exceeds the temperature threshold, the cabin sound information has preset noise information, and the cabin gas information has a preset gas concentration exceeding the concentration threshold, the environmental risk level is determined to be the first environmental risk level; In the risk diagnosis model, when the environmental state is that the cabin image information meets the preset image features, the cabin temperature information exceeds the temperature threshold, the cabin sound information contains preset noise information, and the cabin gas information contains a preset gas concentration that exceeds the concentration threshold, the environmental risk level is determined to be the second environmental risk level.

[0044] Optionally, the environmental risk level can be further differentiated. For example, the environmental status judgment conditions can be divided into: the first judgment condition - the cabin image information meets the preset image characteristics, the second judgment condition - the cabin temperature information exceeds the temperature threshold, the third judgment condition - the cabin sound information has preset noise information, the fourth judgment condition - the gas concentration of the preset gas in the cabin gas information exceeds the concentration threshold; When the environmental status meets only one judgment condition, the environmental risk level is determined to be 1; when the environmental status meets two judgment conditions, the environmental risk level is determined to be 2; when the environmental status meets three judgment conditions, the environmental risk level is determined to be 3; when the environmental status meets four judgment conditions, the environmental risk level is determined to be 4; For example, when the concentration of gases such as carbon monoxide and hydrogen in the electrochemical energy storage system cabin exceeds the concentration threshold, it means that the battery in the electrochemical energy storage system cabin has an abnormal condition. When the environmental state only satisfies the concentration of gases such as CO (carbon monoxide) and hydrogen exceeding the concentration threshold, that is, the first judgment condition is met, and there is no judgment condition that the cabin image information meets the preset image features, the cabin temperature information exceeds the temperature threshold, and the cabin sound information has the preset noise information, the environmental risk level is determined to be 1.

[0045] Optionally, during the return journey, the inspection robot will continue to monitor environmental changes and update its path planning in real time. If new obstacles or risks appear on the original path, the robot will dynamically adjust its return route.

[0046] In an embodiment of the present invention, the route planning module is used to enable the inspection robot to build an environmental map in real time through an instant positioning and map building algorithm; determine the location information of the inspection robot based on the environmental map; obtain the environmental state corresponding to the location information; and determine the inspection strategy and the inspection route based on the instant positioning and map building algorithm and the environmental state corresponding to the location information.

[0047] In practical applications, the SLAM (Simultaneous Localization and Mapping) algorithm can enable the inspection robot to build an environmental map and locate itself in real time. The inspection robot's inspection route planning and autonomous navigation can be achieved by combining its location information and environmental status.

[0048] In this embodiment, considering the high temperature and complex inspection process that may exist in the electrochemical energy storage system cabin, the SLAM algorithm is optimized and a compensation mechanism for temperature changes is added.

[0049] For example: in high temperature areas, there are deviations in the navigation and positioning data of the inspection robot. The embodiment of the present invention will analyze the changing trend of the navigation and positioning data at high temperatures. When encountering a similar high temperature environment next time, the parameters of the SLAM algorithm will be corrected and compensated in a targeted manner to make up for the navigation deviation caused by the high temperature to the SLAM algorithm, thereby improving the navigation accuracy of the inspection robot's autonomous navigation.

[0050] Specifically, the inspection robot is designed with lightweight, high-temperature-resistant and chemical-corrosion-resistant materials such as glass fiber reinforced plastic, aluminum alloy, and PEEK (polyetheretherketone), and uses sensors with better high-temperature resistance. At the same time, the robot's heat dissipation system is upgraded to ensure that the inspection robot structure can withstand the cabin environment without causing damage to the equipment.

[0051] In an embodiment of the present invention, the inspection module is used to adjust the inspection height and set the movement mode according to the inspection strategy; and perform inspections inside and outside the cabin of the electrochemical energy storage system according to the inspection route.

[0052] In actual applications, there are batteries or electronic devices at different heights and positions in the cabin of the electrochemical energy storage system. The existing technology can only move on a preset path or the fixed cameras and sensors cannot cover all areas in the cabin, resulting in blind spots in the monitoring of the equipment status, especially for areas with height changes or dense equipment.

[0053] In this embodiment, when the inspection module is navigating autonomously, it can adjust the data collection range of the camera and sensors according to the inspection strategy and environmental information to meet the monitoring needs of batteries or electronic equipment at different heights, and adjust the movement mode according to the actual situation in the cabin, for example: supporting ground actions, wall climbing, altitude increase and decrease, etc., greatly reducing the monitoring blind spots, and meeting the needs of batteries or electronic equipment within different height ranges.

