Control method of energy storage robot, energy storage robot and energy storage system

Abstract

The invention discloses a control method of an energy storage robot, the energy storage robot and an energy storage system. The control method of the energy storage robot comprises the steps of obtaining gradient information of a bearing surface; obtaining self-weight information of the energy storage robot; according to the gradient information and the self-weight information, target driving force and target electric quantity required by the energy storage robot to move relative to the bearing surface are obtained; obtaining a target torque of the mobile module according to the target driving force; and under the condition that the current residual electric quantity of the battery module is larger than or equal to the target electric quantity, the mobile module is controlled to drive the energy storage robot to move at the target torque. In the application, under the condition that the current residual electric quantity of the battery module is greater than the target electric quantity, the mobile module is controlled to drive the energy storage robot to move at the target torque, so that the energy storage robot can stably go up and down a slope, and the problem that the energy storage robot slips and is damaged due to insufficient energy supply is prevented; and the movement stability and reliability of the energy storage robot are improved.

Description

Technical Field

[0001] This application relates to the field of energy storage technology, specifically to a control method for an energy storage robot, an energy storage robot, and an energy storage system. Background Technology

[0002] With economic development and technological advancements, energy storage devices, such as energy storage robots, are gaining increasing popularity due to their ability to supply power to electrical equipment outdoors or in environments without electricity. In related technologies, energy storage robots consist of a body and a mobile module mounted on it. The mobile module drives the body to move relative to a support surface (such as the ground), enabling the energy storage robot to meet the needs of short-distance, multi-point power supply. However, when the support surface has a slope, the energy storage robot may experience insufficient power supply during uphill and downhill movement, causing it to slip and be damaged. 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 to solve at least one of the aforementioned technical problems.

[0004] This application provides a control method for an energy storage robot. The energy storage robot includes a battery module, a detection module, and a movement module. The battery module is configured to supply power to the energy storage robot. The detection module is configured to detect the slope information of a supporting surface and the weight information of the energy storage robot. The movement module is configured to drive the energy storage robot to move relative to the supporting surface. The control method includes: acquiring the slope information of the supporting surface; acquiring the weight information of the energy storage robot; acquiring a target driving force and a target charge required for the energy storage robot to move relative to the supporting surface based on the slope information and the weight information; acquiring a target torque of the movement module based on the target driving force; and controlling the movement module to drive the energy storage robot to move with the target torque when the current remaining charge of the battery module is greater than or equal to the target charge.

[0005] In some embodiments, the control method further includes: controlling the energy storage robot to move to the charging device when the current remaining power is less than the target power; and / or issuing a prompt message.

[0006] In some embodiments, the energy storage robot further includes a photovoltaic panel configured to receive sunlight and convert light energy into electrical energy to charge the battery module. The control method further includes: acquiring a first amount of electricity generated by the photovoltaic panel within a preset time period, the preset time period being the time required for the mobile module to consume the current remaining electricity when operating at the target torque; and, if the sum of the current remaining electricity and the first amount of electricity is greater than the target amount of electricity, controlling the mobile module to drive the energy storage robot to move at the target torque.

[0007] In some embodiments, the control method further includes: if the sum of the current remaining power and the first power is less than the target power, obtaining the travel time required for the energy storage robot to move to the charging device; obtaining the second power generated by the photovoltaic panel during the travel time; if the sum of the current remaining power and the second power is greater than or equal to the target power, controlling the energy storage robot to charge in place and issuing a prompt message; if the sum of the current remaining power and the second power is less than the target power, and the charging efficiency of the photovoltaic panel for the battery module is less than the charging efficiency of the charging device for the battery module, controlling the energy storage robot to move to the charging device.

[0008] In some embodiments, the control method further includes: acquiring the theoretical displacement of the energy storage robot; acquiring the actual displacement of the energy storage robot; determining that the theoretical displacement is less than or equal to the actual displacement; if the actual displacement is less than the theoretical displacement, acquiring a deceleration torque and controlling the moving module to move at the deceleration torque, wherein the deceleration torque is less than the target torque; and if the actual displacement is equal to the theoretical displacement, controlling the moving module to continue operating at the target torque.

[0009] In some embodiments, obtaining the deceleration torque and controlling the moving module to move at the deceleration torque includes: initiating braking when the driving force of the moving module under the deceleration torque is less than the gravitational component of the energy storage robot; and controlling the moving module to move at the deceleration torque when the driving force of the moving module under the deceleration torque is greater than the gravitational component of the energy storage robot.

[0010] In some embodiments, the mobile module includes a moving component and a driving component, the driving component being configured to drive the moving component to rotate in order to move the energy storage robot; obtaining the theoretical displacement of the energy storage robot includes: obtaining the theoretical displacement of the energy storage robot based on the number of rotations of the moving component.

