Control method of energy storage robot, energy storage robot and energy storage system
By adjusting the attitude angle of the photovoltaic components using historical data from the energy storage robot, the problem of reduced efficiency caused by an unsatisfactory incident angle of the photovoltaic components was solved, thus improving the photovoltaic charging efficiency.
Patent Information
- Application Number
- CN202511007041.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-21
- Publication Date
- 2025-10-31
Smart Images
Figure CN120871701A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robot control technology, and more specifically, to a control method for an energy storage robot, an energy storage robot, and an energy storage system. Background Technology
[0002] Energy storage robots are energy storage devices that combine photoelectric conversion and autonomous mobility, enabling them to meet various application scenarios both indoors and outdoors, such as dynamic energy management, outdoor camping, emergency disaster relief, and microgrid support. During the use of energy storage robots, the angle of incidence of light reaching the photovoltaic (PV) element may be less than ideal. This prevents the PV element from maximizing sunlight absorption, resulting in suboptimal photoelectric conversion efficiency and consequently affecting the charging efficiency of the battery module within the robot. Summary of the Invention
[0003] This application provides a control method for an energy storage robot, an energy storage robot, and an energy storage system. When the attitude angle of the photovoltaic device of the energy storage robot is not good, the attitude angle of the photovoltaic device of the energy storage robot can be adjusted according to historical data to ensure that the photovoltaic device of the energy storage robot obtains better light intensity, thereby improving the photovoltaic charging efficiency of the energy storage robot.
[0004] In the control method for an energy storage robot according to embodiments of this application, the energy storage robot includes a body, a battery module disposed on the body, and a photovoltaic element disposed on the body. The photovoltaic element is configured to generate electrical energy through photoelectric conversion and output it to the battery module. The photovoltaic element is capable of moving relative to the body to change its attitude angle. The battery module is configured to supply power to at least the energy storage robot. The control method includes: acquiring historical data of the energy storage robot when it is outdoors, the historical data including historical weather types on a daily basis and corresponding historical timestamps, historical location coordinates, historical photovoltaic element attitude angles, and historical light intensity; obtaining an adjustment time and an optimal attitude angle based on the historical light intensity, the historical timestamps, the historical location coordinates, the historical photovoltaic element attitude angles, and a preset first light intensity threshold; obtaining the corresponding optimal attitude angle as a target attitude angle based on the current weather type, current location coordinates, current time, the historical weather type, the historical location coordinates, and the adjustment time; and controlling the photovoltaic element attitude angle of the energy storage robot to adjust to the target attitude angle.
[0005] In some implementations, obtaining the adjustment time and optimal attitude angle based on the historical timestamp of the historical illumination intensity, the historical location coordinates, the historical photovoltaic device attitude angle, and a preset first illumination intensity threshold includes: filtering out the historical timestamps and historical photovoltaic device attitude angles corresponding to historical illumination intensities greater than the first illumination intensity threshold, and marking them as transition time and transition attitude angle respectively; grouping the transition time and transition attitude angle according to the historical weather type and the historical location coordinates to obtain multiple sets of transition time and transition attitude angle, each set of transition time and transition attitude angle corresponding to the same historical weather type and historical location coordinates; and obtaining the adjustment time and optimal attitude angle based on each set of transition time and corresponding transition attitude angle, wherein the transition time encompasses the adjustment time.
[0006] In some implementations, obtaining the corresponding optimal attitude angle as the target attitude angle based on the current weather type, current location coordinates, current time, historical weather type, historical location coordinates, and adjustment time includes: filtering historical data from the historical data whose historical weather type is the same as the current weather type as first filtered data; filtering historical data from the first filtered data whose historical location coordinates are the same as the current location coordinates as second filtered data; and filtering the optimal attitude angle corresponding to the adjustment time that is the same as the current time from the second filtered data as the target attitude angle.
[0007] In some implementations, obtaining the corresponding optimal attitude angle as the target attitude angle based on the current weather type, current location coordinates, current time, historical weather type, historical location coordinates, and adjustment time includes: obtaining the X-axis and Y-axis of the four-dimensional mapping database based on the historical location coordinates; obtaining the Z-axis of the four-dimensional mapping database based on the adjustment time; obtaining the retrieval index based on the historical weather type; and obtaining the corresponding optimal attitude angle as the target attitude angle from the four-dimensional mapping database based on the current weather type, the retrieval index, the current location coordinates, and the current time.
[0008] In some embodiments, the control method further includes: acquiring the current actual light intensity after the energy storage robot adjusts the photovoltaic device attitude angle and the historical light intensity under the same weather type, same location coordinates, and same time in the historical data; when the actual light intensity is less than the historical light intensity and the difference between the historical light intensity and the actual light intensity is greater than a second light intensity threshold, arbitrarily adjusting the photovoltaic device attitude angle of the energy storage robot multiple times within a preset adjustment angle range, and acquiring the actual light intensity in real time; and stopping the adjustment of the photovoltaic device attitude angle of the energy storage robot when the actual light intensity is greater than the historical light intensity.
[0009] In some implementations, after stopping the adjustment of the photovoltaic device attitude angle of the energy storage robot when the current light intensity is greater than the historical light intensity, the control method further includes: updating the historical light intensity and the historical photovoltaic device attitude angle based on the actual light intensity at the current time and the photovoltaic device attitude angle of the energy storage robot.
[0010] In some embodiments, the control method further includes: obtaining the real-time photoelectric conversion efficiency of the photovoltaic device after the energy storage robot adjusts the photovoltaic device's attitude angle; if the real-time photoelectric conversion efficiency is less than a preset first photoelectric conversion efficiency threshold, arbitrarily adjusting the photovoltaic device's attitude angle of the energy storage robot multiple times within a first adjustment angle range and obtaining the real-time photoelectric conversion efficiency; and if the real-time photoelectric conversion efficiency is greater than the first photoelectric conversion efficiency threshold, stopping the adjustment of the photovoltaic device's attitude angle of the energy storage robot.
