Energy storage robot, energy storage system and control method of energy storage robot

Abstract

The invention discloses an energy storage robot, an energy storage system and a control method of the energy storage robot. The energy storage robot comprises a battery module, a positioning module and a moving assembly. The battery module is configured to supply energy to the energy storage robot. The positioning module is configured to detect the real-time position of the energy storage robot. The moving assembly is configured to drive the energy storage robot to move. The control method comprises the following steps: acquiring the current residual electric quantity Q of the battery module; the current position Prob (X, Y, Z) of the energy storage robot is obtained; acquiring a target position Ptarget (X, Y, Z) of the target charging pile according to the current residual electric quantity Q and the current position Prob (X, Y, Z); determining a charging threshold value q of the battery module according to the current position Prob (X, Y, Z) and the target position Ptarget (X, Y, Z); and under the condition that the current residual electric quantity Q is reduced to the charging threshold value q, the moving assembly is started and drives the energy storage robot to move to the target position Ptarget (X, Y, Z).

Description

Technical Field

[0001] The present application relates to the field of energy storage technology, and in particular to an energy storage robot, an energy storage system, and a control method for the energy storage robot. Background Art

[0002] When users are outdoors and need electricity, they usually choose an outdoor power supply. However, the weight of the outdoor power supply increases with the amount of power stored, and it cannot take into account the convenience and large capacity requirements of outdoor power use. Therefore, energy storage robots with autonomous mobility can solve the above problems to a certain extent. Energy storage robots usually have a fixed charging threshold. When the current remaining power of the energy storage robot is less than the charging threshold, the energy storage robot automatically moves to the charging pile for charging. Since the charging threshold is a fixed value, the energy storage robot may be exhausted before reaching the charging pile, which affects the normal use of the energy storage robot and requires manpower to transport it. The process of transporting the energy storage robot is time-consuming and labor-intensive. Summary of the Invention

[0003] Embodiments of the present application provide an energy storage robot, an energy storage system, and a control method for the energy storage robot.

[0004] The embodiment of the present application provides a control method for an energy storage robot. The energy storage robot includes a battery module, a positioning module and a moving component. The battery module is configured to supply energy to the energy storage robot. The positioning module is configured to detect the real-time position of the energy storage robot. The moving component is configured to drive the energy storage robot to move; the control method includes: obtaining the current remaining power Q of the battery module; obtaining the current position P of the energy storage robot; rob (X, Y, Z); according to the current remaining power Q and the current position P rob (X, Y, Z) Get the target position P of the target charging pile target (X, Y, Z); according to the current position P rob (X, Y, Z) and the target position P target (X, Y, Z) determines the charging threshold q of the battery module; and, when the current remaining power Q drops to the charging threshold q, the mobile component starts and drives the energy storage robot to the target position P target (X, Y, Z).

[0005] In some embodiments, the energy storage robot further comprises a photovoltaic panel, which is configured to receive light and convert light energy into electrical energy to charge the battery module. rob (X, Y, Z) Get the target position P of the target charging piletarget (X, Y, Z), including: the current position P rob (X, Y, Z) is used as a reference to obtain the location P of all charging piles within the preset distance range. i (X, Y, Z); according to the current position P rob (X, Y, Z) and the location P of each charging pile i (X, Y, Z), plan the closest travel path S for the energy storage robot to each of the charging piles i-min According to each of the travel paths S i-min Distance D i and the preset moving speed V to obtain the energy storage robot completing each of the travel paths S i-min The travel time T i ; Get the current time as the starting point, in the travel time T i In each of the travel paths S i-min The light intensity L i ; and, according to a preset algorithm, the distance D i , the light intensity L i , a preset distance adjustment coefficient α, and a preset illumination adjustment coefficient β, to obtain the target position P of the target charging pile target (X, Y, Z).

[0006] In some embodiments, the current position P rob (X, Y, Z) and the location P of each charging pile i (X, Y, Z), plan the closest travel path S for the energy storage robot to each of the charging piles i-min , including: obtaining the current position P rob (X, Y, Z) as the reference, the surrounding environment model within the distance range; and, based on the surrounding environment model, the current position P rob (X, Y, Z) and the location P of each charging pile i (X, Y, Z), plan the closest travel path S for the energy storage robot to each of the charging piles i-min .

[0007] In some embodiments, the current position P rob (X, Y, Z) and the target position P target (X, Y, Z) determines the charging threshold q of the battery module, including: obtaining the energy storage robot from the current position P rob (X, Y, Z) moves to the target position P target The target travel path S of (X, Y, Z) targetThe first distance D on t1 , the second distance D t2 and the third distance D t3 , the first distance D t1 is the distance that the energy storage robot walks downhill, and the second distance D t2 is the distance that the energy storage robot walks uphill, and the third distance D t3 is the distance that the energy storage robot walks on the flat road; and, according to the preset moving speed V, the first distance D t1 The second distance D t2 and the third distance D t3 The charging threshold q is determined.

[0008] In some embodiments, the energy storage robot further comprises a photovoltaic panel configured to receive light and convert light energy into electrical energy to charge the battery module. The control method further comprises: obtaining a position corresponding to the target position P target The target path S corresponding to (X, Y, Z) target The target light intensity L on target ; and, according to the target light intensity L target The charging threshold q of the battery module is modified.

[0009] In some embodiments, the target light intensity L target Correcting the charging threshold q of the battery module includes: target Target distance D target Determine that the energy storage robot has completed the target travel path S target The target travel time T target ; According to the target light intensity L target , the target travel time T target The charging rate C of the photovoltaic panel to charge the battery module determines the supplementary power Q of the photovoltaic panel to charge the battery module. supply ; and, according to the replenishment of power Q supply The charging threshold q of the battery module is modified.

[0010] In some embodiments, the control method further includes: according to the current position P rob (X, Y, Z) determines the expected remaining power Q of the energy storage robot remain ; and, the current remaining power Q is less than the expected remaining power Q remain In this case, the mobile component stops moving and the photovoltaic panel of the energy storage robot charges the battery module.

[0011] In some embodiments, the control method further includes: charging the battery module on the photovoltaic panel so that the current remaining power Q is greater than the expected remaining power Q remain In the case of , the mobile component restarts and drives the energy storage robot to continue to move to the target position P target (X, Y, Z).

[0012] Embodiments of the present application provide an energy storage robot. The energy storage robot includes a battery module, a positioning module, a mobile component, and a controller. The battery module is configured to supply energy to the energy storage robot, the positioning module is configured to detect the real-time position of the energy storage robot, and the mobile component is configured to drive the energy storage robot to move. The controller is configured to execute the control method described in any of the above embodiments.

[0013] An embodiment of the present application provides an energy storage system. The energy storage system includes the energy storage robot described in any one of the above embodiments and a charging pile, wherein the charging pile is configured to provide electrical energy to the energy storage robot.

[0014] In the energy storage robot, energy storage system and energy storage robot control method of the present application, the charging threshold q of the battery module is adjusted according to the actual state of the energy storage robot rather than adopting a fixed value. In the present application, by obtaining the current remaining power Q of the battery module and the current position P of the energy storage robot, the charging threshold q of the battery module is adjusted according to the actual state of the energy storage robot. rob (X, Y, Z) determines the target position P of the target charging pile target (X, Y, Z), and then determine the charging threshold q of the battery module. At this time, the selection of the charging threshold q is more flexible. When the current remaining power Q drops below the charging threshold q, the energy storage robot moves to the target position P under the drive of the mobile component. target (X, Y, Z) so that the target charging pile can replenish electric energy for the energy storage robot. Therefore, the energy storage robot can accurately judge when electric energy needs to be replenished. The energy storage robot can ensure that the remaining power Q is used to smoothly reach the charging pile. There is no need for human intervention in the energy storage robot's charging process, which can save manpower and material resources.