[0054] In an embodiment of the present invention, the inspection robot further comprises: A communication module, used for transmitting data with other inspection robots and obtaining the inspection routes and environmental information of other inspection robots outside the cabin; The energy replenishment module is used to obtain the power information of the inspection robot when the inspection robot is conducting an inspection, and when the power information meets the preset conditions, update the inspection route to obtain the energy replenishment route, and replenish the power of the inspection robot according to the energy replenishment route.

[0055] In this embodiment, an autonomous charging station will be set up in a safe area outside the electrochemical energy storage system cabin. When the inspection robot is low on power, the energy replenishment module will update the inspection route to obtain the energy replenishment route, replenish the power of the inspection robot according to the energy replenishment route, and automatically navigate to the charging station for charging.

[0056] In actual applications, the inspection robot communication module adopts multiple communication methods such as WiFi, Bluetooth and RF to ensure the stability of communication inside and outside the cabin, and obtains the inspection routes and environmental information of other inspection robots outside the cabin through the communication module.

[0057] Optionally, the inspection robot is also equipped with a central coordination system. After obtaining the inspection routes and environmental information of other inspection robots outside the cabin through the communication module, the inspection tasks are dynamically allocated according to the performance parameters, battery power, location and task urgency of each inspection robot, taking into account the task priority and the robot's work efficiency to achieve optimal task allocation.

[0058] Specifically, the inspection area can be divided into multiple sub-areas according to the layout of the electrochemical energy storage system cabin. Each inspection robot is responsible for the inspection tasks of one or more sub-areas. When the inspection robot performs the inspection task, the central coordination system will monitor its path in real time and make adjustments when necessary to avoid path conflicts or repeated inspections. At the same time, the data collected by the inspection robot will be transmitted to the central coordination system for integration and analysis. Through data fusion technology, the overall understanding of the environment and equipment status will be improved. When a patrol robot detects an abnormal situation, the central coordination system will evaluate the situation and may reallocate tasks and mobilize other robots for support or further inspections.

[0059] For example, suppose there are multiple electrochemical energy storage system compartments in a large electrochemical energy storage power station, and 5 inspection robots are assigned to work together. Each inspection robot is responsible for the inspection area of ​​different electrochemical energy storage system compartments in the power station according to the instructions of the central coordination system. During the inspection process, if inspection robot A detects a temperature abnormality in the area it is responsible for, it will immediately report this information to the central coordination system. After evaluation, the central coordination system will instruct robots B and C to provide support and adjust their inspection paths to avoid potential dangerous areas. The operator monitors this collaborative response process in real time through the user interface and intervenes manually as needed.

[0060] In an embodiment of the present invention, the energy replenishment module is used to determine whether the power of the inspection robot needs to be replenished based on the power information. If the power of the inspection robot needs to be replenished, the inspection route is updated according to the power information and environmental conditions to determine the energy replenishment route; and the inspection robot is controlled according to the energy replenishment route to replenish the power of the inspection robot.

[0061] In actual applications, the inspection robot can use the energy replenishment module to determine whether it needs to return to the charging station to replenish power based on power information. If replenishment is needed, the inspection route is updated according to the power information and environmental conditions to obtain the energy replenishment route. The inspection robot then returns to the charging station to replenish power along the energy replenishment route to ensure the inspection robot's continued operation capability.

[0062] In an embodiment of the present invention, the inspection module is used to control the inspection robot to stop inspection when the environmental risk level meets preset conditions, and / or to notify the route planning module to plan a new inspection route according to the environmental risk level and environmental status.

[0063] Based on the risk assessment of the environmental risk level, if the environmental risk level reaches the safety risk level threshold, the inspection robot will automatically trigger the emergency stop mechanism. At this time, all non-essential mechanical movements will stop to avoid possible damage or risk spread. After the emergency stop is triggered, the inspection robot will use its SLAM algorithm and environmental map to quickly calculate a safe return route. This path will avoid potential dangerous areas and choose the shortest and safest path to return to the preset safe area or charging station, ensuring that the inspection robot can inspect the electrochemical energy storage system cabin in a safe manner to achieve autonomous navigation and emergency evacuation, significantly reducing the risk of manual inspections, especially during live operation, ensuring the safety of personnel and inspection robots.