[0011] In some embodiments, the control method further includes: obtaining the real-time photoelectric conversion efficiency of the photovoltaic device after the energy storage robot adjusts the photovoltaic device's attitude angle; if the real-time photoelectric conversion efficiency is greater than a second photoelectric conversion efficiency threshold, arbitrarily adjusting the photovoltaic device's attitude angle of the energy storage robot multiple times within a second adjustment angle range, and obtaining the real-time photoelectric conversion efficiency; and stopping the adjustment of the photovoltaic device's attitude angle of the energy storage robot if the real-time photoelectric conversion efficiency is less than the second photoelectric conversion efficiency threshold but greater than a first photoelectric conversion efficiency threshold.
[0012] This application also provides an energy storage robot, which includes a battery module, a positioning module, a moving component, and a controller. The battery module is configured to supply power 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 any of the control methods described in the above embodiments.
[0013] This application also provides an energy storage system, which includes a charging pile and an energy storage robot as described in any of the above embodiments; the charging pile is configured to provide power to the energy storage robot.
[0014] This application provides a control method for an energy storage robot. By acquiring historical data of the energy storage robot outdoors, it filters out historical timestamps, historical location coordinates, historical photovoltaic (PV) device attitude angles, and historical light intensities corresponding to historical light intensities exceeding a first light intensity threshold. The filtered historical timestamps are marked as adjustment times, and the filtered historical PV device attitude angles are marked as optimal attitude angles. Then, based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, the optimal attitude angle corresponding to the same weather type, location coordinates, and time is obtained as the target attitude angle. The energy storage robot's PV device attitude angle is then adjusted to the target attitude angle. The target attitude angle in this application is the optimal attitude angle found by comparing the current weather type, location coordinates, and time with historical data. In the historical data, under the same conditions, the energy storage robot's PV device achieves the best light intensity after adjusting to the optimal attitude angle. Therefore, the current method can also adjust the energy storage robot's PV device attitude angle to the target attitude angle, thereby improving the photovoltaic charging efficiency of the energy storage robot.
[0015] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description
[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:
[0017] Figure 1 This is a structural schematic diagram of an energy storage robot according to some embodiments of this application;
[0018] Figure 2 This is a flowchart illustrating the control method of an energy storage robot according to some embodiments of this application;
[0019] Figure 3 This is a schematic diagram of the control device of an energy storage robot according to some embodiments of this application;
[0020] Figure 4 This is a flowchart illustrating the process of obtaining adjustment time and optimal attitude angle based on historical light intensity, historical timestamp, historical position coordinates, historical photovoltaic device attitude angle and a preset first light intensity threshold in the control method of energy storage robot according to some embodiments of this application.
[0021] Figure 5This is a flowchart illustrating the process of obtaining the corresponding optimal attitude angle as the target attitude angle based on the current weather type, current position coordinates, current time, historical weather type, historical position coordinates, and adjustment time in the control method of the energy storage robot according to some embodiments of this application.
[0022] Figure 6 This is a flowchart illustrating the process of obtaining the corresponding optimal attitude angle as the target attitude angle based on the current weather type, current position coordinates, current time, historical weather type, historical position coordinates, and adjustment time in the control method of the energy storage robot according to some embodiments of this application.
[0023] Figure 7 This is a schematic diagram of a four-dimensional mapping database according to some embodiments of this application;
[0024] Figure 8 This is a flowchart illustrating the control method of an energy storage robot according to some embodiments of this application;
[0025] Figure 9 This is a flowchart illustrating the control method of an energy storage robot according to some embodiments of this application;
[0026] Figure 10 This is a flowchart illustrating the control method of an energy storage robot according to some embodiments of this application;
[0027] Figure 11 This is a schematic diagram of the energy storage system according to some embodiments of this application;
[0028] Figure 12 This is a schematic diagram illustrating the connection state of a computer-readable storage medium and a processor according to certain embodiments of this application.
[0029] Explanation of key component symbols:
[0030] Energy storage system 1000;
[0031] 100 energy storage robots;
[0032] Control device 10 for energy storage robot;
[0033] First acquisition module 11; Second acquisition module 12; Third acquisition module 13; Control module 14;
[0034] Processor 20;
[0035] 200; computer-readable storage medium; 202; computer program;
[0036] 30. Body; 31. Battery module; 32. Photovoltaic component; 33. Motion component; 34. Positioning module; 35. Controller;
[0037] Charging station 300. Detailed Implementation
[0038] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.
[0039] Energy storage robots, as energy storage devices integrating photovoltaic conversion and autonomous mobility, can meet various application scenarios for users both indoors and outdoors, such as dynamic energy management, outdoor camping, emergency disaster relief, and microgrid support. Whether users need mobile power while traveling, ensure the operation of critical equipment at the scene of a sudden disaster, or regulate the energy balance of a local power grid, the core capability of energy storage robots relies on their own photovoltaic power generation system to continuously replenish the energy of their internal battery modules. However, in actual use, the angle of incidence of sunlight on the photovoltaic components (such as solar panels) of the energy storage robot is often not ideal. For example, when used outdoors, the sunlight at sunrise and sunset is significantly oblique. During the day, the energy storage robot may move to different locations due to task requirements, resulting in sunlight not being incident perpendicularly. When the energy storage robot is in complex terrain such as hills or mountains, or when the ground at the parking location has a certain angle, the direction of sunlight will also deviate from the ideal state. An imperfect angle of incidence of sunlight will directly prevent the photovoltaic components from maximizing the absorption and utilization of the sunlight energy. The core principle of photovoltaic (PV) power generation is based on semiconductor materials absorbing photon energy and exciting electron flow to generate current. When light shines perpendicularly, a unit area of photovoltaic material can receive the maximum number of photons. However, when light is incident at an angle, the same amount of light energy is dispersed over a larger surface area of the photovoltaic element, effectively reducing the number of photons received per unit area. Some light rays experience greater surface reflection losses when incident at non-perpendicular angles, significantly reducing the effective proportion of light actually entering the photovoltaic material for power generation. This leads to a decrease in the photoelectric conversion efficiency of the photovoltaic elements in energy storage robots. Therefore, how to promptly improve the photoelectric conversion efficiency of the photovoltaic elements in energy storage robots when it decreases has become a pressing technical problem for researchers. To address this issue, this application provides a control method for energy storage robots (such as...). Figure 2 As shown), energy storage robot 100 (such as) Figure 1 (as shown) and energy storage system 1000.
