A waste heat recovery battery system and control method for a de-icing robot based on thermoelectric coupling

Abstract

The present application relates to the technical field of deicing robot waste heat recovery battery, and particularly relates to a deicing robot waste heat recovery battery system and a control method based on thermoelectric coupling. The system converts the waste heat of the impact block of the deicing robot into electric energy when working through the waste heat recovery unit, can make resource recycling through energy conversion; at the same time, whether the waste heat recovery battery is qualified is determined by the total efficiency from heat energy to the final storage in the battery obtained by the total efficiency calculation unit, and the corresponding processing mode is generated based on the unqualified reason when unqualified, wherein the processing mode includes adjusting the internal resistance of the thermoelectric coupling, adjusting the power of the cold end fan, adjusting the step of the maximum power point tracking and adjusting the temperature of the impact block of the deicing robot when working, and the corresponding processing mode is adjusted, which can make the waste heat recovery battery qualified, thereby prolonging the endurance time of the deicing robot when removing the ice of the power transmission line, and further improving the deicing efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of waste heat recovery batteries for de-icing robots, and more particularly to a waste heat recovery battery system and control method for de-icing robots based on thermoelectric coupling. Background Technology

[0002] De-icing robots need to operate in extreme low-temperature environments such as power lines and wind turbine blades. Due to capacity decay and low charge / discharge efficiency, lithium batteries suffer from a sharp drop in performance, decreased mechanical reliability, and increased energy consumption. Traditional battery thermal management relies on external heating or phase change materials, but these methods are characterized by high energy consumption and slow response, necessitating highly efficient and energy-saving solutions.

[0003] Chinese Patent Publication No. CN117856144A discloses a cable de-icing robot. This invention includes a body, detectors, cable sensors, measuring components, breaking components, cleaning components, a drive component, and a crossing component. A cable trough running horizontally through the center of the upper side of the body is provided, and a cable sensor is installed within the trough. The body is equipped with detectors capable of measuring the distance and position of adjacent cables. This invention features a reasonable and compact structure and ingenious design. By setting up detectors, it measures the distance and position of adjacent cables; by setting up measuring components, it detects the diameter of the cables; by setting up breaking components, it breaks up the ice covering the cables; by setting up cleaning components, it removes the broken ice from the cables; by setting up driving components, it enables the body to move along the cables; and by setting up crossing components, it enables movement across two different cables.

[0004] It is evident that the existing technology has the following problems: the de-icing robot has a short operating time when removing ice from power transmission lines, resulting in low de-icing efficiency. Summary of the Invention

[0005] To address this issue, the present invention provides a waste heat recovery battery system and control method for a de-icing robot based on thermoelectric coupling, which overcomes the problem of short battery life and low de-icing efficiency of existing de-icing robots when removing ice from power transmission lines.

[0006] To achieve the above objectives, the present invention provides a waste heat recovery battery system for a de-icing robot based on thermoelectric coupling, comprising:

[0007] The waste heat recovery unit is used to convert waste heat into electrical energy to power the battery of the de-icing robot based on the thermoelectric conversion module installed on the impact block. The waste heat is the heat generated by the impact block of the de-icing robot impacting the ice when it rotates at high speed.

[0008] an efficiency calculation unit connected with the waste heat recovery unit, configured to calculate a thermoelectric conversion efficiency of the thermoelectric conversion module in converting thermal energy into electric energy, and calculate an electric energy storage efficiency based on the circuit charging power and the battery charging power;

[0009] a total efficiency calculation unit connected with the efficiency calculation unit, configured to calculate a total efficiency from thermal energy to final storage in the battery based on the thermoelectric conversion efficiency and the electric energy storage efficiency;

[0010] an analysis unit connected with the total efficiency calculation unit, configured to determine whether the waste heat recovery battery is qualified based on the total efficiency, and generate a corresponding processing mode based on a reason for unqualification when the waste heat recovery battery is unqualified, wherein the processing mode comprises adjusting a thermoelectric coupling internal resistance, adjusting a power of a cold end fan, adjusting a step of maximum power point tracking, and adjusting a temperature at which an impact block of a deicing robot works;

[0011] a control unit connected with the analysis unit, configured to adjust based on the processing mode.