[0011] This application provides an energy storage robot. The energy storage robot includes a battery module, a detection module, a movement module, and a controller. The battery module is configured to supply power to the energy storage robot. The detection module is configured to detect the slope information of the supporting surface and the weight information of the energy storage robot. The movement module is configured to drive the energy storage robot to move on the supporting surface. The controller is configured to execute the control method described in any of the above embodiments.

[0012] In some embodiments, 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 photovoltaic panel is configured to switch between a first state and a second state, wherein the light-receiving area of ​​the photovoltaic panel in the first state is greater than the light-receiving area of ​​the photovoltaic panel in the second state.

[0013] This application provides an energy storage system. The energy storage system includes the energy storage robot and charging device described in any of the above embodiments, wherein the charging device is configured to provide electrical energy to the energy storage robot.

[0014] The control method, energy storage robot, and energy storage system of the present application embodiment control the energy storage robot to drive the energy storage robot to move with the target torque when the current remaining power of the battery module is greater than the target power. This can ensure that the energy storage robot can move stably up and down slopes, prevent the energy storage robot from slipping and being damaged due to insufficient power supply, and improve the stability and reliability of the energy storage robot's movement.

[0015] Additional aspects and advantages 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 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 flowchart illustrating the control method of an energy storage robot according to certain embodiments of this application;

[0018] Figure 2 This is a structural schematic diagram of an energy storage robot according to some embodiments of this application;

[0019] Figure 3 This is a schematic diagram of a control method for an energy storage robot according to certain embodiments of this application;

[0020] Figure 4 This is a flowchart illustrating the control method of an energy storage robot according to certain embodiments of this application;

[0021] Figure 5 This is a structural schematic diagram of an energy storage robot according to other embodiments of this application;

[0022] Figure 6 This is a flowchart illustrating the control method of an energy storage robot according to certain embodiments of this application;

[0023] Figure 7 This is a flowchart illustrating the control method of an energy storage robot according to certain embodiments of this application;

[0024] Figure 8 This is a flowchart illustrating the control method of an energy storage robot according to certain embodiments of this application;

[0025] Figure 9 This is a flowchart illustrating the control method of an energy storage robot according to certain embodiments of this application;

[0026] Figure 10 This is a schematic diagram of the energy storage system according to some embodiments of this application.

[0027] The reference numerals in the detailed embodiments are as follows:

[0028] 1000 energy storage system;

[0029] 100 energy storage robots; 300 charging devices;

[0030] 10. Body; 20. Battery module; 30. Detection module; 40. Moving module; 41. Moving parts; 43. Driving parts; 50. Controller; 60. Photovoltaic panel. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this 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", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] With economic development and technological advancements, energy storage devices, such as energy storage robots, are gaining increasing popularity due to their ability to output electrical energy to power devices outdoors or in other power-deprived environments. In related technologies, energy storage robots include a body and a mobile module mounted on the body. The mobile module drives the body to move relative to a support surface (such as the ground) to meet the needs of short-distance, multi-point power consumption. However, when the support surface has a certain slope, the energy storage robot may experience insufficient power supply during uphill and downhill movement, causing it to slip and be damaged. To address this issue, this application provides a control method for an energy storage robot. Figure 1 As shown), Energy Storage Robot 100 ( Figure 2 (as shown) and energy storage system 1000 ( Figure 10 (As shown).

[0037] Please refer to the following: Figure 1 and Figure 2This application provides a control method for an energy storage robot. The energy storage robot 100 includes a battery module 20, a detection module 30, and a movement module 40. The battery module 20 is configured to supply power to the energy storage robot 100. The detection module 30 is configured to detect the slope information of the bearing surface and the self-weight information of the energy storage robot 100. The movement module 40 is configured to drive the energy storage robot 100 to move relative to the bearing surface. The control method includes:

[0038] 01: Obtain the slope information of the bearing surface;

[0039] 02: Obtain the weight information of the energy storage robot 100;

[0040] 03: Based on the slope and weight information, obtain the target driving force and target electrical charge required for the energy storage robot 100 to move relative to the bearing surface;

[0041] 04: Obtain the target torque of the moving module 40 based on the target driving force; and

[0042] 051: When the current remaining power of the battery module 20 is greater than or equal to the target power, control the mobile module 40 to drive the energy storage robot 100 to move with the target torque.

[0043] Please combine Figure 2 In some embodiments of this application, the energy storage robot 100 further includes a body 10 and a controller 50. The battery module 20 and the detection module 30 are both disposed within the body 10, and the moving module 40 is disposed at the bottom of the body 10. The moving module 40 is capable of driving the body 10 to move relative to the bearing surface. The controller 50 is configured to execute the control methods in 01, 02, 03, 04, and 051, that is, the controller 50 is used to: acquire the slope information of the bearing surface; acquire the self-weight information of the energy storage robot 100; acquire the target driving force and target power required for the energy storage robot 100 to move relative to the bearing surface based on the slope information and self-weight information; acquire the target torque of the moving module 40 based on the target driving force; and control the moving module 40 to drive the energy storage robot 100 to move with the target torque when the current remaining power of the battery module 20 is greater than or equal to the target power.