[0040] Please see Figure 1 , Figure 2 and Figure 3The energy storage robot 100 of this application includes a body 30, a battery module 31 disposed on the body 30, and a photovoltaic element 32 disposed on the body 30. The photovoltaic element 32 is configured to generate electrical energy through photoelectric conversion and output it to the battery module 31. The photovoltaic element 32 can move relative to the body 30 to change its attitude angle. The battery module 31 is configured to supply power to at least the energy storage robot 100. The control method includes:
[0041] 02: Acquire historical data of the energy storage robot 100 when it is outdoors. The historical data includes historical weather types on a daily basis and corresponding historical timestamps, historical location coordinates, historical photovoltaic device 32 attitude angles, and historical light intensity.
[0042] 03: Obtain the adjustment time and optimal attitude angle based on the historical timestamp of historical illumination intensity, historical location coordinates, historical photovoltaic device 32 attitude angle, and the preset first illumination intensity threshold;
[0043] 05: Based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, obtain the corresponding optimal attitude angle as the target attitude angle; and
[0044] 07: Adjust the attitude angle of the photovoltaic component 32 of the control energy storage robot 100 to the target attitude angle.
[0045] The aforementioned control method for the energy storage robot can be applied to the control device 10 of the energy storage robot. The control device 10 of the energy storage robot in this embodiment includes a first acquisition module 11, a second acquisition module 12, a third acquisition module 13, and a control module 14. The first acquisition module 11 acquires historical data of the energy storage robot 100 when it is outdoors. The historical data includes historical weather types on a daily basis and corresponding historical timestamps, historical location coordinates, historical photovoltaic module 32 attitude angles, and historical light intensity. The second acquisition module 12 acquires adjustment time and optimal attitude angle based on historical light intensity timestamps, historical location coordinates, historical photovoltaic module 32 attitude angles, and a preset first light intensity threshold. The third acquisition module 13 acquires the corresponding optimal attitude angle as the target attitude angle based on the current weather type, current location coordinates, current time, historical weather type, historical location coordinates, and adjustment time. The control module 14 controls the photovoltaic module 32 attitude angle of the energy storage robot 100 to adjust to the target attitude angle.
[0046] Specifically, the control device 10 of the energy storage robot is an integrated management device. By coordinating multiple functional modules, the control device 10 dynamically optimizes the attitude angle of the photovoltaic element 32 to ensure that the photovoltaic element 32 can achieve maximum photoelectric conversion efficiency. The control device 10 of the energy storage robot uses historical data and real-time conditions to calculate the optimal attitude angle of the photovoltaic element 32, thereby improving the charging efficiency of the battery module 31.
[0047] More specifically, the control device 10 of the energy storage robot includes a first acquisition module 11, a second acquisition module 12, a third acquisition module 13, and a control module 14. The first acquisition module 11 is the data acquisition and analysis module in the control device 10, responsible for extracting and processing historical data of the energy storage robot 100 when outdoors. The second acquisition module 12 is also a data acquisition and analysis module in the control device 10. Based on the historical data of the energy storage robot 100 when outdoors provided by the first acquisition module 11, and combined with a preset light intensity judgment standard, the second acquisition module 12 can determine the timing of adjustment of the photovoltaic element 32 and the theoretically optimal attitude angle. The third acquisition module 13 is also a data acquisition and analysis module in the control device 10. The third acquisition module 13 can match the historical patterns generated by the second acquisition module 12 to the current environment and output an immediately executable target attitude angle command. The control module 14 is the execution module in the control device 10 of the energy storage robot. The control module 14 can receive the target attitude angle command generated by the third acquisition module 13 and drive the moving component 33 of the energy storage robot 100 to complete the adjustment of the attitude angle of the photovoltaic component 32.
[0048] Furthermore, the energy storage robot 100 is an energy management robot with autonomous mobility. It achieves energy self-circulation through the coordinated operation of photovoltaic power generation and battery energy storage. The energy storage robot 100 can proactively optimize the attitude angle of the photovoltaic element 32 in environments with dynamically changing light intensity, thereby solving the problem of decreased charging efficiency.
[0049] Furthermore, the energy storage robot 100 includes a body 30, a battery module 31 disposed on the body 30, a photovoltaic element 32 disposed on the body 30, and a moving component 33 disposed on the body 30. The body 30 is the main structure of the energy storage robot 100, and it serves as the physical support platform for all functional components of the energy storage robot 100. For example, the body 30 can be used to support heavy components such as the photovoltaic element 32, the battery module 31, and the moving component.
[0050] Furthermore, the battery module 31 is an energy storage module that provides energy to the energy storage robot 100. The battery module 31 can be integrated with high-density battery cells, a battery management system, and a battery heat dissipation structure. The battery module 31 can provide operating power for the mobile component 33, control device, and communication module; it can also receive and store the electrical energy converted by the photovoltaic element 32 to achieve dynamic energy balance.
[0051] Furthermore, the photovoltaic component 32 is an energy capture component of the energy storage robot 100. The photovoltaic component 32 may include solar cells, an anti-reflective coating, and encapsulation glass, and is capable of photoelectric conversion, converting solar radiation into electrical energy and transmitting it to the battery module.
[0052] Furthermore, the moving component 33 is the position adjustment and execution component of the energy storage robot 100. The moving component 33 may include a drive motor, a transmission mechanism (such as wheels or tracks), and navigation sensors. The moving component 33 can drive the energy storage robot 100 to move and reach the target coordinates according to control commands.
[0053] Furthermore, in method 03, the historical data of the energy storage robot 100 outdoors includes historical weather types on a daily basis and corresponding historical timestamps, historical location coordinates, historical photovoltaic module 32 attitude angles, and historical light intensity. The historical timestamp represents the time during which the energy storage robot 100 is at its historical location coordinates and the photovoltaic module 32 maintains its historical photovoltaic module 32 attitude angle. The historical location coordinates are the three-dimensional geographic coordinates recorded by the positioning module 34 in outdoor scenarios. The historical photovoltaic module 32 attitude angle can be the tilt angle of the photovoltaic module 32 of the energy storage robot 100 relative to the horizontal plane, or it can be the tilt angle of the photovoltaic module 32 of the energy storage robot 100 relative to a plane perpendicular to the horizontal plane; it can be a roll angle, a yaw angle, or a pitch angle. For example, taking the tilt angle of the photovoltaic module 32 of the energy storage robot 100 relative to the horizontal plane as the historical photovoltaic module 32 attitude angle as an example, please refer to Tables 1 and 2 below.