[0012] Further, the analysis unit is further configured to determine whether the waste heat recovery battery is qualified based on a comparison result of the total efficiency and a preset total efficiency, and analyze a reason for unqualification of the waste heat recovery battery based on a variance of the total efficiency at historical time points or based on a difference between the preset total efficiency and the total efficiency.

[0013] Further, the analysis unit is further configured to generate a corresponding processing mode based on a comparison result of the variance of the total efficiency at the historical time points and a preset variance, comprising analyzing the reason for unqualification of the waste heat recovery battery based on the difference between the preset total efficiency and the total efficiency, or adjusting the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency.

[0014] Further, the analysis unit is further configured to increase the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency, and the difference is proportional to an increase amplitude of the thermoelectric coupling internal resistance.

[0015] Further, the analysis unit is further configured to generate a corresponding processing mode based on a comparison result of the difference between the preset total efficiency and the total efficiency and a preset difference, comprising adjusting the power of the cold end fan based on a ratio of the difference to the preset difference, or analyzing the reason for unqualification of the waste heat recovery battery based on a ratio of a battery internal resistance to a preset internal resistance, or adjusting the step of maximum power point tracking based on a temperature variation amount of a heat source predicted by an LSTM neural network.

[0016] Further, the analysis unit is further configured to generate a corresponding processing mode based on a comparison result of a ratio of the battery internal resistance to the preset internal resistance and a preset ratio, including adjusting a temperature of the impact block of the deicing robot when working based on a difference between the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, or adjusting the power of the cold end fan based on a ratio of a difference between the preset total efficiency and the total efficiency and a preset difference.

[0017] Further, the analysis unit is further configured to reduce the temperature of the impact block of the deicing robot when working based on a difference between the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, and the difference is proportional to the reduction amplitude of the temperature.

[0018] Further, the analysis unit is further configured to increase the power of the cold end fan based on a ratio of a difference between the preset total efficiency and the total efficiency and a preset difference, and the ratio is proportional to the increase amplitude of the power of the cold end fan.

[0019] Further, the analysis unit is further configured to increase the step length of the maximum power point tracking based on the temperature change amount of the heat source predicted by the LSTM neural network, and the temperature change amount is proportional to the increase amplitude of the step length.

[0020] To achieve the above object, the present application provides a control method of a deicing robot waste heat recovery battery system based on thermoelectric coupling, comprising:

[0021] The waste heat recovery unit converts the waste heat generated by the impact block of the deicing robot when rotating at high speed into electrical energy based on the thermoelectric conversion module installed on the impact block, wherein the waste heat is the heat generated by the impact of the impact block on the ice;

[0022] The efficiency calculation unit connected to the waste heat recovery unit calculates the thermoelectric conversion efficiency of the thermoelectric conversion module converting heat energy into electrical energy, and calculates the electrical energy storage efficiency based on the circuit charging power and the battery charging power;

[0023] The total efficiency calculation unit connected to the efficiency calculation unit calculates the total efficiency from heat energy to the final storage in the battery based on the thermoelectric conversion efficiency and the electrical energy storage efficiency;

[0024] The analysis unit connected to the total efficiency calculation unit determines whether the waste heat recovery battery is qualified based on the total efficiency, and generates a corresponding processing mode based on the unqualified reason when it is unqualified, wherein the processing mode includes adjusting the thermoelectric coupling internal resistance, adjusting the power of the cold end fan, adjusting the step length of the maximum power point tracking, and adjusting the temperature of the impact block of the deicing robot when working;

[0025] The control unit connected to the analysis unit adjusts based on the processing mode.

[0026] Compared with the prior art, the application has the beneficial effects that the waste heat of the impact block of the deicing robot during work is converted into electric energy by the waste heat recovery unit, the resource recycling is realized through energy conversion, the total efficiency from thermal energy to the final storage in the battery is obtained by the total efficiency calculation unit to determine whether the waste heat recovery battery is qualified, and the corresponding processing mode is generated based on the unqualified reason when it is unqualified, wherein the processing mode includes adjusting the thermoelectric coupling internal resistance, adjusting the power of the cold end fan, adjusting the step of the maximum power point tracking, and adjusting the temperature of the impact block of the deicing robot during work, and the corresponding processing mode is adjusted, so that the waste heat recovery battery is qualified, thereby prolonging the endurance time of the deicing robot when removing the ice on the power transmission line, and further improving the deicing efficiency.