[0044] Specifically, in the above embodiments, the energy storage robot 100 is a power distribution device integrating energy storage, autonomous movement, and intelligent control functions. The energy storage robot 100 can autonomously move to a target location according to the user's power demand and provide regular or temporary power supply. The energy storage robot 100 can be used, but is not limited to, in scenarios such as outdoor camping, dynamic energy management, emergency disaster relief, and microgrid support to address the power needs of areas without a power grid or with unstable power. The energy of the energy storage robot 100 can be provided by the battery module 20 (such as a rechargeable battery module or a non-rechargeable battery module) or charging structure (such as a photovoltaic panel 60) installed within the energy storage robot 100, ensuring that the energy storage robot 100 has sufficient stored energy.

[0045] The body 10 is the structure in the energy storage robot 100 used to load and protect modules such as the battery module 20. The body 10 can be made of metallic and / or non-metallic materials. Metallic materials include, but are not limited to, aluminum, iron, steel, or aluminum alloys, while non-metallic materials include, but are not limited to, plastics. In some embodiments, the body 10 can be made of both metallic and non-metallic materials, thereby increasing the structural strength of the body 10, preventing collision damage during the movement of the energy storage robot 100, and thus improving the stability and reliability of the energy storage robot 100. In other embodiments, the body 10 can be made of non-metallic materials, which makes the body 10 lighter, thus facilitating the lightweight design of the energy storage robot 100.

[0046] Battery module 20 is the core module of the energy storage robot 100, used for storing and releasing electrical energy. Depending on the different application scenarios of the energy storage robot 100, the energy storage robot 100 has different capacities, meaning the battery module 20 has different capacities. For example, in small household or commercial energy storage robots 100, the capacity of battery module 20 is typically from several kilowatt-hours to tens of kilowatt-hours. In industrial energy storage robots 100, the capacity of battery module 20 is typically from tens of kilowatt-hours to hundreds of kilowatt-hours. Battery module 20 is housed within the energy storage robot 100 and can be electrically connected to other functional components. Battery module 20 can be a rechargeable battery module or a non-rechargeable battery module. Please refer to... Figure 10When battery module 20 is a rechargeable battery module, the energy storage robot 100 can charge battery module 20 through charging device 300 (such as a charging pile) to replenish its energy. When battery module 20 is a non-rechargeable battery module, the energy storage robot 100 can replace the battery in battery module 20 through charging device 300 (such as a charging pile) to replenish its power. A charging pile is a device that provides power to devices with energy storage functions. For example, a charging pile can provide power to new energy vehicles, energy storage robot 100, or other energy storage devices. This application uses the example of a charging pile providing power to energy storage robot 100. The charging pile provides power to energy storage robot 100 in two ways: charging battery module 20 in energy storage robot 100 and replacing battery module 20 (battery swapping).

[0047] The detection module 30 is a module in the energy storage robot 100 used to detect the slope information of the bearing surface and the self-weight information of the energy storage robot 100. The detection module 30 can be a functional component integrating sensors, a data processing unit, and a communication interface, used to collect, analyze, and feedback specific physical quantities (such as slope, weight, temperature, etc.) in real time. The detection module 30 includes at least one of the following detection elements: inertial measurement unit (IMU), weighing sensor, pressure sensor, vision sensor (such as camera, depth camera, LiDAR, etc.), torque sensor, and ranging sensor. It should be noted that in some embodiments, the bearing surface includes, but is not limited to, the ground (outdoor roads, dirt roads, grass, etc.), the ramp of a mobile vehicle (such as a vehicle, ship, etc.) that contacts the ground, indoor floor, etc. The energy storage robot 100 can utilize mobile vehicles for transfer to meet long-distance, multi-point power needs. For ease of understanding, the following embodiments use a bearing surface including a ramp as an example. At this time, when the energy storage robot 100 is on the ramp, it is in an uphill state; when the energy storage robot 100 is off the ramp, it is in a downhill state.

[0048] For example, the detection module 30 may include an inertial measurement unit and a weighing sensor. The inertial measurement unit can detect the pitch angle, roll angle, and yaw angle of the energy storage robot 100, and obtain the slope information of the bearing surface based on the pitch angle, roll angle, and yaw angle.

[0049] The mobile module 40 is a module in the energy storage robot 100 used to drive the movement of the energy storage robot 100. The mobile module 40 is disposed on the body 10 of the energy storage robot 100, typically at the bottom of the body 10. The mobile module 40 includes a moving component 41 and a driving component 43. The driving component 43 is configured to drive the moving component 41 to rotate, thereby moving the energy storage robot 100. The driving component 43 is a component that provides driving force, such as a drive motor, internal combustion engine, or pneumatic motor. The moving component 41 is a component that drives the body 10 to move, such as tracks or wheels. For example, the execution unit includes tracks. Tracks are highly adaptable, capable of adapting to various terrains, including mud, ruggedness, and unevenness; they have a high load capacity, capable of bearing heavier weights; they have strong traction, with stronger traction than wheels, enabling travel on steeper slopes; they are more stable; and the ground contact area of ​​tracks is larger than that of wheels, providing more stable travel.