[0054] Table 1. Historical data of energy storage robot 100 (Date 1, Weather: Sunny)
[0055] Historical timestamps Historical location coordinates Historical photovoltaic device attitude angle 32 Historical light intensity (lx) 6：00-9:00 A1 30° 60000 9:01-12:00 A2 5° 90000 12：01-15:00 A4 15° 80000 15:01-18：00 A3 20° 70000
[0056] Table 2 Historical Data of Energy Storage Robot 100 (Date 2, Weather: Cloudy)
[0057] Historical timestamps Historical location coordinates Historical photovoltaic device attitude angle 32 Historical light intensity (lx) 6：00-8:00 A3 30° 20000 8:01-11:00 A2 10° 40000 11：01-14:00 A1 10° 30000 14:01-18：00 A4 20° 20000
[0058] As shown in Tables 1 and 2 above, taking the historical data as an example, the historical data of the energy storage robot 100 when it is outdoors includes historical weather types (e.g., sunny, cloudy, overcast, rainy, etc.) on a daily basis, and corresponding historical timestamps, historical location coordinates, historical photovoltaic module 32 attitude angles, and historical light intensity. If the current light intensity in the environment where the energy storage robot 100 is located is less than a preset first light intensity threshold (the first light intensity threshold can be set by relevant personnel according to their own needs), for example, on a sunny day at 9:36 AM, the current light intensity in the environment where the energy storage robot 100 is located at A2 is less than the preset first light intensity threshold. In this case, the control module 14 controls the photovoltaic module 32 of the energy storage robot 100 to adjust its attitude angle to 5°. For example, in cloudy weather, at the current time of 15:36, the current light intensity of the environment in which the energy storage robot 100 is located at A4 is less than the preset first light intensity threshold (the first light intensity threshold can be set by relevant personnel according to their own needs). The control module 14 controls the photovoltaic component 32 of the energy storage robot 100 to adjust its attitude angle to 20°.
[0059] Understandably, this application provides a control method for an energy storage robot. By acquiring historical data of the energy storage robot 100 outdoors, it filters out historical timestamps, historical location coordinates, historical photovoltaic element 32 attitude angles, and historical light intensity corresponding to historical light intensities exceeding a first light intensity threshold. The filtered historical timestamps are marked as adjustment times, and the filtered historical photovoltaic element 32 attitude angles are marked as optimal attitude angles. Then, based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, it obtains the optimal attitude angle corresponding to the same weather type, location coordinates, and time as the target attitude angle, and controls the photovoltaic element 32 attitude angle of the energy storage robot 100 to adjust to the target attitude angle. The target attitude angle in this application is the optimal attitude angle found by comparing the current weather type, location coordinates, and time with historical data. In the historical data, under the same conditions, the photovoltaic component 32 of the energy storage robot 100 can obtain the best light intensity after being adjusted to the optimal attitude angle. Therefore, the attitude angle of the photovoltaic component 32 of the energy storage robot 100 can also be adjusted to the target attitude angle to improve the photovoltaic charging efficiency of the energy storage robot 100.
[0060] In some implementations, please refer to Figure 4 03: Based on historical light intensity timestamps, historical location coordinates, historical photovoltaic device 32 attitude angles, and a preset first light intensity threshold, the adjustment time and optimal attitude angle are obtained, including:
[0061] 031: Based on historical light intensity, select historical timestamps and historical photovoltaic device attitude angles corresponding to historical light intensity greater than the first light intensity threshold, and mark them as transition time and transition attitude angle respectively;
[0062] 033: The transition time and transition attitude angle are grouped according to historical weather type and historical location coordinates to obtain multiple sets of transition time and transition attitude angles. Each set of transition time and transition attitude angles corresponds to the same historical weather type and historical location coordinates; and
[0063] 035: Based on each set of transition time and corresponding transition attitude angle, the adjustment time and optimal attitude angle are obtained, with the transition time covering the adjustment time.
[0064] The above-mentioned control method for the energy storage robot can be applied to the control device 10 of the energy storage robot. The second acquisition module 12 is also used to filter out the historical timestamps and historical photovoltaic device 32 attitude angles corresponding to historical light intensity greater than the first light intensity threshold according to the historical light intensity, and mark them as transition time and transition attitude angle respectively; group the transition time and transition attitude angle according to the historical weather type and historical location coordinates to obtain multiple sets of transition time and transition attitude angles, each set of transition time and transition attitude angles corresponding to the same historical weather type and historical location coordinates; and obtain the adjustment time and the optimal attitude angle according to each set of transition time and the corresponding transition attitude angle, wherein the transition time covers the adjustment time.
[0065] Specifically, the second acquisition module 12 first performs preliminary screening, selecting historical timestamps and historical photovoltaic device 32 attitude angles corresponding to all historical light intensities greater than a preset first light intensity threshold from the historical database, and marking these historical timestamps and historical photovoltaic device 32 attitude angles as transition times and transition attitude angles, respectively. The second acquisition module 12 then groups the transition times and transition attitude angles according to historical weather types and historical location coordinates, obtaining multiple sets of transition times and transition attitude angles, with each set of transition times and transition attitude angles corresponding to the same historical weather type and historical location coordinates.
[0066] Furthermore, for example, if historical weather types include sunny, cloudy, overcast, and rainy, then the second acquisition module 12 first divides the historical data into four corresponding groups based on the historical weather type: one group for sunny days, one group for cloudy days, one group for overcast days, and one group for rainy days. After completing the grouping based on historical weather types, the second acquisition module 12 further groups each group of historical data based on historical location coordinates. For example, if there are four location coordinates: A1, A2, A3, and A4, then under each weather type, it is further divided into four groups based on the historical location coordinates. Taking sunny days as an example, the final result will be sunny day group A1, sunny day group A2, sunny day group A3, and sunny day group A4.