[0027] Further, the application further determines whether the waste heat recovery battery is qualified based on the comparison result of the total efficiency and the preset total efficiency, which can more quickly determine whether the waste heat recovery battery is qualified, so that the corresponding processing mode based on the unqualified reason is adjusted when it is unqualified, thereby further improving the deicing efficiency.

[0028] Further, the application further generates the corresponding processing mode based on the comparison result of the variance of the total efficiency at the historical moment and the preset variance, which can determine whether the waste heat recovery battery is qualified based on the use of the waste heat recovery battery at the historical moment, so that the determination result is more accurate, thereby making subsequent adjustment based on the corresponding processing mode of the unqualified reason when it is unqualified, and further improving the deicing efficiency.

[0029] Further, the application further adjusts the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency, which can match the internal resistance of the thermoelectric conversion module with the circuit input impedance, and improve the voltage utilization rate, thereby further improving the total efficiency and further improving the deicing efficiency.

[0030] Further, the application further generates the corresponding processing mode based on the comparison result of the difference between the preset total efficiency and the total efficiency and the preset difference, which can more accurately determine the reason why the waste heat recovery unit is unqualified, thereby generating the corresponding processing mode based on the unqualified reason and adjusting according to the corresponding processing mode, and further improving the deicing efficiency.

[0031] Further, the application further generates the corresponding processing mode based on the comparison result of the ratio of the battery internal resistance and the preset internal resistance and the preset ratio, which can determine whether the waste heat recovery battery is unqualified due to the temperature of the impact block of the deicing robot during work, thereby generating the corresponding processing mode based on the unqualified reason and adjusting according to the corresponding processing mode, and further improving the deicing efficiency.

[0032] Further, the application also adjusts the temperature of the impact block of the deicing robot during work based on the difference between the preset resistance ratio and the resistance ratio of the battery and the preset difference, so that the battery is not affected by high temperature during charging and discharging, thereby further prolonging the endurance time of the deicing robot when removing ice on the power transmission line, and further improving the deicing efficiency.

[0033] Further, the application also increases the power of the cold end fan based on the difference between the preset total efficiency and the total efficiency and the preset difference, which can improve the cold end heat dissipation capacity of the thermoelectric conversion module and improve the thermoelectric conversion efficiency, thereby further improving the total efficiency and prolonging the endurance time of the deicing robot when removing ice on the power transmission line, and further improving the deicing efficiency.

[0034] Further, the application also adjusts the step length of the maximum power point tracking based on the temperature change amount of the heat source predicted by the LSTM neural network, which can make the thermoelectric conversion module work at the maximum power point, thereby improving the thermoelectric conversion efficiency, thereby further improving the total efficiency, and further improving the deicing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The structure schematic diagram of the waste heat recovery battery system of the deicing robot based on thermoelectric coupling of the embodiment of the application;

[0036] Figure 2 The step flow chart of the control method of the waste heat recovery battery system of the deicing robot based on thermoelectric coupling of the embodiment of the application;

[0037] Figure 3 The step flow chart of the comparison result determination of the preset total efficiency and the total efficiency of the embodiment of the application;

[0038] Figure 4 The step flow chart of the comparison result determination of the difference between the preset total efficiency and the total efficiency and the preset difference of the embodiment of the application. DETAILED DESCRIPTION

[0039] In order to make the purpose and advantages of the application more clear and explicit, the application will be further described below in combination with embodiments; it should be understood that the specific embodiments described herein are only used to explain the application, and do not limit the application.

[0040] The preferred embodiments of the application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the application, and are not intended to limit the protection scope of the application.

[0041] It should be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected, can be mechanically connected, or electrically connected, can be directly connected, or indirectly connected through an intermediate medium, or can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] Please refer to Figure 1 As shown in the figure, it is a structural schematic diagram of the waste heat recovery battery system of the deicing robot based on thermoelectric coupling according to the embodiment of the present application.