[0050] The driving component 43 can be directly connected to the moving component 41 and transmit power directly to the moving component 41, so that the moving component 41 drives the body 10 to move. The forms in which the moving module 40 drives the body 10 to move relative to the bearing surface include, but are not limited to, translation, rotation, and a combination of translation and rotation. Furthermore, the moving module 40 may also include a transmission component, which connects the driving component 43 and the moving component 41. That is, the driving component 43 is indirectly connected to the moving component 41 through the transmission component, and the driving component 43 transmits power directly to the transmission component, and then to the moving component 41 through the transmission component, so that the moving component 41 drives the body 10 to move.

[0051] The controller 50 is a device in the energy storage robot 100 used to receive signals, process signals, and issue control commands. The controller 50 may include a circuit board and a control chip disposed on the circuit board. The controller 50 is connected to components such as the battery module 20, the movement module 40, and the detection module 30 to realize the control of the energy storage robot 100 (including charging and discharging of the battery module 20, starting and stopping of the movement module 40, starting and stopping of the detection module 30, etc.). In some embodiments, the controller 50 is connected to components such as the battery module 20, the movement module 40, and the detection module 30 via a wired connection. The wired connection provides higher reliability of the electrical connection between components, and the controller 50 provides more stable and rapid control of components such as the battery module 20, the detection module 30, and the movement module 40. In other embodiments, the controller 50 is connected to components such as the battery module 20, the movement module 40, and the detection module 30 via a wireless connection. Compared with the wired connection, the wireless connection eliminates the need for electrical connectors and does not occupy space. In this application, controller 50 is configured to execute control methods 01, 02, 03, 04, 051 and others described below.

[0052] Specifically, in the above control method, the controller 50 first needs to acquire the slope information of the bearing surface (such as slope angle, slope length, etc.) and the self-weight information of the energy storage robot 100. Then, based on the slope information and self-weight information, it acquires the target driving force and target power required for the energy storage robot 100 to move relative to the bearing surface, and acquires the target torque of the moving module 40 based on the target driving force. Finally, when the current remaining power of the battery module 20 is greater than or equal to the target power, it controls the moving module 40 to drive the energy storage robot 100 to move with the target torque. Wherein, the current remaining power of the battery module 20 is greater than or equal to the target power, indicating that the battery module 20 can theoretically provide sufficient power. Therefore, under this condition, the controller 50 can control the moving module 40 to drive the energy storage robot 100 to move with the target torque, ensuring that the energy storage robot 100 can stably ascend and descend slopes, and preventing the energy storage robot 100 from slipping due to insufficient power supply during the ascent and descent process.

[0053] For example, please refer to Figure 3 Taking the support surface including the ramp as an example: To ensure that the energy storage robot 100 can stably move up and down the ramp, the driving force of the energy storage robot 100 needs to overcome the gravitational component F1 and the frictional resistance F2. That is, the target driving force F must at least satisfy F = F1 + F2 (the energy storage robot 100 moves at a constant speed). The specific formula for calculating the gravitational component F1 can be:

[0054] F1 = mgsinθ;

[0055] The specific formula for calculating frictional resistance F2 can be:

[0056] F2 = μmgcosθ;

[0057] Where m is the weight of the energy storage robot 100, θ is the slope angle (such as the angle formed by the ramp and the ground), and μ is the coefficient of friction.

[0058] The specific formula for calculating the target energy E can be:

[0059]

[0060] Wherein, the target power E is in J, L is the slope length (such as the length of the ramp), η1 is the efficiency of the drive unit 43 (usually 0.7 to 0.9), and η2 is the battery efficiency of the battery module 20 (such as 0.9).

[0061] The specific formula for calculating the target torque T1 can be: T1 = F * r

[0062] Where r is the dimension of the moving part 41 (wheel radius or track radius).

[0063] It should be noted that in some embodiments, the target driving force F can be: F = F1 + F2 + ma. In this case, the energy storage robot 100 moves at varying speeds, and a is the target acceleration. For ease of understanding, the following embodiments will only use the uniform motion of the energy storage robot 100 as an example.

[0064] In some embodiments, the coefficient of friction can be a known value, such as a typical value pre-stored in the energy storage robot 100 according to the type of bearing surface, which is retrieved after the bearing surface type is identified by components such as cameras or lidar. In other embodiments, the coefficient of friction can be a value measured in real time. For example, the detection module 30 also includes a tribometer or traction sensor to acquire the coefficient of friction in real time when the energy storage robot 100 moves uphill or downhill. Of course, it is understood that the method of obtaining the coefficient of friction in this application is not limited to the examples above.