[0064] Optionally, the inspection robot adopts a modular design, so that various components of the inspection robot (such as sensors, cameras, and robotic arms) are modular, which increases the flexibility and scalability of the robot.

[0065] In addition, the inspection robot can be deployed in the actual electrochemical energy storage system cabin to interact with the robot's dedicated entrance and exit doors in the cabin, automatically opening and closing the entrance and exit of the inspection robot in the cabin. The entrance and exit are matched with the size of the inspection robot and have sensor communication with the inspection robot. The door will automatically open when the inspection robot enters and exits and approaches the electric door, and remain closed at other times, thereby realizing the automatic entry and exit of the inspection robot.

[0066] Reference Figure 2 , shows a flow chart of the steps of a control method of an electrochemical energy storage system cabin inspection robot provided in an embodiment of the present invention, which may specifically include the following steps: S201, obtaining cabin environment information of the electrochemical energy storage system; In actual applications, the inspection robot can be equipped with a laser radar (LiDAR), camera and sensor array to obtain cabin environment information. By integrating high-definition cameras, thermal imagers, sound sensors and gas sensors, comprehensive monitoring of the cabin environment of the electrochemical energy storage system can be achieved.

[0067] S202, determining an inspection strategy and an inspection route according to the cabin environment information; In this embodiment, the in-cabin environmental information is acquired by using laser radar (LiDAR), cameras, and sensor arrays, and by developing a SLAM (Simultaneous Localization and Mapping) algorithm, so that the inspection robot can build an environmental map and locate itself in real time. Then, a machine learning algorithm is applied to analyze the collected in-cabin environmental information, identify abnormal conditions of the in-cabin equipment of the electrochemical energy storage system, and predict potential faults. The inspection strategy and inspection route are determined in combination with the SLAM algorithm.

[0068] S203: inspect the electrochemical energy storage system compartment according to the inspection strategy and the inspection route.

[0069] After obtaining the inspection strategy and inspection route, the inspection robot is controlled to inspect the electrochemical energy storage system cabin according to the inspection strategy and inspection route, and the cabin environmental information during the inspection process is analyzed in real time, and the analysis results are fed back to the operator and route planning module through the remote diagnosis system.

[0070] By acquiring the in-cabin environmental information of the electrochemical energy storage system; determining the inspection strategy and inspection route according to the in-cabin environmental information, it is possible to determine the inspection strategy and inspection route according to the in-cabin environment, thereby improving the autonomy of the inspection technology; controlling the inspection robot to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route, thereby increasing the monitoring range and achieving comprehensive coverage of key areas in the cabin.

[0071] In an embodiment of the present invention, the cabin environment information at least includes: cabin picture information, cabin temperature information, cabin sound information and cabin gas information; The determining of the inspection strategy and inspection route according to the cabin environment information includes: Determine the environmental state of the electrochemical energy storage system cabin according to whether the cabin picture information, the cabin temperature information, the cabin sound information, and the cabin gas information exceed an information threshold; determining an environmental risk level according to the environmental status; The inspection strategy and inspection route are determined according to the environmental risk level and the real-time positioning and map building algorithm.

[0072] In this embodiment, a machine learning algorithm is used to analyze the collected cabin image information, cabin temperature information, cabin sound information, cabin gas information, and thermal imaging data, and compare them with preset image features and preset safety thresholds, where the preset safety thresholds at least include: temperature thresholds, preset noise information, and concentration thresholds. Once the presence of preset image features and / or the situation exceeding the preset safety threshold is detected, the system will immediately evaluate the risk level, determine the environmental risk level, and plan the inspection strategy and inspection route of the inspection robot based on the environmental risk level.

[0073] In an embodiment of the present invention, determining the environmental risk level according to the environmental state includes: Extracting image features of the in-cabin image information, performing model training on the image features, the in-cabin temperature information, the in-cabin sound information, and the in-cabin gas information to obtain a risk diagnosis model; A corresponding environmental risk level is determined according to the risk diagnosis model and the environmental status.