[0043] The system comprises a waste heat recovery unit, an efficiency calculation unit, a total efficiency calculation unit, an analysis unit and a control unit.

[0044] The waste heat recovery unit is used to convert the waste heat into electrical energy to power the battery of the deicing robot based on the thermoelectric conversion module installed on the impact block, wherein the waste heat is the heat generated by the impact of the ice formed by the high-speed rotation of the impact block of the deicing robot;

[0045] The efficiency calculation unit is connected with the waste heat recovery unit, which is used to calculate the thermoelectric conversion efficiency of the thermoelectric conversion module converting heat energy into electrical energy, and to calculate the electrical energy storage efficiency based on the circuit charging power and the battery charging power;

[0046] The total efficiency calculation unit is connected with the efficiency calculation unit, which is used to calculate the total efficiency from heat energy to the final storage in the battery based on the thermoelectric conversion efficiency and the electrical energy storage efficiency;

[0047] The analysis unit is connected with the total efficiency calculation unit, which is used to determine whether the waste heat recovery battery is qualified based on the total efficiency, and to generate a corresponding processing mode based on the unqualified reason when it is unqualified, wherein the processing mode comprises adjusting the internal resistance of the thermoelectric coupling, adjusting the power of the cold end fan, adjusting the step of the maximum power point tracking, and adjusting the temperature of the impact block of the deicing robot during operation;

[0048] The control unit is connected with the analysis unit, which is used to adjust based on the processing mode.

[0049] Specifically, in the present embodiment, the thermoelectric conversion efficiency of the thermoelectric conversion module converting heat energy into electrical energy, wherein the thermoelectric conversion efficiency is determined by the figure of merit (ZT) of thermoelectric material and temperature difference, and the calculation formula is

[0050]

[0051] Wherein, S is the Seebeck coefficient, D is the thermal conductivity, T is the average temperature. avg is the average temperature.

[0052] Specifically, in the present embodiment, the charging circuit efficiency is calculated based on the voltage and current detected by the power analyzer, and the calculation formula is

[0053]

[0054] wherein P out is the output power of the charging circuit, P in is the input power of the charging circuit.

[0055] The battery charging efficiency is calculated based on the input and release of the coulomb meter, and the calculation formula is

[0056]

[0057] wherein E stored is the actual energy stored in the battery, E in is the input energy.

[0058] The energy storage efficiency is calculated based on the charging circuit efficiency and the battery charging efficiency, and the calculation formula is

[0059] η4=η2×η3×100%

[0060] Specifically, in the present embodiment, the energy storage efficiency is calculated based on the circuit charging power and the battery charging power, and the calculation formula is

[0061] η 总 =η1×η4×100%

[0062] Specifically, in the present embodiment, the deicing robot mainly consists of a power management system, a control system, a communication system, a motion system and a mechanical main body. The mechanical main body consists of a motor, a deicing striking block, a camera, an upper line guide foot, a walking driven wheel, a deicing cutter head, etc. It has built-in transmission screw rod, gear box, buffer spring, embedded Hall sensor, control communication, etc., and uses double drive components and double lithium batteries as the energy supply core module. According to the actual working environment, the saddle type spanning design and the upper line guide foot are adopted, which greatly reduces the difficulty of the unmanned aerial vehicle carrying the robot on and off the line. The robot is connected by the automatic hooking device of the unmanned aerial vehicle to carry it on and off the line. The ground operation personnel issues instructions remotely through the control platform to carry out operation. The deicing module consists of a striking motor, a striking block and a deicing cutter head. The motor drives the positioning wheel extension mechanism to close, driving the deicing blade to form an arc state to clamp the conductor. In the working process, the striking block rotates at high speed to form impact on the ice cover, and cooperates with the deicing cutter head on the main machine to realize maximum removal of the line ice cover.

[0063] Referring to Figure 2 As shown in the figure, it is a step flow chart of the control method of the waste heat recovery battery system of the deicing robot based on thermoelectric coupling according to the embodiment of the application.