[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 is a schematic structural diagram of an energy storage robot according to some embodiments of the present application;

[0018] Figure 2 is a flow chart of a control method for an energy storage robot according to some embodiments of the present application;

[0019] Figure 3 is a flow chart of a control method for an energy storage robot according to some embodiments of the present application;

[0020] Figure 4 Schematic diagram of a control method for an energy storage robot according to some embodiments of the present application;

[0021] Figure 5 is a flow chart of a control method for an energy storage robot according to some embodiments of the present application;

[0022] Figure 6 Schematic diagram of a control method for an energy storage robot according to some embodiments of the present application;

[0023] Figure 7 is a flow chart of a control method for an energy storage robot according to some embodiments of the present application;

[0024] Figure 8 is a flow chart of a control method for an energy storage robot according to some embodiments of the present application;

[0025] Figure 9 is a flow chart of a control method for an energy storage robot according to some embodiments of the present application;

[0026] Figure 10 is a flow chart of a control method for an energy storage robot according to some embodiments of the present application;

[0027] Figure 11 It is a schematic structural diagram of the energy storage system of some embodiments of the present application.

[0028] The accompanying drawings in the specific implementation manner are as follows:

[0029] Energy storage system 1000; charging pile 300; target charging pile 500;

[0030] Energy storage robot 100; battery module 10; positioning module 30; moving component 50; controller 70; photovoltaic panel 90. DETAILED DESCRIPTION

[0031] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0032] In the description of this application, it should be understood that the terms "center", "length", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0034] In this application, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections; direct connections, or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0035] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0036] When the user is in an outdoor scene and needs electricity, the user will usually choose an outdoor power supply. However, the weight of the outdoor power supply increases with the increase in the amount of stored electricity, and it is impossible to take into account the convenience and large capacity requirements of outdoor electricity use. Therefore, an energy storage robot with autonomous mobility can solve the above problems to a certain extent. The energy storage robot usually sets a fixed charging threshold. When the current remaining power of the energy storage robot is less than the charging threshold, the energy storage robot automatically moves to the charging pile for charging. Since the charging threshold is a fixed value, the energy storage robot may be exhausted before reaching the charging pile, which affects the normal use of the energy storage robot and requires manpower to transport it. The process of transporting the energy storage robot is time-consuming and labor-intensive. In order to solve this problem, the present application provides an energy storage robot 100( Figure 1 As shown), energy storage system 1000 ( Figure 11 As shown) and the control method of the energy storage robot ( Figures 2 to 10 shown).

[0037] Please refer to Figure 1 and Figure 2 The embodiment of the present application provides a control method for an energy storage robot. The energy storage robot 100 includes a battery module 10, a positioning module 30, and a moving component 50. The battery module 10 is configured to supply energy to the energy storage robot 100. The positioning module 30 is configured to detect the real-time position of the energy storage robot 100. The moving component 50 is configured to drive the energy storage robot 100 to move; the control method includes:

[0038] 01: Get the current remaining power Q of the battery module 10;

[0039] 02: Get the current position P of the energy storage robot 100 rob (X, Y, Z);

[0040] 03: Based on the current remaining power Q and current position P rob (X, Y, Z) Get the target position P of the target charging pile 500 target (X, Y, Z);

[0041] 04: According to the current position P rob (X, Y, Z) and target position P target (X, Y, Z) determines the charging threshold q of the battery module 10; and

[0042] 07: When the current remaining power Q drops to the charging threshold q, the moving component 50 starts and drives the energy storage robot 100 to the target position P target (X, Y, Z).

[0043] Correspondingly, the energy storage robot 100 further includes a controller 70. Specifically, the controller 70 is used to execute the methods 01, 02, 03, 04 and 07. More specifically, the controller 70 is used to: obtain the current remaining power Q of the battery module 10; obtain the current position P of the energy storage robot 100 rob (X, Y, Z); according to the current remaining power Q and current position P rob (X, Y, Z) Get the target position P of the target charging pile 500 target (X, Y, Z); according to the current position P rob (X, Y, Z) and target position P target (X, Y, Z) determines the charging threshold q of the battery module 10; and, when the current remaining power Q drops to the charging threshold q, the mobile component 50 starts and drives the energy storage robot 100 to the target position P target (X, Y, Z).

[0044] Specifically, in the above embodiment, the energy storage robot 100 is a power distribution device that integrates energy storage function, autonomous movement function and intelligent control function. The energy storage robot 100 can move autonomously to the target location according to the user's demand for electric energy, and provide regular or temporary power supply. The energy storage robot 100 can be used for, but not limited to, outdoor camping, dynamic energy management, emergency rescue, microgrid support and other scenarios to solve the electricity demand in areas without power grid or unstable power. The electric energy of the energy storage robot 100 can be provided by a rechargeable battery module 10, a non-rechargeable battery module 10 or a charging structure (such as a photovoltaic panel 90) provided in the energy storage robot 100, so that the energy storage robot 100 has sufficient reserve power.

[0045] The battery module 10 is a module in the energy storage robot 100 for storing and releasing electrical energy, and is the core module in the energy storage robot 100. Based on the different application scenarios of the energy storage robot 100, the energy storage robot 100 has different capacities, that is, the battery module 10 has different capacities. For example, in a small household or commercial energy storage robot 100, the capacity of the battery module 10 is generally from a few kilowatt-hours to tens of kilowatt-hours. In an industrial energy storage robot 100, the capacity of the battery module 10 is generally from tens of kilowatt-hours to hundreds of kilowatt-hours. The battery module 10 is housed in the energy storage robot 100 and can be electrically connected to other functional components. The battery module 10 can be a rechargeable battery module or a non-rechargeable battery module. In the case where the battery module 10 is a rechargeable battery module, the energy storage robot 100 can charge the battery module 10 through a charging device (such as a charging pile 300) to replenish energy for the energy storage robot 100. In the case where the battery module 10 is a non-rechargeable battery module, the energy storage robot 100 can replace the battery of the battery module 10 through a charging device (such as a charging pile 300) to replenish the energy storage robot 100 with electric energy. The charging pile 300 is a device that provides electric energy to equipment with energy storage function. For example, the charging pile 300 can provide electric energy for new energy vehicles, energy storage robots 100 or other energy storage equipment. This application is explained by taking the charging pile 300 providing electric energy to the energy storage robot 100 as an example. The way in which the charging pile 300 provides electric energy to the energy storage robot 100 includes charging the battery module 10 in the energy storage robot 100, and also includes replacing (swapping) the battery module 10 in the energy storage robot 100.

[0046] The positioning module 30 is a module in the energy storage robot 100 for detecting the real-time position of the energy storage robot 100. Furthermore, the positioning module 30 can also be used for navigation, tracking, motion monitoring and other scenarios of the energy storage robot 100. In some embodiments, the positioning module 30 receives satellite signals for positioning with the help of the Global Navigation Satellite System (GNSS). The GNSS can be, but is not limited to, the Global Positioning System (GPS), the Globalnaya Navigationnaya Sputnikovaya Sistema (GLONASS), the Galileo Satellite Navigation System (Galileo) or the Beidou Satellite Navigation System. In other embodiments, the positioning module 30 is positioned with the help of a cellular network. The positioning module 30 estimates the real-time position of the energy storage robot 100 by the strength or time difference of the communication signal with nearby base stations.