[0065] Furthermore, in some embodiments, when the current remaining power of the battery module 20 is greater than the target power, and the difference between the current remaining power and the target power is greater than a preset power value, the controller 50 controls the moving module 40 to drive the energy storage robot 100 to move with the target torque. That is, the current remaining power exceeds the target power, thus reserving a certain amount of power buffer to prevent sudden power consumption and further improve the stability of the energy storage robot 100 when going uphill or downhill.

[0066] In the control method of the energy storage robot of this application embodiment, when the current remaining power of the battery module 20 is greater than the target power, the moving module 40 is controlled to drive the energy storage robot 100 to move with the target torque. This can ensure that the energy storage robot 100 can move up and down slopes stably, prevent the energy storage robot 100 from slipping and being damaged due to insufficient power supply, and improve the stability and reliability of the movement of the energy storage robot 100.

[0067] Please see Figure 1 , Figure 2 and Figure 10 In some implementations, the control method further includes:

[0068] 053: If the current remaining power is less than the target power, control the energy storage robot 100 to move to the charging device 300; and / or issue a prompt message.

[0069] Please combine Figure 2 The controller 50 is also configured to execute the control method in 053, that is, the controller 50 is used to: control the energy storage robot 100 to move to the charging device 300 when the current remaining power is less than the target power; and / or issue a prompt message.

[0070] In this scenario, if the remaining battery power is less than the target power, it indicates that the battery module 20 cannot provide sufficient energy. In this condition, the energy storage robot 100 cannot stably navigate uphill or downhill slopes. Specifically, when the remaining battery power is less than the target power, the energy storage robot 100 may experience insufficient power supply during uphill or downhill movement, potentially causing it to slip and be damaged. Therefore, in the above embodiment, when the remaining battery power is less than the target power, the energy storage robot 100 is controlled to move to the charging device 300; and / or a warning message is issued. This reduces the likelihood of the energy storage robot 100 slipping and being damaged.

[0071] In some embodiments, the energy storage robot 100 further includes a location acquisition module configured to acquire the real-time location of the energy storage robot 100 and the location of the charging device 300. Specifically, if the remaining power is less than a target power, the controller 50 can control the movement module 40 to move the energy storage robot 100 from its current location to the location of the charging device 300. Once the energy storage robot 100 reaches the location of the charging device 300, the charging device 300 can replenish the energy of the energy storage robot 100 (charging or battery swapping).

[0072] In some embodiments, the charging device 300 can fully charge the battery module 20, ensuring sufficient power reserves for the energy storage robot 100. In other embodiments, the charging device 300 can charge the battery module 20 to a preset value, in which case the charging time for the energy storage robot 100 is shorter, allowing it to perform urgent tasks more quickly.

[0073] In other embodiments, the energy storage robot 100 also includes a prompting module configured to issue a prompt message. Specifically, when the remaining battery power is less than the target battery power, the controller 50 can control the prompting module to issue a prompt message to the user, thereby reminding the user that the battery module 20 is low on power. For example, when the energy storage robot 100 is on a ramp, if the remaining battery power is less than the target battery power, the controller 50 can control the prompting module to issue a prompt message to the user, at which point the user can move the energy storage robot 100 onto the mobile vehicle. It should be noted that in some embodiments, the prompting module includes, but is not limited to, indicator lights, speakers, buzzers, displays, and vibration motors.

[0074] In some other embodiments, the energy storage robot 100 also includes a prompting module configured to issue a prompting message. When the remaining battery power is less than a target battery power, the controller 50 controls the movement module 40 to move the energy storage robot 100 to the charging device 300, and controls the prompting module to issue a prompting message.

[0075] Please see Figure 2 and Figure 4 In some embodiments, the energy storage robot 100 further includes a photovoltaic panel 60 configured to receive sunlight and convert light energy into electrical energy to charge the battery module 20. The control method also includes:

[0076] 06: Obtain the first electrical charge generated by the photovoltaic panel 60 within a preset time period, where the preset time period is the time required for the mobile module 40 to consume the remaining electrical charge when running at the target torque; and

[0077] 071: If the sum of the current remaining power and the first power is greater than the target power, control the mobile module 40 to drive the energy storage robot 100 to move with the target torque.

[0078] The controller 50 is also configured to execute the control methods in 06 and 071, that is, the controller 50 is also used to: obtain the first amount of electricity generated by the photovoltaic panel 60 within a preset time period, the preset time period being the time required for the mobile module 40 to consume the current remaining electricity when it runs at the target torque; and control the mobile module 40 to drive the energy storage robot 100 to move at the target torque when the sum of the current remaining electricity and the first amount of electricity is greater than or equal to the target amount of electricity.

[0079] The photovoltaic panel 60 is a component that converts light energy into electrical energy to charge devices connected to it. The photovoltaic panel 60 can be, but is not limited to, monocrystalline silicon photovoltaic panels, polycrystalline silicon photovoltaic panels, and thin-film photovoltaic panels. In some embodiments, the photovoltaic panel 60 is positioned on top of the energy storage robot 100 to ensure it can fully absorb light energy. The photovoltaic panel 60 receives light and converts it into electrical energy to charge the battery module 20. Of course, in other embodiments, the photovoltaic panel 60 can also be positioned on the side or even the bottom of the energy storage robot 100. Furthermore, the battery module 20 and the photovoltaic panel 60 can be directly connected via cables, or the connection can be achieved through intermediate devices such as junction boxes or combiner boards.