[0064] The steps of the system in the actual operation process include:

[0065] S1, converting the waste heat into electric energy to supply the battery of the deicing robot through the waste heat recovery unit based on the thermoelectric conversion module installed on the impact block, wherein the waste heat is the heat generated by the impact of the ice cover when the impact block of the deicing robot rotates at high speed;

[0066] S2, calculating the thermoelectric conversion efficiency of the thermoelectric conversion module converting the heat energy into electric energy through the efficiency calculation unit connected with the waste heat recovery unit, and calculating the electric energy storage efficiency based on the circuit charging power and the battery charging power;

[0067] S3, calculating the total efficiency from the heat energy to the final storage in the battery based on the thermoelectric conversion efficiency and the electric energy storage efficiency through the total efficiency calculation unit connected with the efficiency calculation unit;

[0068] S4, determining whether the waste heat recovery battery is qualified based on the total efficiency through the analysis unit connected with the total efficiency calculation unit, and generating the corresponding processing mode based on the unqualified reason when it is unqualified, wherein the processing mode includes adjusting the internal resistance of the thermoelectric coupling, adjusting the power of the cold end fan, adjusting the step of the maximum power point tracking, and adjusting the temperature of the impact block of the deicing robot during operation;

[0069] S5, adjusting based on the processing mode through the control unit connected with the analysis unit.

[0070] Referring to Figure 3 As shown in the figure, it is a step flow chart of the determination based on the comparison result of the total efficiency and the pre-stored preset total efficiency according to the embodiment of the application. The analysis unit is also used to determine whether the waste heat recovery battery is qualified based on the comparison result of the total efficiency and the preset total efficiency, and analyze the reason for the unqualified waste heat recovery battery based on the variance of the total efficiency at the historical time or based on the difference between the preset total efficiency and the total efficiency.

[0071] Specifically, in this embodiment, the total efficiency L0 can be divided into the first preset total efficiency L1 and the second preset total efficiency L2, and the first preset total efficiency L1 = 6% and the second preset total efficiency L2 = 4% are set in the total efficiency standard. It should be noted that in other embodiments, the values of L1 and L2 can also be determined based on the needs of the waste heat recovery battery; the comparison process based on the total efficiency L and L1 and L2 is as follows:

[0072] If the total efficiency L is greater than or equal to the first preset total efficiency L1, it is determined that the waste heat recovery battery is qualified;

[0073] If the total efficiency L is less than the first preset total efficiency L1 and greater than the second preset total efficiency L2, it is determined that it cannot be determined whether other factors cause the result at this time, and whether the waste heat recovery battery is qualified is analyzed based on the variance P of the total efficiency at the historical moment;

[0074] If the total efficiency L is less than or equal to the second preset total efficiency L2, it is determined that the waste heat recovery battery is unqualified, and the reason why the waste heat recovery battery is unqualified is analyzed based on the difference Q between the preset total efficiency and the total efficiency.

[0075] Specifically, the analysis unit in the embodiment of the application is also used to generate a corresponding processing mode based on the comparison result of the variance of the total efficiency at the historical moment and the preset variance, including analyzing the reason why the waste heat recovery battery is unqualified based on the difference between the preset total efficiency and the total efficiency, or adjusting the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency.

[0076] Specifically, in the embodiment, the preset variance P0 of the total efficiency at the historical moment is 0.95, and the comparison process based on the variance P of the total efficiency at the historical moment and the preset variance P0 is specifically as follows:

[0077] If the variance P is greater than the preset variance P0, it is indicated that the total efficiency at the historical moment has high discreteness, and the reason why the waste heat recovery battery is unqualified is analyzed based on the difference Q between the preset total efficiency and the total efficiency;

[0078] If the variance P is less than or equal to the preset variance P0, it is indicated that the total efficiency at the historical moment has low discreteness, indicating that the internal resistance of the thermoelectric conversion module and the input impedance of the circuit are not matched, the input impedance of the circuit is higher than the internal resistance of the thermoelectric coupling, thereby causing low voltage utilization rate, and the internal resistance of the thermoelectric coupling is adjusted based on the difference R between the preset total efficiency and the total efficiency.