[0047] The moving component 50 is a component in the energy storage robot 100 that is used to drive the energy storage robot 100 to walk. The moving component 50 is arranged on the energy storage robot 100, usually at the bottom of the energy storage robot 100. The moving component 50 may include a driving component (not shown) and an actuator, wherein the driving component is a component for providing power, such as a drive motor, an internal combustion engine, and a pneumatic motor. The actuator is a component for direct walking, such as tracks and wheels. The driving component is directly connected to the actuator and transmits power directly to the actuator to drive the actuator to move, thereby realizing that the moving component 50 drives the energy storage robot 100 to move. The movement process of the moving component 50 driving the energy storage robot 100 can be, but is not limited to, translation, rotation, and a combination of translation and rotation. Furthermore, the moving component 50 may also include a transmission member, which connects the driving member and the actuator, that is, the driving member is indirectly connected to the actuator through the transmission member, and the driving member transmits power directly to the transmission member, and then transmits it to the actuator through the transmission member to make the actuator move, thereby realizing that the moving component 50 drives the energy storage robot 100 to move.

[0048] The controller 70 is a device in the energy storage robot 100 for receiving signals, processing signals and issuing control instructions. The controller 70 includes a circuit board and a control chip arranged on the circuit board. The controller 70 is connected to components such as the battery module 10, the positioning module 30 and the mobile component 50 to realize the control of the energy storage robot 100 (including the start and stop of the mobile component 50, the acquisition of the state of the energy storage robot 100 and the switching control of the working mode of the energy storage robot 100, etc.). In some embodiments, the controller 70 is connected to components such as the battery module 10, the positioning module 30 and the mobile component 50 through a wired connection. The wired connection makes the reliability of the electrical connection between the components higher, and the controller 70 controls the components such as the battery module 10, the positioning module 30 and the mobile component 50 more stably and quickly. In other embodiments, the controller 70 is connected to components such as the battery module 10, the positioning module 30 and the mobile component 50 through a wireless connection. Compared with a wired connection, a wireless connection eliminates the need for electrical connectors for connection and does not take up space. In this application, the controller 70 is configured to execute 01, 02, 03, 04, 07 and other control methods described below.

[0049] Please refer to further Figure 2Specifically, in the above control method, the controller 70 first needs to obtain the current remaining power Q of the battery module 10 in order to accurately and in real time obtain the status of the battery module 10 at any time. The current remaining power Q refers to the actual remaining power of the battery module 10 at the moment of obtaining the remaining power. The current remaining power Q is used to represent the state of the remaining energy of the battery module 10. In some embodiments, the current remaining power Q can be directly obtained through a device set in the energy storage robot 100, such as a power monitoring module in the battery management system (BMS). In other embodiments, the current remaining power Q can be provided by the cloud through communication with the cloud.

[0050] The controller 70 obtains the current position P detected by the positioning module 30 through communication with the positioning module 30. rob (X, Y, Z). Current position P rob (X, Y, Z) refers to the actual position of the positioning module 30 at the moment of detecting the position of the energy storage robot 100. The current position P rob (X, Y, Z) is used to represent the position information of the energy storage robot 100. Current position P rob (X, Y, Z) includes the position information of three dimensions in three-dimensional space. Among them, X and Y represent the position information of the energy storage robot 100 in a plane at a certain altitude, and Z represents the altitude information of the energy storage robot 100. Current position P rob (X, Y, Z) can be used to determine the target position P of the target charging pile target (X, Y, Z) and the charging threshold q of the battery module 10.

[0051] The controller 70 simultaneously obtains the current remaining power Q and the current position P rob (X, Y, Z), the controller 70 can determine the urgency of the energy storage robot 100 for replenishing electric energy based on the current remaining power Q. When the current remaining power Q is small, the energy storage robot 100 has a higher urgency for replenishing electric energy. At this time, the energy storage robot 100 is better to go to a charging pile 300 that is closer to replenish electric energy. When the current remaining power Q is large, the energy storage robot 100 has a lower urgency for replenishing electric energy. At this time, the energy storage robot 100 can go to a charging pile 300 that is farther away to replenish electric energy. The charging pile 300 adapted to the energy storage robot 100 also has a positioning function. The controller 70 can internally store the location information of each charging pile 300, and the controller 70 can also obtain the location information of each charging pile 300 through communication with the cloud.

[0052] Current location P rob(X, Y, Z) is the starting position of the energy storage robot 100 when it moves to the charging pile 300 to replenish electric energy. rob (X, Y, Z) can be used as a reference to determine the relative position of each charging pile 300 and the energy storage robot 100, so as to provide a reference for the selection of the target charging pile 500. Multiple selection criteria can be set for selecting the target charging pile 500, such as the number of idle charging piles 300 at the same location, the charging power of the charging pile 300, the charging cost of the charging pile 300, the distance to the path to the charging pile 300, and the lighting conditions on the path to the charging pile 300. Therefore, the controller 70 can determine the travelable range of the energy storage robot 100 by the current remaining power Q, and with the help of the current position P rob (X, Y, Z) is used as a reference to obtain the target position P of the target charging pile 500 target (X, Y, Z).

[0053] At the target position P target When (X, Y, Z) is determined, the controller 70 calculates the current position P. rob (X, Y, Z) and target position P target (X, Y, Z) can be obtained: the energy storage robot 100 is from the current position P rob (X, Y, Z) Go to the target position P target The target travel path S of (X, Y, Z) target (To be described below) Target travel path S target The specific road conditions will affect the energy storage robot 100's arrival at the target position P target (X, Y, Z) process, that is, when the energy storage robot 100 moves from the current position P rob (X, Y, Z) Go to the target position P target The target travel path S of (X, Y, Z) target In the process, the energy storage robot 100 will further consume a certain amount of electricity, and the amount of electricity will increase as the target travel path S target The specific road conditions vary.

[0054] The charging threshold q is the minimum remaining power corresponding to the state in which the energy storage robot 100 needs to be replenished with electric energy. In conventional technology, the charging threshold q is usually a fixed known value, which may be set before the energy storage robot 100 leaves the factory, or may be set by the user through an input interface after the energy storage robot 100 leaves the factory. For example, no matter what application scenario, as long as the current remaining power Q of the energy storage robot 100 drops to 20%, the controller 70 must start the moving component 50 to make the energy storage robot 100 walk to the nearest charging pile 300 to replenish electric energy. In an embodiment of the present application, the charging threshold q is a value that is flexibly adjusted according to the state of the energy storage robot 100 itself and the surrounding environment. For example, if the current remaining power Q of the energy storage robot 100 has dropped to 20%, and the energy storage robot 100 moves along the target travel path S target Walk to the target location P where the target charging pile 500 is located target (X, Y, Z) only needs to consume 15%, so the charging threshold q can be determined as 15%. Only when the current remaining power Q of the energy storage robot 100 drops to 15%, the controller 70 will start the moving component 50 to make the energy storage robot 100 walk to the target charging pile 500 to replenish power. Therefore, in the process of the controller 70 determining the charging threshold q, the controller 70 also moves the energy storage robot 100 from the current position P rob (X, Y, Z) Go to the target position P target The target travel path S of (X, Y, Z) target The adjustment is based on the power consumption. On the one hand, the remaining power of the energy storage robot 100 is sufficient to ensure that it can reach the target location, and the energy storage robot 100 will not run out of power and break down halfway. On the other hand, the energy storage robot 100 can flexibly determine the charging threshold q, eliminating the need to travel to the optimal charging station 300 for recharging when the remaining power far exceeds the power required to reach the optimal charging station 300. This allows the energy storage robot 100 to have a longer working time.