[0080] Please combine Figure 2 and Figure 5 In some embodiments of this application, the photovoltaic panel 60 is configured to be able to operate in a first state ( Figure 2 (as shown) and the second state ( Figure 5The photovoltaic panel 60 switches between two states (as shown). In the first state, the light-receiving area of ​​the photovoltaic panel 60 is greater than that in the second state. That is, the first state can be an unfolded state, and the second state can be a folded state. In the second state, at least a portion of the photovoltaic panel 60 is housed within the body 10 of the energy storage robot 100, or is attached to the body 10 of the energy storage robot 100, or is in another form to minimize the space occupied. Therefore, if the photovoltaic panel 60 remains in the second state during the movement of the energy storage robot 100, the wind resistance experienced by the energy storage robot 100 is smaller, and the power consumption per unit distance is also reduced. In the first state, the photovoltaic panel 60 is fully unfolded, presenting the form that occupies the maximum space.

[0081] Specifically, in some embodiments, during the movement of the energy storage robot 100, the photovoltaic panel 60 can absorb light energy and convert it into electrical energy to charge the battery module 20. The control board can acquire the first electrical charge generated by the photovoltaic panel 60 within a preset time period, and if the sum of the current remaining electrical charge and the first electrical charge is greater than the target electrical charge, it controls the moving module 40 to drive the energy storage robot 100 with the target torque. That is, the energy storage robot 100 can utilize the current remaining electrical charge and the electrical charge generated by the photovoltaic panel 60 (the first electrical charge) during the uphill and downhill process to move uphill and downhill. Thus, when the energy storage robot 100 needs to climb a ramp, it does not need to move to the charging device 300 to replenish its power when the current remaining electrical charge is less than the target electrical charge, thereby reducing the time required to climb the ramp and facilitating the rapid transfer of the energy storage robot 100; simultaneously, it does not need to issue a prompt message when the current remaining electrical charge is less than the target electrical charge, thereby reducing human intervention and improving the intelligence of the energy storage robot 100.

[0082] Please see Figure 2 , Figure 6 and Figure 10 In some implementations, the control method further includes:

[0083] 072: If the sum of the current remaining power and the first power is less than the target power, obtain the travel time required for the energy storage robot 100 to move to the charging device 300;

[0084] 073: Obtain the second amount of electricity generated by the photovoltaic panel 60 during the movement period;

[0085] 074: If the sum of the current remaining power and the second power is greater than or equal to the target power, control the energy storage robot 100 to charge in place and issue a prompt message;

[0086] 075: When the sum of the current remaining power and the second power is less than the target power, and the charging efficiency of the photovoltaic panel 60 to the battery module 20 is less than the charging efficiency of the charging device to the battery module 20, control the energy storage robot 100 to move to the charging device 300.

[0087] The controller 50 is also configured to execute the control methods in 072, 073, 074, and 075, that is, the controller 50 is also used to: obtain the movement time required for the energy storage robot 100 to move to the charging device 300 when the sum of the current remaining power and the first power is less than the target power; obtain the second power generated by the photovoltaic panel 60 during the movement time; control the energy storage robot 100 to charge in place and issue a prompt message when the sum of the current remaining power and the second power is greater than or equal to the target power; and control the energy storage robot 100 to move to the charging device 300 when the sum of the current remaining power and the second power is less than the target power and the charging efficiency of the photovoltaic panel 60 to the battery module 20 is less than the charging efficiency of the charging device to the battery module 20.

[0088] Specifically, in some embodiments, the controller 50 can control the energy storage robot 100 to charge in place and control the prompting module to issue a prompt message when the sum of the current remaining power and the second power is greater than or equal to the target power; when the sum of the current remaining power and the second power is less than the target power and the charging efficiency of the photovoltaic panel 60 to the battery module 20 is less than the charging efficiency of the charging device to the battery module 20, the controller 50 can control the energy storage robot 100 to move to the charging device 300. Thus, compared to the controller 50 directly controlling the energy storage robot 100 to move to the charging device 300 when the current remaining power is less than the target power, this approach can shorten the time required for the energy storage robot 100 to climb onto the ramp, meaning the energy storage robot 100 does not need to spend time moving between the ramp and the charging device 300, which is beneficial for the rapid transfer of the energy storage robot 100. On the other hand, it can save energy, meaning the energy storage robot 100 does not need to consume power to move between the ramp and the charging device 300. Furthermore, it can reduce human intervention, meaning there is no need for manual handling of the energy storage robot 100 onto the mobile vehicle, thereby improving the intelligence of the energy storage robot 100.