[0067] Furthermore, after grouping, each group contains multiple corresponding transition times and transition attitude angles. The second acquisition module 12 can then further process the transition attitude angles within the same transition time, such as through averaging, to obtain attitude angles that better reflect the optimal attitude angle for that time. For example, within the same group, the transition attitude angle is 10° between 14:00 and 15:00 on July 1st, 20° between 14:00 and 14:30 on July 2nd, and 6° between 14:31 and 15:00 on July 2nd. After averaging, the adjustment time and corresponding optimal attitude angles are obtained as follows: 15° between 14:00 and 14:30, and 8° between 14:31 and 15:00.
[0068] Please combine Figure 5 In some implementations, 05: Based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, obtain the corresponding optimal attitude angle as the target attitude angle, including:
[0069] 051: Select historical data with the same weather type as the current weather type from the historical data and use it as the first selection data;
[0070] 052: Select historical data from the first set of data whose historical location coordinates are the same as the current location coordinates, and use this as the second set of data; and
[0071] 053: Select the optimal attitude angle corresponding to the same adjustment time as the current time from the second selection data as the target attitude angle.
[0072] The above-mentioned control method for energy storage robots can be applied to the control device 10 of energy storage robots. The third acquisition module 13 in this embodiment is further used to: filter historical data with the same historical weather type as the current weather type from historical data as first filter data; filter historical data with the same historical position coordinates as the current position coordinates from the first filter data as second filter data; and filter the optimal attitude angle corresponding to the adjustment time with the same time as the current time from the second filter data as the target attitude angle.
[0073] Specifically, the third acquisition module 13 extracts all data entries from the historical database that have the same historical weather type as the current weather type. For example, if the current weather is sunny, only all records marked as "sunny" in the historical data are retained, and data with mismatched weather types such as cloudy or rain are excluded as the first filtering data.
[0074] Furthermore, the third acquisition module 13 further extracts data from the first filtered data that are consistent with the historical position coordinates and the current position coordinates as the second filtered data, and then further extracts the optimal attitude angle corresponding to the same adjustment time as the current time as the target attitude angle from the second filtered data.
[0075] Please see Figure 6 as well as Figure 7 In some implementations, 05: Based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, obtain the corresponding optimal attitude angle as the target attitude angle, including:
[0076] 054: Based on historical location coordinates, obtain the X-axis and Y-axis of the four-dimensional mapping database;
[0077] 055: Based on the adjustment time, obtain the Z-axis of the four-dimensional mapping database;
[0078] 056: Based on historical weather types, obtain the search index; and
[0079] 057: Based on the current weather type, search index, current location coordinates, and current time, obtain the corresponding optimal attitude angle from the four-dimensional mapping database as the target attitude angle.
[0080] The above-mentioned control method for the energy storage robot can be applied to the control device 10 of the energy storage robot. The third acquisition module 13 is also used to: obtain the X-axis and Y-axis of the four-dimensional mapping database according to the historical position coordinates; obtain the Z-axis of the four-dimensional mapping database according to the adjustment time; obtain the retrieval index according to the historical weather type; and obtain the corresponding optimal attitude angle from the four-dimensional mapping database as the target attitude angle according to the current weather type, retrieval index, current position coordinates and current time.
[0081] Specifically, the X and Y axes can be used together to determine the position coordinates of the energy storage robot 100, in order to Figure 7 For example, Figure 7 The coordinates A1, A2, A3, and A4, determined by the X and Y axes, can be used to represent the position coordinates of four points in the figure. Figure 7 Multiple four-dimensional mapping databases can exist, the number of which is the same as the number of historical weather types. Different historical weather types correspond to different four-dimensional mapping databases. Therefore, weather types can be used as search indexes to determine which four-dimensional mapping database to use based on the current weather type. Each point in the four-dimensional mapping database also corresponds to optimal attitude angle data (the X-axis, Y-axis, and Z-axis represent three dimensions respectively, and the fourth dimension is the optimal attitude angle).
[0082] Furthermore, assuming the current weather type is sunny, the energy storage robot 100 is located at position A2, and the current time is 10:30, the third acquisition module 13 uses the search index to find all points corresponding to the A2 coordinate position in the four-dimensional mapping database under sunny conditions, and obtains the adjustment time on the Z-axis corresponding to these points. If there is a case where the current time belongs to the adjustment time, for example... Figure 7 In the case of the above, the third acquisition module 13 acquires the point corresponding to the adjustment time and acquires the optimal attitude angle corresponding to this point as the target attitude angle.
[0083] Please see Figure 8 In some implementations, the control method further includes:
[0084] 081: Obtain the current actual light intensity of the energy storage robot 100 after adjusting the photovoltaic component to a 32 attitude angle, and the historical light intensity under the same weather type, the same location coordinates, and the same time in historical data.
[0085] 082: When the actual light intensity is less than the historical light intensity, and the difference between the historical light intensity and the actual light intensity is greater than the second light intensity threshold, the photovoltaic component 32 attitude angle of the energy storage robot 100 is arbitrarily adjusted multiple times within a preset adjustment angle range, and the actual light intensity is obtained in real time; and
[0086] 083: When the actual light intensity is greater than the historical light intensity, stop adjusting the attitude angle of the photovoltaic component 32 of the energy storage robot 100.
[0087] The above-mentioned control method for the energy storage robot can be applied to the control device 10 of the energy storage robot. The control module 14 of this embodiment is further configured to: obtain the current actual light intensity after the energy storage robot 100 adjusts the attitude angle of the photovoltaic element 32 and the historical light intensity under the same weather type, the same location coordinates and the same time in historical data; when the actual light intensity is less than the historical light intensity and the difference between the historical light intensity and the actual light intensity is greater than the second light intensity threshold, arbitrarily adjust the attitude angle of the photovoltaic element 32 of the energy storage robot 100 multiple times within the preset adjustment angle range, and obtain the actual light intensity in real time; and stop adjusting the attitude angle of the photovoltaic element 32 of the energy storage robot 100 when the actual light intensity is greater than the historical light intensity.