[0055] The controller 70 obtains the current charging threshold q of the energy storage robot 100 at regular intervals to promptly determine whether the energy storage robot 100 needs to be recharged. The time interval is a fixed, known value that can be set before the energy storage robot 100 leaves the factory or input and set by the user through an input interface after the energy storage robot 100 leaves the factory. The value of the time interval varies depending on the application scenario of the energy storage robot 100. Specifically, the more stringent the power control requirements of the energy storage robot 100 application scenario, the smaller the time interval value.

[0056] During the use of the energy storage robot 100 or in an idle state, the current remaining power Q of the battery module 10 changes (such as the power in the battery module 10 is consumed or naturally lost through use). The controller 70 compares the current remaining power Q obtained with the charging threshold q obtained by analysis in real time to promptly and accurately determine whether the energy storage robot 100 needs to be supplemented with power. When the current remaining power Q drops to the charging threshold q, the controller 70 confirms that the energy storage robot 100 needs to be supplemented with power. At this time, the controller 70 starts the moving component 50 so that the moving component 50 drives the energy storage robot 100 to the target position P target (X, Y, Z), the energy storage robot 100 moves to the target position P target The actual travel path of (X, Y, Z) is the target travel path S target When the energy storage robot 100 reaches the target position P target In the case of (X, Y, Z), the target position P target The target charging pile 500 at (X, Y, Z) can replenish the energy storage robot 100 with electricity (charging or replacing the battery). In some embodiments where the target charging pile 500 charges the energy storage robot 100, the target charging pile 500 fully charges the battery module 10, at which point the energy storage robot 100 has sufficient energy reserves. In other embodiments, the target charging pile 500 charges the battery module 10 to a preset value, at which point the energy storage robot 100 charges faster and can perform emergency tasks as quickly as possible.

[0057] In the energy storage robot 100, energy storage system 1000 and control method of the energy storage robot of the present application, the charging threshold q of the battery module 10 is adjusted according to the actual state of the energy storage robot 100 rather than adopting a fixed value. In the present application, by obtaining the current remaining power Q of the battery module 10 and the current position P of the energy storage robot 100, the charging threshold q of the battery module 10 is adjusted according to the actual state of the energy storage robot 100. rob (X, Y, Z) determines the target position P of the target charging pile 500 target (X, Y, Z), and then determine the charging threshold q of the battery module 10. At this time, the selection of the charging threshold q is more flexible. When the current remaining power Q drops below the charging threshold q, the energy storage robot 100 moves to the target position P under the drive of the mobile component 50. target (X, Y, Z) so that the target charging pile 500 can replenish electric energy for the energy storage robot 100. Therefore, the energy storage robot 100 can accurately judge when it needs to replenish electric energy. The energy storage robot 100 can ensure that it can smoothly reach the charging pile 300 using the remaining power Q. There is no need for human intervention in the charging process of the energy storage robot 100, which can save manpower and material resources.

[0058] Please refer to Figure 1 、 Figure 3 and Figure 4 In some embodiments, the energy storage robot 100 further includes a photovoltaic panel 90, which is configured to receive light and convert light energy into electrical energy to charge the battery module 10. 03: Based on the current remaining power Q and the current position P rob (X, Y, Z) Get the target position P of the target charging pile 500 target (X, Y, Z), including:

[0059] 031: With the current position P rob (X, Y, Z) is used as a reference to obtain the location P of all charging piles 300 within the preset distance range. i (X, Y, Z);

[0060] 033: According to the current position P rob (X, Y, Z) and the location P of each charging pile 300 i (X, Y, Z), plan the closest travel path S for the energy storage robot 100 to each charging pile 300 i-min ;

[0061] 035: According to each travel path S i-min Distance D i and the preset moving speed V to obtain the energy storage robot 100 to complete each travel path S i-min The travel time T i ;

[0062] 037: Get the current time as the starting point and the travel time T i In each travel path S i-min The light intensity L i ;and

[0063] 039: According to the preset algorithm, distance D i , light intensity L i , the preset distance adjustment coefficient α, and the preset illumination adjustment coefficient β, to obtain the target position P of the target charging pile 500 target (X, Y, Z).

[0064] Furthermore, the controller 70 is further configured to execute the methods in 031, 033, 035, 037 and 039. Specifically, the controller 70 is configured to: rob (X, Y, Z) is used as a reference to obtain the location P of all charging piles 300 within the preset distance range. i (X, Y, Z); according to the current position P rob (X, Y, Z) and the location P of each charging pile 300 i(X, Y, Z), plan the closest travel path S for the energy storage robot 100 to each charging pile 300 i-min ; According to the distance D of each travel path i and the preset moving speed V to obtain the energy storage robot 100 to complete each travel path S i-min The travel time T i ; Get the current time as the starting point and the travel time T i In each travel path S i-min The light intensity L i ; and, according to the preset algorithm, distance D i , light intensity L i , the preset distance adjustment coefficient α, and the preset illumination adjustment coefficient β, to obtain the target position P of the target charging pile 500 target (X, Y, Z).

[0065] Specifically, in the above-mentioned embodiment, the photovoltaic panel 90 is an element that converts light energy into electrical energy to charge the device connected to the photovoltaic panel 90. The photovoltaic panel 90 can be, but is not limited to, a monocrystalline silicon photovoltaic panel, a polycrystalline silicon photovoltaic panel, a thin-film photovoltaic panel, etc. In some embodiments, the photovoltaic panel 90 is arranged on the top of the energy storage robot 100 to ensure that the photovoltaic panel 90 can fully absorb light energy. The photovoltaic panel 90 receives light and converts light energy into electrical energy to charge the battery module 10. Of course, in other embodiments, the photovoltaic panel 90 can also be arranged on the side of the energy storage robot 100, or even at the bottom.

[0066] In addition, the photovoltaic panel 90 can have multiple states, for example, the photovoltaic panel 90 has a folded state or an unfolded state. In the folded state, the photovoltaic panel 90 is at least partially stored in the body of the energy storage robot 100, or is close to the body of the energy storage robot 100, or in other forms to minimize the space occupied. Therefore, if the controller 70 puts the photovoltaic panel 90 in a folded state during the movement of the energy storage robot 100, the wind resistance encountered by the energy storage robot 100 is small, and the power consumed per unit distance will also be reduced. In the unfolded state, the photovoltaic panel 90 is fully unfolded, and the form it presents is the form in which it can occupy the largest space.

[0067] The controller 70 sets the current position P rob(X, Y, Z) is used as a reference for searching for all available charging piles 300 within a certain distance range of the energy storage robot 100. The preset distance range is used to limit the distance of the farthest charging pile 300 that the energy storage robot 100 can go to. The distance range is determined by the current remaining power Q. When the current remaining power Q is small, the energy storage robot 100 has a higher degree of urgency for replenishing electric energy, and the distance range is set to be smaller. When the current remaining power Q is large, the energy storage robot 100 has a lower degree of urgency for replenishing electric energy, and the distance range is set to be larger. In some embodiments, a list of the relationship between the current remaining power Q and the distance range is stored in the energy storage robot 100, and the controller 70 can obtain the preset distance range based on the current remaining power Q. The controller 70 can also obtain the preset distance range based on the current position P rob (X, Y, Z) and the distance range found, determine all the charging piles 300 that the energy storage robot 100 can choose, and obtain the location P of each charging pile 300 respectively i (X, Y, Z), for example, Figure 4 As shown, the controller 70 can also be based on the current position P rob (X, Y, Z) and the distance range found determine that there are three charging piles available for the energy storage robot 100, and the locations of the three charging piles are P1 (X, Y, Z), P2 (X, Y, Z) and P3 (X, Y, Z) respectively.