[0089] In some embodiments, the energy storage robot 100 can move to the charging device 300 at a preset speed. In this case, the controller 50 can obtain the travel time required for the energy storage robot 100 to reach the charging device 300 at the preset speed. The preset speed is a suitable speed pre-set by the energy storage robot 100. In some embodiments, the preset speed can be an optimal empirical value set before the energy storage robot 100 leaves the factory. When the energy storage robot 100 moves at the preset speed, on the one hand, the movement process is more stable and safe, less prone to tipping over, and able to react promptly to obstacles. On the other hand, the energy storage robot 100 consumes less power while moving the same distance, achieving a balance between fast movement and high energy utilization. In other embodiments, the preset speed can be set by the user through an input interface after the energy storage robot 100 leaves the factory. In this case, the movement process of the energy storage robot 100 is controllable and more flexible, better adapting to different usage scenarios.

[0090] Furthermore, in some embodiments, the controller 50 is configured to: control the energy storage robot 100 to charge in place and issue a prompt message when the sum of the current remaining power and the second power is less than the target power, and the charging efficiency of the photovoltaic panel 60 to the battery module 20 is greater than the charging efficiency of the charging device to the battery module 20.

[0091] Please see Figure 2 and Figure 7 In some implementations, the control method further includes:

[0092] 081: Obtain the theoretical displacement of the energy storage robot 100;

[0093] 083: Obtain the actual displacement of the energy storage robot 100;

[0094] 085: When the actual displacement is less than the theoretical displacement, obtain the deceleration torque and control the moving module 40 to move with the deceleration torque, which is less than the target torque;

[0095] 089: When the actual displacement equals the theoretical displacement, control the moving module 40 to continue operating at the target torque.

[0096] The controller 50 is also configured to execute the control methods in 081, 083, 085 and 087, that is, the controller 50 is also used to: obtain the theoretical displacement of the energy storage robot 100; obtain the actual displacement of the energy storage robot 100; when the actual displacement is less than the theoretical displacement, obtain the deceleration torque and control the moving module 40 to move at the deceleration torque, where the deceleration torque is less than the target torque; when the actual displacement is equal to the theoretical displacement, control the moving module 40 to continue to run at the target torque.

[0097] Specifically, in the above embodiments, the theoretical displacement refers to the displacement that the energy storage robot 100 should achieve under ideal conditions (no slippage). For example, if the moving part 41 of the moving module 40 of the energy storage robot 100 rotates 10 times and the circumference of the moving part 41 is 0.2m, the theoretical displacement is 2m. The theoretical displacement can be obtained by sensor measurement.

[0098] Furthermore, please combine Figure 8 In some embodiments, 081: Obtaining the theoretical displacement of the energy storage robot 100 includes:

[0099] 0811: Obtain the theoretical displacement of the energy storage robot 100 based on the number of rotations of the moving part 41.

[0100] The controller 50 is also configured to execute the control method in 081, that is, the controller 50 is used to: obtain the theoretical displacement of the energy storage robot 100 based on the number of rotations of the moving part 41.

[0101] Specifically, in the above embodiment, the energy storage robot 100 also includes an encoder, which is located on the mobile module 40. The controller 50 can calculate the number of rotations of the moving part 41 (such as the wheel) by the number of pulses of the motor or hub encoder, and obtain the theoretical displacement by combining the wheel circumference.

[0102] Actual displacement refers to the actual displacement achieved by the energy storage robot 100 under the driving action of the motion module 40. The actual displacement may be the same as or different from the theoretical displacement. For example, in cases of slippage, sudden changes in slope, or increased load, the actual displacement will be less than the theoretical displacement. Actual displacement can be obtained using sensor measurements. For example, the energy storage robot 100 may also include a visual odometry system. In this application, if the actual displacement is less than the theoretical displacement, it indicates that the energy storage robot 100 has slipped.

[0103] In the above control method, when the actual displacement is less than the theoretical displacement, that is, when the energy storage robot 100 slips, the controller 50 can acquire the deceleration torque and control the moving module 40 to move at the deceleration torque. The deceleration torque is less than the target torque, that is, the controller 50 can reduce the torque when the energy storage robot 100 slips. This reduces the shear force between the moving part 41 and the bearing surface, avoids idling, reduces slippage, and ensures the stable movement of the energy storage robot 100. It also saves energy by avoiding excessive torque output and wasting electricity. It should be noted that in some embodiments, the maximum value of the deceleration torque T2 is less than the target torque T1, and the minimum value of the deceleration torque T2 is greater than or equal to r*mg(sinθ-μ). k cosθ), where μ kThe coefficient of kinetic friction (the coefficient of friction during sliding, μ) k (less than the static friction coefficient).

[0104] In other embodiments, the current of the drive unit 43 decreases when the energy storage robot 100 slips (load decreases). Therefore, the control method of this application may further include: acquiring the current of the drive unit 43; if the decrease in current exceeds a preset range, acquiring a deceleration torque and controlling the moving module 40 to move at the deceleration torque, wherein the deceleration torque is less than the target torque; if the decrease in current does not exceed the preset range, controlling the moving module 40 to continue operating at the target torque.