[0074] In practical applications, after obtaining the in-cabin environmental information, the in-cabin environmental information is preprocessed, such as denoising, normalization, and feature extraction. The historical data collected by the inspection robot and the historical operation and maintenance data of the electrochemical energy storage system power station are combined to construct a comprehensive data set, where the historical data may include equipment maintenance records, fault logs, and performance indicators. Domain knowledge and data science methods are used to extract features that are helpful for fault prediction from the original data, including at least temperature change patterns, abnormal gas concentrations, sound frequency distribution, and other information. Appropriate machine learning models are selected, such as random forests, support vector machines (SVMs), deep neural networks (DNNs), etc., to train the characterized data and obtain a risk diagnosis model. The choice of model will be determined based on the fault type, data characteristics, and prediction accuracy requirements.

[0075] Specifically, the image features of the cabin image information collected in real time, the image features, cabin temperature information, cabin sound information and cabin gas information can be input into the risk diagnosis model, and then the risk diagnosis model determines the corresponding environmental risk level based on the environmental information obtained in real time by the inspection robot.

[0076] In an embodiment of the present invention, determining the corresponding environmental risk level according to the risk diagnosis model and the environmental state includes: In the risk diagnosis model, when the environmental state is that there is no image information in the cabin that meets the preset image features, the temperature information in the cabin exceeds the temperature threshold, the sound information in the cabin has preset noise information, and the gas concentration of the preset gas in the gas information in the cabin exceeds the concentration threshold, the environmental risk level is determined to be the first environmental risk level; In the risk diagnosis model, when the environmental state is any one of the following conditions: the in-cabin picture information meets the preset picture features, the in-cabin temperature information exceeds the temperature threshold, the in-cabin sound information contains preset noise information, and the gas concentration of the preset gas in the in-cabin gas information exceeds the concentration threshold, the environmental risk level is determined to be the second environmental risk level.

[0077] In the risk diagnosis model, when the environmental status is that there is no cabin image information that meets the preset image features, the cabin temperature information exceeds the temperature threshold, the cabin sound information has preset noise information, and the cabin gas information has a preset gas concentration that exceeds the concentration threshold, the environmental risk level is determined to be the first environmental risk level; In the risk diagnosis model, when the environmental state is that the cabin image information meets the preset image features, the cabin temperature information exceeds the temperature threshold, the cabin sound information contains preset noise information, and the cabin gas information contains a preset gas concentration that exceeds the concentration threshold, the environmental risk level is determined to be the second environmental risk level.

[0078] Optionally, the environmental risk level can be further differentiated. For example, the environmental status judgment conditions can be divided into: the first judgment condition - the cabin image information meets the preset image characteristics, the second judgment condition - the cabin temperature information exceeds the temperature threshold, the third judgment condition - the cabin sound information has preset noise information, the fourth judgment condition - the gas concentration of the preset gas in the cabin gas information exceeds the concentration threshold; When the environmental status meets only one judgment condition, the environmental risk level is determined to be 1; when the environmental status meets two judgment conditions, the environmental risk level is determined to be 2; when the environmental status meets three judgment conditions, the environmental risk level is determined to be 3; when the environmental status meets four judgment conditions, the environmental risk level is determined to be 4.

[0079] For example, when the concentration of gases such as carbon monoxide and hydrogen in the electrochemical energy storage system cabin exceeds the concentration threshold, it means that the battery in the electrochemical energy storage system cabin has an abnormal condition. When the environmental state only satisfies the concentration of gases such as CO (carbon monoxide) and hydrogen exceeding the concentration threshold, that is, the first judgment condition is met, and there is no judgment condition that the cabin image information meets the preset image features, the cabin temperature information exceeds the temperature threshold, and the cabin sound information has the preset noise information, the environmental risk level is determined to be 1.

[0080] In the embodiment of the present invention, the inspection strategy includes: a first inspection strategy and a second inspection strategy; The determining of the inspection strategy and inspection route according to the environmental risk level and the real-time positioning and map building algorithm includes: When the environmental risk level is the first environmental risk level, determining the inspection strategy as the first inspection strategy, and determining a first inspection route according to the real-time positioning and map building algorithm; When the environmental risk level is the second environmental risk level, the inspection strategy is determined to be the second inspection strategy, and a second inspection route is determined according to the real-time positioning and map building algorithm.

[0081] In this embodiment, the inspection strategy includes at least a first inspection strategy and a second inspection strategy. When the environmental risk level is the first environmental risk level, the inspection strategy is determined as the first inspection strategy, and the first inspection route is determined according to the SLAM algorithm; when the environmental risk level is the second environmental risk level, the inspection strategy is determined as the second inspection strategy, and the second inspection route is determined according to the real-time positioning and map building algorithm.