[0079] Specifically, in the thermoelectric power generation system, the thermoelectric conversion module can be equivalent to a voltage source Voc (open circuit voltage) in series with its internal resistance R TEG , and the input impedance R in of the circuit is the equivalent input impedance of the back-end load and the DC-DC converter. According to the maximum power transmission theorem, when R in =R TEG , the system output power reaches the maximum value, and if R in >R TEG , although the output voltage Voc of the thermoelectric conversion module is high, the actual output power is much lower than the theoretical maximum value, so that the voltage utilization rate is low.

[0080] Specifically, the analysis unit in the embodiment of the present application is also used to increase the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency, and the difference is proportional to the increase range of the thermoelectric coupling internal resistance.

[0081] Specifically, in the present embodiment, the preset difference R0 between the preset total efficiency and the total efficiency is 1%, and the comparison process based on the difference R between the preset total efficiency and the total efficiency and the preset difference R0 is specifically as follows:

[0082] If the difference R is less than or equal to the preset difference R0, the thermoelectric coupling internal resistance is adjusted to 1.2 times the original internal resistance;

[0083] If the difference R is greater than the preset difference R0, the thermoelectric coupling internal resistance is adjusted to 1.6 times the original internal resistance.

[0084] Please refer to Figure 4 The analysis unit in the embodiment of the present application is also used to generate corresponding processing modes based on the comparison result of the difference between the preset total efficiency and the total efficiency and the preset difference, including adjusting the power of the cold end fan based on the ratio of the difference to the preset difference, or analyzing the reason for the disqualification of the waste heat recovery battery based on the ratio of the battery internal resistance to the preset internal resistance, or adjusting the step size of the maximum power point tracking based on the temperature change amount of the heat source predicted by the LSTM neural network.

[0085] Specifically, in the present embodiment, the difference Q can be divided into a first preset difference Q1 and a second preset difference Q2, and the first preset difference Q1 is set to 1% and the second preset difference Q2 is set to 0.5% in the difference standard. It should be noted that in other embodiments, the values of Q1 and Q2 can also be determined based on the needs of the waste heat recovery battery; the comparison process based on the difference Q and Q1 and Q2 is specifically as follows:

[0086] If the difference Q is greater than or equal to the first preset difference Q1, it means that the cold end heat dissipation capacity of the thermoelectric conversion module is poor, resulting in low thermoelectric conversion efficiency, and the power of the cold end fan is adjusted based on the ratio T of the difference to the preset difference;

[0087] If the difference Q is less than the first preset difference Q1 and greater than the second preset difference Q2, it means that the battery may be damaged due to the high temperature generated by the impact block of the deicing robot during the battery charging and discharging process, and the reason for the disqualification of the waste heat recovery battery is analyzed based on the ratio U of the internal resistance to the preset internal resistance.

[0088] If the difference value Q is less than or equal to the second preset difference value Q2, it indicates that the thermoelectric conversion module does not work at the maximum power point, resulting in low thermoelectric conversion efficiency, and the step length of the maximum power point tracking is adjusted based on the temperature variation V of the heat source predicted by the LSTM neural network.

[0089] Specifically, the analysis unit in the embodiment of the present application is also used to generate a corresponding processing mode based on the comparison result of the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, including adjusting the temperature of the impact block of the deicing robot during operation based on the difference between the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, or adjusting the power of the cold end fan based on the ratio of the difference between the total efficiency and the preset total efficiency to the preset difference value.

[0090] Specifically, in the present embodiment, the preset ratio U0=1, and the comparison process between the ratio U and the preset ratio U0 is specifically as follows:

[0091] If the ratio U is greater than the ratio U0, the temperature of the impact block of the deicing robot during operation is adjusted based on the difference between the ratio and the preset ratio;

[0092] If the ratio U is less than or equal to the ratio U0, the power of the cold end fan is adjusted based on the ratio T of the difference between the total efficiency and the preset total efficiency to the preset difference value.

[0093] Specifically, the analysis unit in the embodiment of the present application is also used to reduce the temperature of the impact block of the deicing robot during operation based on the difference between the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, and the reduction amplitude of the temperature is proportional to the difference.