[0068] Next, the controller 70 calculates the current position P rob (X, Y, Z) and the location P of each charging pile 300 i (X, Y, Z) can be obtained: the energy storage robot 100 is from the current position P rob (X, Y, Z) Go to the location P of each charging pile 300 i The shortest travel path S of (X, Y, Z) i-min , that is, the path with the shortest distance that the energy storage robot 100 needs to travel. Each travel path S i-min and the location P of each charging pile 300 i (X, Y, Z) correspond one to one, providing a reference for the subsequent determination of the target charging pile 500.

[0069] Furthermore, the preset moving speed V is a relatively suitable moving speed preset by the energy storage robot 100. In some embodiments, the moving speed V may be a better empirical value set before the energy storage robot 100 leaves the factory. When the energy storage robot 100 moves at the moving speed V, on the one hand, the movement process of the energy storage robot 100 is relatively stable and safe, not prone to rollover and able to respond in time when encountering obstacles. On the other hand, the energy storage robot 100 consumes less power when moving the same distance, and the energy storage robot 100 can take into account both faster movement and high energy utilization. In other embodiments, the moving speed V may be set by the user through the input interface after the energy storage robot 100 leaves the factory. At this time, the movement process of the energy storage robot 100 is controllable and more flexible, and can better adapt to different usage scenarios. When the energy storage robot 100 moves at the preset moving speed V, each travel path S i-min The corresponding travel distance D i Corresponding to different travel time T i , that is, the energy storage robot 100 completes each travel path S i-min Estimated duration.

[0070] When the energy storage robot 100 moves from the current position P rob (X, Y, Z) Go to the target position P target The target travel path S of (X, Y, Z) target During the process, the photovoltaic panel 90 can absorb the target travel path S target The light energy on the battery module 10 is converted into electrical energy to replenish the battery module 10. i-min The light intensity L i and travel time T i This will directly affect the amount of electricity that can be converted by the photovoltaic panel 90. As mentioned above, multiple selection criteria can be set for selecting the target charging pile 500. The controller 70 can set the travel path S i-min The amount of electricity that the upper photovoltaic panel 90 can replenish for the battery module 10 is used as a selection benchmark. At this time, the energy utilization rate of the energy storage robot 100 is higher and it is more energy-saving and environmentally friendly. The controller 70 obtains the travel time T from the current moment i In each travel path S i-min The light intensity L i , for analyzing the amount of electricity that the photovoltaic panel 90 can replenish for the battery module 10.

[0071] The controller 70 is provided with a preset algorithm for selecting the target charging pile 500, that is, an evaluation algorithm for the target charging pile 500. The preset algorithm comprehensively considers the various travel paths S i-min The corresponding distance D i , and each travel path S i-minThe light intensity L i At this time, the preset algorithm will move the energy storage robot 100 to the location P of each charging pile 300. i Expected power consumption of (X, Y, Z) (corresponding to distance D i ) and expected supplementary electrical energy (corresponding to light intensity L i ) are taken into account, and the target charging pile 500 can be selected more comprehensively. Specifically, each charging pile 300 corresponds to an evaluation value f(xi), and the controller 70 selects the target charging pile 500 according to the preset algorithm, the distance D i , light intensity L i The preset distance adjustment coefficient α and the preset illumination adjustment coefficient β are used to obtain the evaluation value f(x i ):

[0072] f(x i )=αD i +βL i

[0073] Then, the controller 70 can calculate the evaluation value f(x i ) judge the superiority and inferiority of the charging piles 300, and select the charging pile 300 with the most relative advantage as the target charging pile 500, and use the position of the target charging pile 500 as the target position P target (X, Y, Z). Therefore, the target position P of this application target The (X, Y, Z) selection process comprehensively considers the current position P of the charging pile 300 and the energy storage robot 100. rob Based on the relationship between (X, Y, Z) and the current remaining power Q of the energy storage robot 100, a travel path S with a shorter distance and more energy to be replenished is selected. i-min The corresponding charging pile 300 is used as the target charging pile 500, and the selection of the target charging pile 500 is more reasonable and flexible.

[0074] Please refer to Figure 1 、 Figure 4 and Figure 5 In some embodiments, 033: according to the current position P rob (X, Y, Z) and the location P of each charging pile 300 i (X, Y, Z), plan the closest travel path S for the energy storage robot 100 to each charging pile 300 i-min ,include:

[0075] 0331: Get the current position P rob (X, Y, Z) as the reference, the surrounding environment model within the distance range; and

[0076] 0333: Based on the surrounding environment model and current position P rob (X, Y, Z) and the location P of each charging pile 300 i (X, Y, Z), plan the closest travel path S for the energy storage robot 100 to each charging pile 300 i-min .

[0077] Furthermore, the controller 70 is further configured to execute the method in 0331 and 0331. Specifically, the controller 70 is configured to: obtain the current position P rob (X, Y, Z) as the reference, the surrounding environment model within the distance range; and, based on the surrounding environment model, the current position P rob (X, Y, Z) and the location P of each charging pile 300 i (X, Y, Z), plan the closest travel path S for the energy storage robot 100 to each charging pile 300 i-min .

[0078] Specifically, in the above embodiment, the controller 70 uses the current position P rob (X, Y, Z) is used as the reference for finding each charging pile 300, and the controller 70 needs to obtain the current position P rob (X, Y, Z) within the preset distance range of the space specific data, such as: the distance range of all objects in the position information. Therefore, the controller 70 further obtains the current position P rob (X, Y, Z) is used as a reference to create a surrounding environment model within a distance range. In some embodiments, the controller 70 obtains specific data in the above space through interaction with the cloud and independently establishes a surrounding environment model. In other embodiments, the controller 70 obtains a mature environmental model (for example, a map model of the city or region where the energy storage robot 100 is located) corresponding to the surrounding environment model of the above area (for example, based on the current position P rob (X, Y, Z) is the center of the circle and the distance range is the radius of the map model).

[0079] When acquiring the surrounding environment model, the controller 70 sets the current position P rob (X, Y, Z) and the location P of each charging pile 300 i (X, Y, Z) is input into the surrounding environment model to plan the energy storage robot 100 from the current position P through the surrounding environment model rob (X, Y, Z) go to the location P of each charging pile 300 respectively i The shortest travel path S of (X, Y, Z) i-min , that is, the shortest path that the energy storage robot 100 needs to travel, so as to be used for the subsequent calculation of the evaluation value f(xi ), and is ultimately used to select the target charging pile 500. It can be understood that each travel path S i-min and the location P of each charging pile 300 i (X, Y, Z) correspond one to one. At this time, the controller 70 can accurately determine the energy storage robot 100 from the current position P according to the surrounding environment model. rob (X, Y, Z) Go to the location P of each charging pile 300 i (X, Y, Z) the closest travel path S i-min , determine the target position P target The process of (X, Y, Z) is more accurate.

[0080] Please refer to Figure 1 、 Figure 6 and Figure 7 In some embodiments, 04: according to the current position P rob (X, Y, Z) and target position P target (X, Y, Z) determines the charging threshold q of the battery module 10, including:

[0081] 041: Get the energy storage robot 100 from the current position P rob (X, Y, Z) moves to the target position P target The target travel path S of (X, Y, Z) target The first distance D on t1 , the second distance D t2 and the third distance D t3 , the first distance D t1 is the distance that the energy storage robot 100 walks downhill, and the second distance D t2 is the distance that the energy storage robot 100 walks uphill, and the third distance D t3 is the distance the energy storage robot travels on a 100-meter flat road; and

[0082] 043: According to the preset moving speed V and the first distance D t1 , the second distance D t2 and the third distance D t3 Determine the charging threshold q.