[0082] Based on risk assessment, if the environmental risk level reaches the preset environmental risk level threshold, the inspection robot will automatically trigger the emergency stop mechanism. At this time, all non-essential mechanical movements will stop to avoid possible damage or risk spread.

[0083] In the embodiment of the present invention, controlling the inspection robot to perform inspection according to the inspection strategy and the inspection route includes: When the inspection strategy is the first inspection strategy, controlling the inspection robot to inspect the electrochemical energy storage system cabin according to the first inspection route; When the inspection strategy is the second inspection strategy, the inspection robot is controlled to stop inspection, or the inspection robot is controlled to travel along the second inspection route.

[0084] In actual applications, if the inspection strategy is the first inspection strategy, at this time the cabin environment status does not exist, the cabin image information does not meet the preset image characteristics, the cabin temperature information exceeds the temperature threshold, the cabin sound information contains preset noise information, and the cabin gas information contains preset gas concentrations that exceed the concentration threshold, indicating that the cabin is in a safe environmental state. Therefore, the inspection robot can be controlled to inspect the electrochemical energy storage system cabin along the first inspection route.

[0085] If the inspection strategy is the second inspection strategy, at this time the cabin environment status has any of the following conditions: the cabin image information meets the preset image features, the cabin temperature information exceeds the temperature threshold, the cabin sound information has the preset noise information, and the cabin gas information has the preset gas concentration exceeding the concentration threshold. This indicates that there is a potential dangerous state in the cabin. When the environmental risk level reaches the preset environmental risk level threshold, the inspection robot will automatically trigger the emergency stop mechanism. After the emergency stop is triggered, the inspection robot will use its SLAM algorithm and environmental map to quickly calculate a safe return route to avoid potential dangerous areas, and select the shortest and safest path to return to the preset safe area or charging station, so as to achieve early identification and prediction of faults, thereby improving equipment reliability and reducing unexpected downtime.

[0086] In an embodiment of the present invention, the method further includes: Determining whether the power information of the inspection robot meets the power required by the inspection route; If the power information satisfies the power required by the inspection route, the inspection robot is controlled to return to the charging station to replenish the power of the inspection robot after the inspection is completed; If the power information does not meet the power required by the inspection route, the inspection route is updated according to the power information and the environmental status, a replenishment route is determined, and the inspection robot is controlled according to the replenishment route to replenish the power of the inspection robot.

[0087] In actual applications, the need to return to the charging station to replenish power can be determined based on the power information. If replenishment is required, the inspection route is updated according to the power information and environmental conditions to obtain the replenishment route; the inspection robot then returns to the charging station to replenish power along the replenishment route to ensure the continuous operation of the inspection robot.

[0088] As for the method embodiment, since it is basically similar to the device embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0089] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0091] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

[0092] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0093] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0094] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0095] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0097] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or optical disk, etc., various media that can store program codes.

[0098] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An electrochemical energy storage system cabin inspection robot, characterized in that: include: A data acquisition module, used to obtain in-cabin environmental information of the electrochemical energy storage system; A route planning module, used to determine the inspection strategy and inspection route according to the cabin environment information; The inspection module is used to control the inspection robot to inspect the electrochemical energy storage system cabin according to the inspection strategy and the inspection route.

2. The inspection robot according to claim 1, characterized in that: The cabin environment information at least includes: cabin picture information, cabin temperature information, cabin sound information and cabin gas information; The data acquisition module is used to determine the environmental state of the electrochemical energy storage system cabin according to the cabin environmental information.

3. The inspection robot according to claim 2, characterized in that: The route planning module is used to determine the environmental risk level according to the environmental status, and plan the inspection route of the inspection robot according to the environmental risk level.

4. The inspection robot according to claim 1, characterized in that: The route planning module is used to enable the inspection robot to build an environmental map in real time through an instant positioning and map building algorithm; determine the location information of the inspection robot based on the environmental map; obtain the environmental state corresponding to the location information; and determine the inspection strategy and the inspection route based on the instant positioning and map building algorithm and the environmental state corresponding to the location information.

5. The inspection robot according to claim 1, characterized in that: The inspection module is used to adjust the inspection height and set the movement mode according to the inspection strategy; and to perform inspections inside and outside the cabin of the electrochemical energy storage system according to the inspection route.