[0094] Specifically, in the present embodiment, the preset difference value W0=0.2 between the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, and the comparison process between the difference value W and the preset difference value W0 is specifically as follows:

[0095] If the difference value W is less than or equal to the preset difference value W0, the temperature of the impact block of the deicing robot during operation is adjusted to 0.9 times the original temperature;

[0096] If the difference value W is greater than the preset difference value W0, the temperature of the impact block of the deicing robot during operation is adjusted to 0.7 times the original temperature.

[0097] Specifically, the analysis unit in the embodiment of the present application is also used to increase the power of the cold end fan based on the ratio T of the difference between the preset total efficiency and the total efficiency to the preset difference value, and the increase amplitude of the power of the cold end fan is proportional to the ratio.

[0098] Specifically, in the present embodiment, the preset ratio T0=1.2 between the difference between the preset total efficiency and the total efficiency and the preset difference value, and the comparison process between the ratio T and the preset ratio T0 is specifically as follows:

[0099] If the ratio T is less than or equal to the preset ratio T0, the power of the cold-end fan is adjusted to 1.1 times the original power;

[0100] If the ratio T is greater than the preset ratio T0, the power of the cold-end fan is adjusted to 1.9 times the original power.

[0101] Specifically, the analysis unit in the embodiment of the present application is also used to increase the step of maximum power point tracking based on the temperature change amount of the heat source predicted by the LSTM neural network, and the increase amplitude of the temperature change amount and the step is proportional.

[0102] Specifically, in the present embodiment, the preset temperature change amount V0 = 25℃, and the ratio process based on the temperature change amount V and the preset temperature change amount V0 is specifically as follows:

[0103] If the temperature change amount V is less than or equal to the preset temperature change amount V0, the step of maximum power point tracking is adjusted to 1.2 times the original step;

[0104] If the temperature change amount V is greater than the preset temperature change amount V0, the step of maximum power point tracking is adjusted to 2.2 times the original step.

[0105] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

[0106] The above description is only the preferred embodiments of the present application and is not used to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A thermoelectric coupling based de-icing robot waste heat recovery battery system, characterized by, The application comprises: a waste heat recovery unit for converting waste heat generated by the impact block of the deicing robot into electrical energy to power the battery of the deicing robot based on a thermoelectric conversion module installed on the impact block, wherein the waste heat is the heat generated by the impact block of the deicing robot when it rotates at high speed to impact the ice; an efficiency calculation unit connected to the waste heat recovery unit for calculating the thermoelectric conversion efficiency of the thermoelectric conversion module in converting thermal energy into electrical energy, and calculating the electrical energy storage efficiency based on the circuit charging power and the battery charging power; a total efficiency calculation unit connected to the efficiency calculation unit for calculating the total efficiency from thermal energy to the final storage in the battery based on the thermoelectric conversion efficiency and the electrical energy storage efficiency; an analysis unit connected to the total efficiency calculation unit for determining whether the waste heat recovery battery is qualified based on the total efficiency, and generating a corresponding processing mode based on the unqualified reason when it is unqualified, wherein the processing mode includes adjusting the thermoelectric coupling internal resistance, adjusting the power of the cold end fan, adjusting the step of maximum power point tracking, and adjusting the temperature of the impact block of the deicing robot when it works; a control unit connected to the analysis unit for adjusting based on the processing mode; the analysis unit is also used to determine whether the waste heat recovery battery is qualified based on the comparison result of the total efficiency and the preset total efficiency, and analyze the unqualified reason of the waste heat recovery battery based on the variance of the total efficiency at historical time or based on the difference between the preset total efficiency and the total efficiency; the analysis unit is also used to generate a corresponding processing mode based on the comparison result of the variance of the total efficiency at historical time and the preset variance, including analyzing the unqualified reason of the waste heat recovery battery based on the difference between the preset total efficiency and the total efficiency, or adjusting the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency; the analysis unit is also used to generate a corresponding processing mode based on the comparison result of the difference between the preset total efficiency and the total efficiency and the preset difference, including adjusting the power of the cold end fan based on the ratio of the difference to the preset difference, or analyzing the unqualified reason of the waste heat recovery battery based on the ratio of the battery internal resistance to the preset internal resistance, or adjusting the step of maximum power point tracking based on the temperature change amount of the heat source predicted by the LSTM neural network.