[0088] Specifically, after adjusting the attitude angle of the photovoltaic element 32 of the energy storage robot 100, the control module 14 is also used to compare and further fine-tune the light intensity. If the current actual light intensity after adjustment is less than the historical light intensity (historical light intensity under the same weather type, location coordinates, and time in historical data), and the difference between the historical light intensity and the actual light intensity is greater than a second light intensity threshold (which can be set by relevant personnel), the control module 14 arbitrarily adjusts the attitude angle of the photovoltaic element 32 of the energy storage robot 100 multiple times within a preset adjustment angle range, and obtains the actual light intensity in real time. If the actual light intensity is greater than the historical light intensity, the control module 14 stops adjusting the attitude angle of the photovoltaic element 32 of the energy storage robot 100, thereby enabling the photovoltaic element 32 to obtain a better attitude angle to further improve photovoltaic power generation efficiency.
[0089] Please see Figure 8 In some implementations, 083: When the current light intensity is greater than the historical light intensity, after stopping the adjustment of the attitude angle of the photovoltaic element 32 of the energy storage robot 100, the control method further includes:
[0090] 084: Update the historical light intensity and historical photovoltaic device 32 attitude angle based on the actual light intensity at the current time and the photovoltaic device 32 attitude angle of the energy storage robot 100.
[0091] The above-mentioned control method for energy storage robots can be applied to the control device 10 of the energy storage robot. The control module 14 is also used to update the historical light intensity and the historical photovoltaic device 32 attitude angle according to the actual light intensity at the current time and the photovoltaic device 32 attitude angle of the energy storage robot 100.
[0092] Specifically, after the energy storage robot 100 completes the attitude angle adjustment of the photovoltaic component 32, the control module 14 dynamically overwrites the original historical light intensity and historical attitude angle records of the same time, weather type and location coordinates in the historical database with the actual light intensity measured at the current moment and the corresponding photovoltaic component 32 attitude angle, thereby realizing the real-time update of historical data and ensuring that the target attitude angle retrieved under the same environmental conditions is always based on the latest empirical results, thereby continuously improving the decision accuracy and environmental adaptability of photoelectric conversion efficiency.
[0093] Please see Figure 9 In some implementations, the control method further includes:
[0094] 085: Obtain the real-time photoelectric conversion efficiency of photovoltaic element 32 after the energy storage robot 100 adjusts the attitude angle of photovoltaic element 32;
[0095] 086: When the real-time photoelectric conversion efficiency is less than a preset first photoelectric conversion efficiency threshold, the attitude angle of the photovoltaic element 32 of the energy storage robot 100 is arbitrarily adjusted multiple times within the first adjustment angle range, and the real-time photoelectric conversion efficiency is obtained; and
[0096] 087: When the real-time photoelectric conversion efficiency is greater than the first photoelectric conversion efficiency threshold, stop adjusting the attitude angle of the photovoltaic component 32 of the energy storage robot 100.
[0097] The above-mentioned control method for the energy storage robot can be applied to the control device 10 of the energy storage robot. The control module 14 is further configured to: obtain the real-time photoelectric conversion efficiency of the photovoltaic element 32 after the energy storage robot 100 adjusts the attitude angle of the photovoltaic element 32; when the real-time photoelectric conversion efficiency is less than a preset first photoelectric conversion efficiency threshold, arbitrarily adjust the attitude angle of the photovoltaic element 32 of the energy storage robot 100 multiple times within the first adjustment angle range and obtain the real-time photoelectric conversion efficiency; and when the real-time photoelectric conversion efficiency is greater than the first photoelectric conversion efficiency threshold, stop adjusting the attitude angle of the photovoltaic element 32 of the energy storage robot 100.
[0098] Specifically, in method 085, the real-time photoelectric conversion efficiency after the attitude angle of the photovoltaic element 32 is adjusted directly reflects the actual conversion efficiency between the current light input and the power output, and is the core basis for evaluating the effect of the attitude angle adjustment. The control module 14 needs to measure the real-time photoelectric conversion efficiency immediately after the attitude angle of the photovoltaic element 32 is adjusted in order to track the power generation performance of the photovoltaic element 32 of the energy storage robot 100.
[0099] Furthermore, in methods 086 and 087, when the real-time photoelectric conversion efficiency is lower than a preset first photoelectric conversion efficiency threshold (which can be set by relevant personnel), the control module 14 will randomly adjust the attitude angle of the photovoltaic element 32 multiple times within a preset first adjustment angle range (e.g., ±15°). During the dynamic adjustment process, once a change in attitude angle causes the real-time photoelectric conversion efficiency to exceed the first photoelectric conversion efficiency threshold, the control module 14 immediately terminates the adjustment action. After each adjustment, the real-time photoelectric conversion efficiency value is immediately re-acquired. The control module 14 uses active adjustments within a small range to find a better attitude angle for the photovoltaic element 32, thereby further improving the power generation performance of the photovoltaic element 32 of the energy storage robot 100.
[0100] Please see Figure 10 In some implementations, the control method further includes:
[0101] 091: Obtain the real-time photoelectric conversion efficiency of photovoltaic component 32 after the energy storage robot 100 adjusts the attitude angle of photovoltaic component 32;
[0102] 093: When the real-time photoelectric conversion efficiency is greater than the second photoelectric conversion efficiency threshold, the attitude angle of the photovoltaic element 32 of the energy storage robot 100 is arbitrarily adjusted multiple times within the second adjustment angle range, and the real-time photoelectric conversion efficiency is obtained; and
[0103] 095: If the real-time photoelectric conversion efficiency is less than the second photoelectric conversion efficiency threshold but greater than the first photoelectric conversion efficiency threshold, stop adjusting the attitude angle of the photovoltaic component 32 of the energy storage robot 100.