[0083] Furthermore, the controller 70 is also used to execute the methods in 041 and 043. Specifically, the controller 70 is configured to: obtain the energy storage robot 100 from the current position P rob (X, Y, Z) moves to the target position P target The target travel path S of (X, Y, Z) target The first distance D on t1 , the second distance D t2 and the third distance Dt; and, according to the preset moving speed V, the first distance Dt1 , the second distance D t2 and the third distance D t3 Determine the charging threshold q.

[0084] Specifically, in the above embodiment, at the target position P target When (X, Y, Z) is determined, the target travel path S of the energy storage robot 100 target The controller 70 sets the target travel path S target The corresponding distance is divided into the following according to the difference in road conditions: the first distance D t1 , the second distance D t2 and the third distance D t3 , in order to better analyze the energy storage robot 100 on the target travel path S target The specific movement and power consumption are shown.

[0085] Among them, the first distance D t1 = is the distance that the energy storage robot 100 walks downhill. At this time, the gravity of the energy storage robot 100 does work. When the energy storage robot 100 moves at the same speed V, the battery module 10 consumes less power per unit time. Figure 7 As shown, the length of D7 is the first distance D t1 The second distance D t2 = is the distance that the energy storage robot 100 walks uphill. At this time, the energy storage robot 100 overcomes gravity to do work. When the energy storage robot 100 moves at the same speed V, the battery module 10 consumes more electricity per unit time. Figure 7 As shown, the total length of D5 and D6 is the second distance D t2 The third distance D t3 is the distance that the energy storage robot 100 walks on a flat road. At this time, the center of gravity of the energy storage robot 100 remains unchanged. When the energy storage robot 100 moves at the same speed V, the power consumed by the battery module 10 per unit time does not change. Figure 7 As shown, the total length of D1, D3 and D4 is the third distance D t3 .

[0086] Therefore, when the preset moving speed V is a fixed value, the first distance D t1 , the second distance D t2 and the third distance D t3 The lengths of will affect the energy storage robot 100 along the target travel path S target In some embodiments, the controller 70 internally sets a charging threshold q fitting function, which is calculated by the first distance D t1 , the second distance Dt2 and the third distance D t3 The charging threshold q is obtained by fitting. Specifically: First, the first distance D t1 , the second distance D t2 and the third distance D t3 The sum of determines the initial value of the charging threshold q, and the larger the sum, the higher the initial value. t1 and the second distance D t2 Adjust the initial value, the first distance D t1 The corresponding initial value is lowered, and the second distance D t2 The corresponding initial value is adjusted upward to obtain the final charging threshold q. In other embodiments, the controller 70 internally adjusts the charging threshold q according to the first distance D. t1 , the second distance D t2 and the third distance D t3 A table is looked up (the preset table is obtained based on empirical values) to obtain the charging threshold q.

[0087] In summary, the controller 70 can use the moving speed V, the first distance D t1 , the second distance D t2 and the third distance D t3 Flexible determination of the charging threshold q ensures that the energy storage robot 100 has sufficient remaining power to reach its target location, preventing the robot from running out of power and becoming stranded. Furthermore, the flexible determination of the charging threshold q eliminates the need for the robot to immediately charge at the charging station 300 when the battery level is high, extending the robot's operational life. Consequently, the robot can operate normally and efficiently.

[0088] Please refer to Figure 1 and Figure 8 In some embodiments, the energy storage robot 100 further includes a photovoltaic panel 90, which is configured to receive light and convert light energy into electrical energy to charge the battery module 10. The control method further includes:

[0089] 05: Get the target position P target The target path S corresponding to (X, Y, Z) target The target light intensity L on target ;and

[0090] 06: According to the target light intensity L target The charging threshold q of the battery module 10 is modified.

[0091] Furthermore, the controller 70 is also used to execute the methods in 05 and 06. Specifically, the controller 70 is configured to: obtain the target position P target The target path S corresponding to (X, Y, Z)target The target light intensity L on target ; and, according to the target light intensity L target The charging threshold q of the battery module 10 is modified.

[0092] Specifically, in the above embodiment, the methods in 05 and 06 are used to further modify the charging threshold q. Since the corresponding charging piles 300 are based on the current time as the starting point, the travel time T i In each travel path S i-min Each has a corresponding light intensity L i At the target position P target When (X, Y, Z) is determined, the target position P target (X, Y, Z) corresponding to the travel path S i-min The target travel path S target , target travel path S target The light intensity L i That is the target light intensity L target Target light intensity L target Indicates that the energy storage robot 100 follows the target travel path S target The expected light intensity during the journey to the target charging station 500. The specific value of the light intensity can be calculated using meteorological data transmitted from the cloud.

[0093] Therefore, when the energy storage robot 100 moves at a preset speed V for a corresponding travel time T i Arrive at the target position P target In the case of (X, Y, Z), the photovoltaic panel 90 can travel for a corresponding time T i The light energy is used to charge the battery module 10. Specifically, the controller 70 can charge the battery module 10 according to the target light intensity L target And the corresponding travel time T i The amount of electricity that the photovoltaic panel 90 can charge the battery module 10 is determined, and based on this, the charging threshold q of the battery module 10 is adjusted. Therefore, the energy storage robot 100 can flexibly determine the charging threshold q. Because light energy supplements electrical energy, the energy storage robot 100 does not need to immediately charge at the charging station 300 when the battery level is high. This allows the energy storage robot 100 to operate normally and efficiently.

[0094] Please refer to Figure 1 and Figure 9 In some embodiments, 06: according to the target light intensity L target Correcting the charging threshold q of the battery module 10 includes:

[0095] 061: According to the preset moving speed V and target travel path Starget Target distance D target Determine that the energy storage robot 100 completes the target travel path S target The target travel time T target ;

[0096] 063: According to the target light intensity L target , target travel time T target The charging rate C of the photovoltaic panel 90 charging the battery module 10 determines the supplementary power Q of the photovoltaic panel 90 charging the battery module 10. supply ;and

[0097] 065: According to the replenishment of power Q supply The charging threshold q of the battery module 10 is modified.

[0098] Furthermore, the controller 70 is also used to execute the methods in 061, 063 and 065. Specifically, the controller 70 is configured to: according to the preset moving speed V and the target travel path S target Target distance D target Determine that the energy storage robot 100 completes the target travel path S target The target travel time T target ; According to the target light intensity L target , target travel time T target The charging rate C of the photovoltaic panel 90 charging the battery module 10 determines the supplementary power Q of the photovoltaic panel 90 charging the battery module 10. supply ; and according to the replenishment of power Q supply The charging threshold q of the battery module 10 is modified.

[0099] Specifically, in the above embodiment, at the target position P target When (X, Y, Z) is determined, the target position P target (X, Y, Z) corresponding to the travel path S i-min The target travel path S target , target travel path S target Distance D i The target distance D target Accordingly, the energy storage robot 100 travels the target distance D at a preset moving speed V. target The travel time T i , which is the target travel time T target It can be understood that the target travel path S target Target distance D target and target travel time T target All are expected estimates.

[0100] The charging rate C of the photovoltaic panel 90 for charging the battery module 10 is determined by the energy generation efficiency of the photovoltaic panel 90. This application is described with the charging rate C as a fixed preset value. The controller 70 controls the target light intensity L target , target travel time T target and the charging rate C, it is possible to calculate the time it takes for the energy storage robot 100 to move to the target position P at a preset moving speed V. target During the process of (X, Y, Z), the photovoltaic panel 90 can charge the battery module 10 through energy conversion, that is, the supplementary power Q supply It can be understood that the higher the charging rate C is, the higher the target light intensity L is. target The stronger and longer the target travel time T target The longer it is, the more power you need to replenish. supply The bigger.