6. The inspection robot according to claim 1, characterized in that: The inspection robot further comprises: A communication module, used for transmitting data with other inspection robots and obtaining the inspection routes and environmental information of other inspection robots outside the cabin; The energy replenishment module is used to obtain the power information of the inspection robot when the inspection robot is conducting an inspection, and when the power information meets the preset conditions, update the inspection route to obtain the energy replenishment route, and replenish the power of the inspection robot according to the energy replenishment route.

7. The inspection robot according to claim 6, characterized in that: The energy replenishment module is used to determine whether the inspection robot needs to be replenished based on the power information. If the inspection robot needs to be replenished, the inspection route is updated according to the power information and environmental conditions to determine the energy replenishment route; and the inspection robot is controlled according to the energy replenishment route to replenish the inspection robot's power.

8. The inspection robot according to claim 1, characterized in that: Further including: The inspection module is used to control the inspection robot to stop inspection when the environmental risk level meets the preset conditions, and / or to notify the route planning module to plan a new inspection route according to the environmental risk level and environmental status.

9. A control method for an in-cabin inspection robot of an electrochemical energy storage system, characterized in that: The method comprises: Obtaining in-cabin environmental information of the electrochemical energy storage system; Determine the inspection strategy and inspection route according to the cabin environment information; The electrochemical energy storage system compartment is inspected according to the inspection strategy and the inspection route.

10. The control method according to claim 9, characterized in that: The cabin environment information at least includes: cabin picture information, cabin temperature information, cabin sound information and cabin gas information; The determining of the inspection strategy and inspection route according to the cabin environment information includes: Determine the environmental state of the electrochemical energy storage system cabin according to whether the cabin picture information, the cabin temperature information, the cabin sound information, and the cabin gas information exceed an information threshold; determining an environmental risk level according to the environmental status; The inspection strategy and inspection route are determined according to the environmental risk level and the real-time positioning and map building algorithm.

11. The control method according to claim 10, characterized in that: Determining the environmental risk level according to the environmental state includes: Extracting image features of the in-cabin image information, performing model training on the image features, the in-cabin temperature information, the in-cabin sound information, and the in-cabin gas information to obtain a risk diagnosis model; A corresponding environmental risk level is determined according to the risk diagnosis model and the environmental status.

12. The control method according to claim 11, characterized in that: The determining the corresponding environmental risk level according to the risk diagnosis model and the environmental state includes: In the risk diagnosis model, when the environmental state is that the in-cabin picture information does not exist and meets the preset picture features, the in-cabin temperature information exceeds the temperature threshold, the in-cabin sound information has preset noise information, and the gas concentration of the preset gas in the in-cabin gas information exceeds the concentration threshold, the environmental risk level is determined to be the first environmental risk level; in the risk diagnosis model, when the environmental state is that the in-cabin picture information meets the preset picture features, the in-cabin temperature information exceeds the temperature threshold, the in-cabin sound information has preset noise information, and the gas concentration of the preset gas in the in-cabin gas information exceeds the concentration threshold, the environmental risk level is determined to be the second environmental risk level.

13. The control method according to claim 12, characterized in that: The inspection strategy includes: a first inspection strategy and a second inspection strategy; The determining of the inspection strategy and inspection route according to the environmental risk level and the real-time positioning and map building algorithm includes: When the environmental risk level is the first environmental risk level, determining the inspection strategy as the first inspection strategy, and determining a first inspection route according to the real-time positioning and map building algorithm; When the environmental risk level is the second environmental risk level, the inspection strategy is determined to be the second inspection strategy, and a second inspection route is determined according to the real-time positioning and map building algorithm.

14. The control method according to claim 9, characterized in that: The controlling the inspection robot to perform inspection according to the inspection strategy and the inspection route includes: When the inspection strategy is the first inspection strategy, controlling the inspection robot to inspect the electrochemical energy storage system cabin according to the first inspection route; When the inspection strategy is the second inspection strategy, the inspection robot is controlled to stop inspection, or the inspection robot is controlled to travel along the second inspection route.

15. The control method according to claim 9, characterized in that: The method further comprises: Determining whether the power information of the inspection robot meets the power required by the inspection route; If the power information satisfies the power required by the inspection route, the inspection robot is controlled to return to the charging station to replenish the power of the inspection robot after the inspection is completed; If the power information does not meet the power required by the inspection route, the inspection route is updated according to the power information and the environmental status, a replenishment route is determined, and the inspection robot is controlled according to the replenishment route to replenish the power of the inspection robot.

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