[0104] The above-mentioned control method for the energy storage robot can be applied to the control device 10 of the energy storage robot. The control module 14 is further configured to: obtain the real-time photoelectric conversion efficiency of the photovoltaic element 32 after the energy storage robot 100 adjusts the attitude angle of the photovoltaic element 32; when the real-time photoelectric conversion efficiency is greater than the second photoelectric conversion efficiency threshold, arbitrarily adjust the attitude angle of the photovoltaic element 32 of the energy storage robot 100 multiple times within the second adjustment angle range and obtain the real-time photoelectric conversion efficiency; and when the real-time photoelectric conversion efficiency is less than the second photoelectric conversion efficiency threshold but greater than the first photoelectric conversion efficiency threshold, stop adjusting the attitude angle of the photovoltaic element 32 of the energy storage robot 100.
[0105] Specifically, in method 091, the real-time photoelectric conversion efficiency is obtained immediately after the attitude angle of the photovoltaic element 32 is adjusted. The real-time photoelectric conversion efficiency directly reflects the actual conversion rate between the current light input and the power output. By dynamically monitoring the real-time photoelectric conversion efficiency, the control module 14 accurately verifies whether the attitude angle adjustment of the photovoltaic element 32 of the energy storage robot 100 effectively improves the power generation performance.
[0106] Furthermore, in methods 093 and 095, when the real-time photoelectric conversion efficiency exceeds a preset second photoelectric conversion efficiency threshold (which can be set by relevant personnel; the second photoelectric conversion efficiency threshold is greater than the first photoelectric conversion efficiency threshold, and the second photoelectric conversion efficiency threshold is used to determine whether the power generation efficiency of the photovoltaic element 32 is too high, thus avoiding overcharging of the battery module), the control module 14 randomly fine-tunes the attitude angle multiple times within the second adjustment angle range (e.g., within an angle range of ±5°). After each fine-tuning, the real-time photoelectric conversion efficiency is reacquired. If the real-time photoelectric conversion efficiency is between the first photoelectric conversion efficiency threshold and the second photoelectric conversion efficiency threshold (i.e., reaching a qualified level but not causing overcharging of the battery module), the adjustment is immediately stopped.
[0107] In summary, this application provides a control method for an energy storage robot. By acquiring historical data of the energy storage robot 100 outdoors, it filters out historical timestamps, historical location coordinates, historical photovoltaic module 32 attitude angles, and historical light intensity corresponding to historical light intensities exceeding a first light intensity threshold. The filtered historical timestamps are marked as adjustment times, and the filtered historical photovoltaic module 32 attitude angles are marked as optimal attitude angles. Then, based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, it obtains the optimal attitude angle corresponding to the same weather type, location coordinates, and time as the target attitude angle, and controls the photovoltaic module 32 attitude angle of the energy storage robot 100 to adjust to the target attitude angle. The target attitude angle in this application is the optimal attitude angle found by comparing the current weather type, location coordinates, and time with historical data. In the historical data, under the same conditions, the photovoltaic component 32 of the energy storage robot 100 can obtain the best light intensity after being adjusted to the optimal attitude angle. Therefore, the attitude angle of the photovoltaic component 32 of the energy storage robot 100 can also be adjusted to the target attitude angle to improve the photovoltaic charging efficiency of the energy storage robot 100.
[0108] Please see Figure 1 In some embodiments, this application also provides an energy storage robot 100100, which includes a battery module 31, a positioning module 34, a moving component 33, and a controller 35. The battery module 31 is configured to supply power to the energy storage robot 100100, the positioning module 34 is configured to detect the real-time position of the energy storage robot 100100, the moving component 33 is configured to drive the energy storage robot 100100 to move, and the controller 35 is configured to execute the control method in any of the above embodiments.
[0109] Please see Figure 11 In some embodiments, this application also provides an energy storage system 10001000, which includes a charging pile 300 and an energy storage robot 100100 as described in any of the above embodiments. The charging pile 300 is configured to provide power to the energy storage robot 100100.
[0110] Please see Figure 12 In some embodiments, this application also provides a computer-readable storage medium 200 having a computer program 202 stored thereon, which, when executed by a processor, implements the method in any of the above embodiments.
[0111] For example, when computer program 202 is executed by processor 20, the following method is implemented:
[0112] 02: Acquire historical data of the energy storage robot 100 when it is outdoors. The historical data includes historical weather types on a daily basis and corresponding historical timestamps, historical location coordinates, historical photovoltaic device 32 attitude angles, and historical light intensity.
[0113] 03: Obtain the adjustment time and optimal attitude angle based on the historical timestamp of historical illumination intensity, historical location coordinates, historical photovoltaic device 32 attitude angle, and the preset first illumination intensity threshold;
[0114] 05: Based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, obtain the corresponding optimal attitude angle as the target attitude angle; and
[0115] 07: Adjust the attitude angle of the photovoltaic component 32 of the control energy storage robot 100 to the target attitude angle.
[0116] For example, when computer program 202 is executed by processor 20, the following method is implemented:
[0117] 031: Based on historical light intensity, select historical timestamps and historical photovoltaic device attitude angles corresponding to historical light intensity greater than the first light intensity threshold, and mark them as transition time and transition attitude angle respectively;
[0118] 033: The transition time and transition attitude angle are grouped according to historical weather type and historical location coordinates to obtain multiple sets of transition time and transition attitude angles. Each set of transition time and transition attitude angles corresponds to the same historical weather type and historical location coordinates; and
[0119] 035: Based on each set of transition time and corresponding transition attitude angle, the adjustment time and optimal attitude angle are obtained, with the transition time covering the adjustment time.
[0120] For example, when computer program 202 is executed by processor 20, it can also implement the methods in 051, 052, 053, 054, 055, 056, 057, 081, 082, 083, 084, 085, 086, 087, 091, 093 and 095.
[0121] In the computer-readable storage medium 200 of this application, historical data of the energy storage robot 100 when it is outdoors is acquired. Historical timestamps, historical location coordinates, historical photovoltaic element 32 attitude angles, and historical light intensity corresponding to historical light intensities greater than a first light intensity threshold are selected. The selected historical timestamps are marked as adjustment times, and the selected historical photovoltaic element 32 attitude angles are marked as optimal attitude angles. Then, based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, the optimal attitude angle corresponding to the same weather type, location coordinates, and time is obtained as the target attitude angle, and the photovoltaic element 32 attitude angle of the energy storage robot 100 is adjusted to the target attitude angle. The target attitude angle in this application is the optimal attitude angle found by comparing the current weather type, location coordinates, and time with historical data. In the historical data, under the same conditions, the photovoltaic component 32 of the energy storage robot 100 can obtain the best light intensity after being adjusted to the optimal attitude angle. Therefore, the attitude angle of the photovoltaic component 32 of the energy storage robot 100 can also be adjusted to the target attitude angle to improve the photovoltaic charging efficiency of the energy storage robot 100.