[0101] Furthermore, the controller 70 can be configured to replenish the power Q supply The charging threshold q of the battery module 10 is modified to obtain a more flexible and energy-saving charging threshold q. In some embodiments, the controller 70 modifies the charging threshold q by subtracting the supplementary power Q from the charging threshold q before modification. supply The corresponding power percentage (qQ supply / Q sum *100%, Q sum The maximum power of the battery module 10 is obtained. In this case, the correction process is simple and quick. In other embodiments, the controller 70 corrects the charging threshold q by subtracting the supplementary power Q from the charging threshold q before correction. supply The corresponding percentage of power determines a certain intermediate value Δq(Q supply-middle ), that is, (q-Δq(Q supply-middle )). Determine the intermediate value Δq(Q supply-middle ) process needs to consider: the reduction of replenishment power ΔQ caused by poor charging supply-1 , the supplementary power is reduced by ΔQ due to the situation that prevents the photovoltaic panel 90 from charging supply-2 , and the reduction in replenishment power ΔQ caused by sudden weather changes supply-3 In other cases, Δq(Q supply-middle )=Δq(Q supply -ΔQ supply-1 -ΔQ supply-2 -ΔQ supply-3 ). In this case, the correction process can be more fault-tolerant.

[0102] In summary, the energy storage robot 100 can flexibly determine the charging threshold q. Because light energy supplements electrical energy, the energy storage robot 100 does not need to go to the charging station 300 to charge when the battery is high, and the energy storage robot 100 can operate for a longer time. Therefore, the energy storage robot 100 can operate normally and efficiently.

[0103] Please refer to Figure 1 and Figure 10 In some embodiments, the control method further comprises:

[0104] 08: According to the current position P rob (X, Y, Z) determines the expected remaining power Q of the energy storage robot 100 remain ;and

[0105] 09: When the current remaining power Q is less than the expected remaining power Q remain In this case, the moving component 50 stops moving, and the photovoltaic panel 90 of the energy storage robot 100 charges the battery module 10.

[0106] Furthermore, the controller 70 is also used to execute the methods in 08 and 09. Specifically, the controller 70 is configured to: rob (X, Y, Z) determines the expected remaining power Q of the energy storage robot 100 remain ; and, when the current remaining power Q is less than the expected remaining power Q remain In the case of , the moving component 50 stops moving and the photovoltaic panel 90 charges the battery module 10.

[0107] Specifically, in the above embodiment, the energy storage robot 100 determines that it needs to supplement electric energy, and the moving component 50 drives the energy storage robot 100 to move along the target travel path S according to the control of the controller 70. target Go to the target position P at the preset speed V target (X, Y, Z). During the above-mentioned moving process, the controller 70 continuously obtains the current position P at a certain frequency. rob (X, Y, Z) and the current remaining power Q are used to evaluate the energy storage robot 100 to reach the target position P target The progress status of the process (X, Y, Z).

[0108] As described above, at the target position P target When (X, Y, Z) is determined, the controller 70 controls the energy storage robot 100 to follow the target travel path S target Go to target location P target (X, Y, Z) process is expected. The specific expected content is in addition to the target travel path S mentioned above. target Target distance D target and target travel time Ttarget In addition, the energy storage robot 100 moves to the corresponding target travel path S target At any position, the expected remaining power Q of the energy storage robot 100 remain Expected remaining power Q remain For evaluating the energy storage robot 100 along the target travel path S target Go to target location P target The power consumption of the battery module 10 during the process of (X, Y, Z) is used to determine whether the energy storage robot 100 can successfully reach the target position P target (X, Y, Z). During the above-mentioned actual movement process, the controller 70 continuously obtains the current position P at the same frequency. rob (X, Y, Z), and determine the current position P rob The expected remaining power Q corresponding to (X, Y, Z) remain .

[0109] The controller 70 compares the current remaining power Q with the expected remaining power Q remain When the current remaining power Q is less than the expected remaining power Q remain , that is, Q remain In the case of the battery module 10 being consumed too quickly by the controller 70, the energy storage robot 100 may not be able to reach the target position P smoothly. target Therefore, the controller 70 controls the moving component 50 to stop moving, and the energy storage robot 100 stays at the current position P rob (X, Y, Z), and the battery module 10 is charged by the photovoltaic panel 90. At this time, the energy storage robot 100 stops moving before the battery module 10 is exhausted and charges the battery module 10 through the photovoltaic panel 90, so the energy storage robot 100 will not run out of power and break down halfway.

[0110] Please refer to Figure 10 In some embodiments, the control method further comprises:

[0111] 010: The photovoltaic panel 90 charges the battery module 10 so that the current remaining power Q is greater than the expected remaining power Q remain In the case of , the moving component 50 restarts and drives the energy storage robot 100 to continue to move to the target position P target (X, Y, Z).

[0112] Furthermore, the controller 70 is further configured to execute the method in 010. Specifically, the controller 70 is configured to: charge the battery module 10 with the photovoltaic panel 90 so that the current remaining power Q is greater than the expected remaining power Q remain In the case of , the moving component 50 restarts and drives the energy storage robot 100 to continue to move to the target position P​target (X, Y, Z).

[0113] Specifically, in the above embodiment, the controller 70 controls the moving assembly 50 to stop moving so that the energy storage robot 100 stays at the current position P rob (X, Y, Z) and the photovoltaic panel 90 is charging the battery module 10, the current remaining power Q of the energy storage robot 100 continues to increase. Because the charging speed of the charging station 300 for the energy storage robot 100 is faster than the charging speed of the photovoltaic panel 90 for the battery module 10, the optimal way to replenish the energy storage robot 100 is still to replenish energy through the target charging station 500.

[0114] During the process of the photovoltaic panel 90 charging the battery module 10, the controller 70 continues to obtain the current remaining power Q at a certain frequency. The controller 70 compares the current remaining power Q with the expected remaining power Q. remain Compare and find that the current remaining power Q is greater than the expected remaining power Q remain , that is, Q>Q remain In the case of , the controller 70 determines that the amount of electricity replenished by the photovoltaic panel 90 to the battery module 10 is sufficient for the energy storage robot 100 to continue moving and successfully reach the target position P target (X, Y, Z). Therefore, the controller 70 controls the moving component 50 to restart, and the moving component 50 drives the energy storage robot 100 to continue to move to the target position P target (X, Y, Z). At this time, the energy storage robot 100 stops for a short time, and then reaches the target position P in the shortest time available. target (X, Y, Z), and fast charging is performed through the target charging station 500.

[0115] Please refer to Figure 11 , an embodiment of the present application provides an energy storage system 1000. The energy storage system 1000 includes the energy storage robot 100 and a charging pile 300 as described in any of the above embodiments, and the charging pile 300 is configured to provide electrical energy to the energy storage robot 100.

[0116] Specifically, in the above embodiment, the energy storage system 1000 is a system for storing, scheduling and utilizing energy. The energy storage system 1000 includes an energy storage device (energy storage robot 100) for scheduling or utilizing energy, and an energy supply device that stores energy and supplies energy to the energy storage robot 100. The energy storage system 1000 can be any system with the above functions, for example: the energy storage system 1000 is a cleaning system, the energy storage robot 100 is a cleaning robot, the energy supply device is a power supply base station, and the power supply base station supplies power to the cleaning robot so that the cleaning robot can use electric energy to move; the energy storage system 1000 is a logistics system, the energy storage robot 100 is a logistics robot, the energy supply device is a charging pile, and the charging pile supplies power to the logistics robot so that the logistics robot can use electric energy to move; the energy storage system 1000 is a new energy vehicle system, the energy storage robot 100 is a new energy vehicle, the energy supply device is a charging pile, and the charging pile supplies power to the new energy vehicle so that the new energy vehicle can use electric energy to move. Please further combine Figure 11 This application takes the energy storage system 1000 as an example of an electricity scheduling system. At this time, the energy storage robot 100 is a movable energy storage power source, and the energy supply equipment is the charging pile 300. The charging pile 300 supplies power to the energy storage robot 100 so that the energy storage robot 100 can use electric energy to move and schedule and utilize electric energy.