2. The thermoelectric couple based de-icing robot waste heat recovery battery system of claim 1, wherein, the analysis unit is also used to increase the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency, and the increase amplitude of the difference and the thermoelectric coupling internal resistance is proportional.

3. The thermoelectric couple based de-icing robot waste heat recovery battery system of claim 1, wherein, the analysis unit is also used to generate a corresponding processing mode based on the comparison result of the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, including adjusting the temperature of the impact block of the deicing robot when it works based on the difference between the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, or adjusting the power of the cold end fan based on the ratio of the difference between the preset total efficiency and the total efficiency to the preset difference.

4. The thermoelectric couple based de-icing robot waste heat recovery battery system of claim 3, wherein, the analysis unit is also used to reduce the temperature of the impact block of the deicing robot when it works based on the difference between the ratio of the battery internal resistance to the preset internal resistance and the preset ratio, and the reduction amplitude of the difference and the temperature is proportional.

5. The thermoelectric couple based de-icing robot waste heat recovery battery system of claim 1, wherein, The analysis unit is further configured to increase the power of the cold end fan based on a ratio of a difference between the preset total efficiency and the total efficiency and a preset difference, and the ratio is directly proportional to an increase range of the power of the cold end fan.

6. The thermoelectric couple based de-icing robot waste heat recovery battery system of claim 1, wherein, The analysis unit is further configured to increase a step length of maximum power point tracking based on a temperature change amount of the heat source predicted by the LSTM neural network, and the temperature change amount is directly proportional to an increase range of the step length.

7. A control method of a waste heat recovery battery system of a de-icing robot based on a thermoelectric coupling, characterized by, The method comprises: using a waste heat recovery unit to convert waste heat into electrical energy based on a thermoelectric conversion module installed on the impact block, wherein the waste heat is heat generated when the impact block of the deicing robot rotates at high speed to impact the ice; using an efficiency calculation unit connected to the waste heat recovery unit to calculate a thermoelectric conversion efficiency of the thermoelectric conversion module in converting heat energy into electrical energy, and to calculate an electrical energy storage efficiency based on a circuit charging power and a battery charging power; using a total efficiency calculation unit connected to the efficiency calculation unit to calculate a total efficiency from heat energy to final storage in the battery based on the thermoelectric conversion efficiency and the electrical energy storage efficiency; using an analysis unit connected to the total efficiency calculation unit to determine whether the waste heat recovery battery is qualified based on the total efficiency, and to generate a corresponding processing mode based on unqualified reasons when it is unqualified, wherein the processing mode comprises adjusting a thermoelectric coupling internal resistance, adjusting a power of a cold end fan, adjusting a step length of maximum power point tracking, and adjusting a temperature of the impact block of the deicing robot during operation; using a control unit connected to the analysis unit to adjust based on the processing mode; The analysis unit is further configured to determine whether the waste heat recovery battery is qualified based on a comparison result of the total efficiency and a preset total efficiency, and to analyze reasons for unqualification of the waste heat recovery battery based on a variance of the total efficiency at historical time or based on a difference between the preset total efficiency and the total efficiency; The analysis unit is further configured to generate a corresponding processing mode based on a comparison result of the variance of the total efficiency at the historical time and a preset variance, comprising analyzing reasons for unqualification of the waste heat recovery battery based on the difference between the preset total efficiency and the total efficiency, or adjusting the thermoelectric coupling internal resistance based on the difference between the preset total efficiency and the total efficiency; The analysis unit is further configured to generate a corresponding processing mode based on a comparison result of the difference between the preset total efficiency and the total efficiency and a preset difference, comprising adjusting the power of the cold end fan based on a ratio of the difference and the preset difference, or analyzing reasons for unqualification of the waste heat recovery battery based on a ratio of a battery internal resistance and a preset internal resistance, or adjusting the step length of the maximum power point tracking based on a temperature change amount of the heat source predicted by the LSTM neural network.

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