[0122] In the description of this specification, the references to terms such as "some embodiments," "in one example," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0123] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.
[0124] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A control method for an energy storage robot, characterized in that, The energy storage robot includes a body, a battery module disposed on the body, a photovoltaic element disposed on the body, the photovoltaic element being configured to generate electrical energy through photoelectric conversion to output to the battery module, the photovoltaic element being able to move relative to the body to change its attitude angle, and the battery module being configured to at least power the energy storage robot. The control method includes: Acquire historical data of the energy storage robot when it is outdoors. The historical data includes historical weather types on a daily basis and corresponding historical timestamps, historical location coordinates, historical photovoltaic device attitude angles, and historical light intensity. The adjustment time and optimal attitude angle are obtained based on the historical timestamp, historical location coordinates, historical photovoltaic device attitude angle, and a preset first illumination intensity threshold. Based on the current weather type, current location coordinates, current time, historical weather types, historical location coordinates, and adjustment time, the corresponding optimal attitude angle is obtained as the target attitude angle; and The photovoltaic device attitude angle of the energy storage robot is adjusted to the target attitude angle.
2. The control method according to claim 1, characterized in that, The adjustment time and optimal attitude angle are obtained based on the historical timestamp of the historical illumination intensity, the historical location coordinates, the historical photovoltaic device attitude angle, and a preset first illumination intensity threshold, including: Based on the historical illumination intensity, the historical timestamps and historical photovoltaic device attitude angles corresponding to the historical illumination intensities that are greater than the first illumination intensity threshold are selected and marked as transition time and transition attitude angle, respectively. The transition time and transition attitude angle are grouped according to the historical weather type and the historical location coordinates to obtain multiple sets of the transition time and transition attitude angle, each set of the transition time and transition attitude angle corresponding to the same historical weather type and historical location coordinates; and Based on the transition time and the corresponding transition attitude angle for each group, the adjustment time and the optimal attitude angle are obtained, wherein the transition time covers the adjustment time.
3. The control method according to claim 1, characterized in that, The step of obtaining the corresponding optimal attitude angle as the target attitude angle based on the current weather type, current location coordinates, current time, historical weather type, historical location coordinates, and adjustment time includes: Historical data with the same weather type as the current weather type are selected from the historical data and used as the first selection data; Historical data whose historical location coordinates are the same as the current location coordinates are selected from the first screening data and used as the second screening data; and The optimal attitude angle corresponding to the adjustment time that is the same as the current time is selected from the second filtering data as the target attitude angle.
4. The control method according to claim 1, characterized in that, The step of obtaining the corresponding optimal attitude angle as the target attitude angle based on the current weather type, current location coordinates, current time, historical weather type, historical location coordinates, and adjustment time includes: Based on the historical location coordinates, the X-axis and Y-axis of the four-dimensional mapping database are obtained; Based on the adjustment time, the Z-axis of the four-dimensional mapping database is obtained; Based on the historical weather types, a search index is obtained; and Based on the current weather type, the search index, the current location coordinates, and the current time, the corresponding optimal attitude angle is obtained from the four-dimensional mapping database as the target attitude angle.
5. The control method according to claim 1, characterized in that, The control method further includes: The actual light intensity after the energy storage robot adjusts the attitude angle of the photovoltaic components is obtained, along with the historical light intensity under the same weather type, the same location coordinates, and the same time in the historical data. When the actual light intensity is less than the historical light intensity, and the difference between the historical light intensity and the actual light intensity is greater than a second light intensity threshold, the photovoltaic device attitude angle of the energy storage robot is arbitrarily adjusted multiple times within a preset adjustment angle range, and the actual light intensity is acquired in real time; and If the actual light intensity is greater than the historical light intensity, stop adjusting the photovoltaic device attitude angle of the energy storage robot.
6. The control method according to claim 5, characterized in that, After stopping the adjustment of the photovoltaic device attitude angle of the energy storage robot when the current light intensity is greater than the historical light intensity, the control method further includes: The historical light intensity and the historical photovoltaic device attitude angle are updated based on the actual light intensity at the current time and the photovoltaic device attitude angle of the energy storage robot.
7. The control method according to claim 1, characterized in that, The control method further includes: Obtain the real-time photoelectric conversion efficiency of the photovoltaic component after the energy storage robot adjusts the attitude angle of the photovoltaic component; When the real-time photoelectric conversion efficiency is less than a preset first photoelectric conversion efficiency threshold, the photovoltaic device attitude angle of the energy storage robot is arbitrarily adjusted multiple times within a first adjustment angle range, and the real-time photoelectric conversion efficiency is obtained; and If the real-time photoelectric conversion efficiency is greater than the first photoelectric conversion efficiency threshold, stop adjusting the photovoltaic device attitude angle of the energy storage robot.
8. The control method according to any one of claims 1-7, characterized in that, The control method further includes: Obtain the real-time photoelectric conversion efficiency of the photovoltaic component after the energy storage robot adjusts the attitude angle of the photovoltaic component; When the real-time photoelectric conversion efficiency is greater than the second photoelectric conversion efficiency threshold, the photovoltaic device attitude angle of the energy storage robot is arbitrarily adjusted multiple times within the second adjustment angle range, and the real-time photoelectric conversion efficiency is obtained; and If the real-time photoelectric conversion efficiency is less than the second photoelectric conversion efficiency threshold but greater than the first photoelectric conversion efficiency threshold, the adjustment of the photovoltaic device attitude angle of the energy storage robot shall be stopped.
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 power 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 move the energy storage robot. The controller is configured to execute the control method according to any one of claims 1-8.
10. An energy storage system, characterized in that, include: The energy storage robot as described in claim 9; and A charging station configured to provide power to the energy storage robot.