[0117] It should be noted that the specific structure and properties of the charging pile 300 in this embodiment are exactly the same as the specific structure and properties of the charging pile 300 in the above embodiment, and the specific structure and properties of the energy storage robot 100 in this embodiment are exactly the same as the specific structure and properties of the energy storage robot 100 in the above embodiment, and no repeated explanation will be given here.

[0118] When the energy storage robot 100 reaches the target position P where the charging pile 300 is located target(X, Y, Z), the charging pile 300 can charge or replace the battery module 10 of the energy storage robot 100. Taking charging as an example, the charging pile 300 can charge the energy storage robot 100 by wired charging or wireless charging. When the charging pile 300 charges the energy storage robot 100 by wired charging, the energy storage robot 100 is connected to the physical plug of the charging pile 300 (such as Type 1, Type 2, GB / T or customized interface) through a connecting device (not shown) or a guiding device (not shown). At this time, the process of charging the energy storage robot 100 by the charging pile 300 is simple and reliable, and the charging speed is relatively fast. When the charging pile 300 charges the energy storage robot 100 by wireless charging, the energy storage robot 100 and the charging pile 300 are respectively provided with an induction coil. The induction coil of the charging pile 300 generates a magnetic field and transmits energy to the energy storage robot 100 through the induction coil of the energy storage robot 100 to charge the battery module 10 of the energy storage robot 100. At this point, the charging station 300 and the energy storage robot 100 do not need to come into contact, and the energy storage robot 100 will not wear out. This improves the appearance of the energy storage robot 100 and prolongs its service life. When the charging station 300 is replacing the battery of the energy storage robot 100, the charging station 300 directly replaces the fully charged battery module 10 for the energy storage robot 100. In this case, the energy storage robot 100 can replenish its energy quickly, and its working time will be extended.

[0119] Since the energy storage system 1000 in the embodiment of the present application includes the energy storage robot 100, it can be understood that the energy storage system 1000 includes at least the same beneficial effects as the energy storage robot 100. Therefore, the beneficial effects of the energy storage system 1000 refer to the beneficial effects of the energy storage robot 100 introduced above and will not be repeated here.

[0120] The technical features of the above-described embodiments may be combined in any manner. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there are no conflicts in the combination of these technical features, they should be considered to be within the scope of this specification. Furthermore, other implementations can be derived from the above-described embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0121] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A control method for an energy storage robot, characterized in that: The energy storage robot includes a battery module, a positioning module and a moving component, wherein the battery module is configured to supply energy to the energy storage robot, the positioning module is configured to detect the real-time position of the energy storage robot, and the moving component is configured to drive the energy storage robot to move; the control method includes: Obtain the current remaining power Q of the battery module; Get the current position P of the energy storage robot rob (X, Y, Z); According to the current remaining power Q and the current position P rob (X, Y, Z) Get the target position P of the target charging pile target (X, Y, Z); According to the current position P rob (X, Y, Z) and the target position P target (X, Y, Z) determining a charging threshold q of the battery module; and When the current remaining power Q drops to the charging threshold q, the moving component starts and drives the energy storage robot to the target position P. target (X, Y, Z).

2. The control method according to claim 1, characterized in that: The energy storage robot further includes a photovoltaic panel, which is configured to receive light and convert light energy into electrical energy to charge the battery module; the current remaining power Q and the current position P rob (X, Y, Z) Get the target position P of the target charging pile target (X, Y, Z), including: The current position P rob (X, Y, Z) is used as a reference to obtain the location P of all charging piles within the preset distance range. i (X, Y, Z); According to the current position P rob (X, Y, Z) and the location P of each charging pile i (X, Y, Z), plan the closest travel path S for the energy storage robot to each of the charging piles i-min ; According to each of the travel paths S i-min Distance D i and the preset moving speed V to obtain the energy storage robot completing each of the travel paths S i-min The travel time T i ; Get the current time as the starting point, in the travel time T i In each of the travel paths S i-min The light intensity L i ;and According to the preset algorithm, the distance D i , the light intensity L i , a preset distance adjustment coefficient α, and a preset illumination adjustment coefficient β, to obtain the target position P of the target charging pile target (X, Y, Z).

3. The control method according to claim 2, characterized in that: According to the current position P rob (X, Y, Z) and the location P of each charging pile i (X, Y, Z), plan the closest travel path S for the energy storage robot to each of the charging piles i-min ,include: Get the current position P rob (X, Y, Z) as the reference, the surrounding environment model within the distance range; and According to the surrounding environment model, the current position P rob (X, Y, Z) and the location P of each charging pile i (X, Y, Z), plan the closest travel path S for the energy storage robot to each of the charging piles i-min .

4. The control method according to claim 1, wherein: According to the current position P rob (X, Y, Z) and the target position P target (X, Y, Z) determines the charging threshold q of the battery module, including: Get the energy storage robot from the current position P rob (X, Y, Z) moves to the target position P target The target travel path S of (X, Y, Z) target The first distance D on t1 , the second distance D t2 and the third distance D t3 , the first distance D t1 is the distance that the energy storage robot walks downhill, and the second distance D t2 is the distance that the energy storage robot walks uphill, and the third distance D t3 is the distance the energy storage robot travels on a flat road; and According to the preset moving speed V, the first distance D t1 The second distance D t2 and the third distance D t3 The charging threshold q is determined.

5. The control method according to claim 1, characterized in that: The energy storage robot further includes a photovoltaic panel configured to receive light and convert light energy into electrical energy to charge the battery module. The control method further includes: Get the target position P target The target path S corresponding to (X, Y, Z) target The target light intensity L on target ;and According to the target light intensity L target The charging threshold q of the battery module is modified.

6. The control method according to claim 5, characterized in that: According to the target light intensity L target Correcting the charging threshold q of the battery module includes: According to the preset moving speed V and the target moving path S target Target distance D target Determine that the energy storage robot has completed the target travel path S target The target travel time T target ; According to the target light intensity L target , the target travel time T target The charging rate C of the photovoltaic panel to charge the battery module determines the supplementary power Q of the photovoltaic panel to charge the battery module. supply ;and According to the replenishment of power Q supply The charging threshold q of the battery module is modified.

7. The control method according to claim 1, characterized in that: Also includes: According to the current position P rob (X, Y, Z) determines the expected remaining power Q of the energy storage robot remain ;and When the current remaining power Q is less than the expected remaining power Q remain In this case, the mobile component stops moving and the photovoltaic panel of the energy storage robot charges the battery module.

8. The control method according to claim 7, characterized in that: Also includes: The photovoltaic panel charges the battery module so that the current remaining power Q is greater than the expected remaining power Q remain In the case of , the mobile component restarts and drives the energy storage robot to continue to move to the target position P target (X, Y, Z).

9. An energy storage robot, characterized in that: The energy storage robot includes a battery module, a positioning module, a moving component and a controller. The battery module is configured to supply energy to the energy storage robot, the positioning module is configured to detect the real-time position of the energy storage robot, and the moving component is configured to drive the energy storage robot to move; the controller is configured to execute the control method described in any one of claims 1-8.

10. An energy storage system, characterized in that: include: The energy storage robot according to claim 9; and A charging pile, wherein the charging pile is configured to provide electrical energy to the energy storage robot.

Images