[0105] Please see Figure 2 , Figure 7 and Figure 9 In some embodiments, after step 085: acquiring the deceleration torque and controlling the moving module 40 to move with the deceleration torque, the control method further includes:

[0106] 086: When the driving force of the mobile module 40 under the deceleration torque is less than the gravitational component of the energy storage robot 100, braking is initiated;

[0107] 087: When the driving force of the mobile module 40 under the deceleration torque is greater than the gravity component of the energy storage robot 100, control the mobile module 40 to move with the deceleration torque.

[0108] The controller 50 is also configured to execute the control methods in 086 and 087, that is, the controller 50 is also used to: initiate braking when the driving force of the moving module 40 under the deceleration torque is less than the gravitational component of the energy storage robot 100; and control the moving module 40 to move with the deceleration torque when the driving force of the moving module 40 under the deceleration torque is greater than the gravitational component of the energy storage robot 100.

[0109] Specifically, in step 086, if the driving force of the moving module 40 under the deceleration torque is less than the gravitational component of the energy storage robot 100, that is, the driving force output by the moving module 40 cannot offset the gravitational component, the energy storage robot 100 will slip. At this time, in this application, the controller 50 can start braking, such as the controller 50 can trigger mechanical braking (electromagnetic braking, etc.) to prevent the energy storage robot 100 from slipping directly and causing damage, thereby extending the service life of the energy storage robot 100.

[0110] It should be noted that when the driving force of the mobile module 40 under deceleration torque is less than the gravity component of the energy storage robot 100, the controller 50 can also control the reverse torque of the drive component 43; or, when the driving force of the mobile module 40 under deceleration torque is less than the gravity component of the energy storage robot 100, the controller 50 can also control the energy storage robot 100 to adjust its center of gravity to reduce the risk of slippage.

[0111] In step 087, when the driving force of the mobile module 40 under the deceleration torque is greater than the gravity component of the energy storage robot 100, it indicates that the driving force output by the mobile module 40 cannot offset the gravity component, and the energy storage robot 100 is unlikely to slip. At this time, the controller 50 can control the mobile module 40 to move with the deceleration torque, so as to prevent slipping and ensure the stability of the energy storage robot 100 going up and down slopes.

[0112] In some implementations, step 085 may be: when the actual displacement is less than the theoretical displacement, obtain the deceleration torque, which is the minimum deceleration torque (the minimum value of the deceleration torque T2), and control the moving module 40 to move with the deceleration torque. In this case, the controller 50 is configured to continue executing step 086 or 087 after executing step 085.

[0113] In other embodiments, step 085 may be: when the actual displacement is less than the theoretical displacement, obtaining the deceleration torque, where the deceleration torque is any value between 70% and 95% of the maximum deceleration torque, and controlling the moving module 40 to move at the deceleration torque. Specifically, step 086 includes:

[0114] 0861: When the driving force of the mobile module 40 under the deceleration torque is less than the gravity component of the energy storage robot 100, the deceleration torque is reduced by a preset amplitude, and the reduced deceleration torque is used as the new deceleration torque. That is, when the driving force of the mobile module 40 under the deceleration torque is less than the gravity component of the energy storage robot 100, the deceleration torque is reduced in a stepwise manner, and the reduced deceleration torque is used as the new deceleration torque.

[0115] 0863: Determine if the new reduction torque is less than T2;

[0116] 0865: If not, return to step 0861;

[0117] 0867: If so, then activate the brakes.

[0118] For example, step 085 can be: when the actual displacement is less than the theoretical displacement, obtain the deceleration torque, which is 90% of the maximum deceleration torque, and control the moving module 40 to move with the deceleration torque. The preset amplitude is 10%. Step 086 can include: when the driving force of the moving module 40 under the deceleration torque is less than the gravitational component of the energy storage robot 100, reduce the deceleration torque by the preset amplitude, that is, reduce the deceleration torque from 90% of the maximum deceleration torque to 80% of the maximum deceleration torque; determine whether the new deceleration torque is less than T2; if not, return to the execution step: when the driving force of the moving module 40 under the deceleration torque is less than the gravitational component of the energy storage robot 100, reduce the deceleration torque by the preset amplitude; if yes, then initiate braking.

[0119] In some other embodiments, step 085 may include: obtaining the friction coefficient based on the theoretical displacement and the actual displacement; and obtaining the deceleration torque based on the friction coefficient and the self-weight information. In this case, the controller 50 is configured to continue executing step 086 or 087 after executing step 085.

[0120] Please see Figure 2 and Figure 10 The energy storage system 1000 of this application includes an energy storage robot 100 and a charging device 300 according to any of the above embodiments. The charging device 300 is configured to provide electrical energy to the energy storage robot 100. It should be noted that in some embodiments, the charging device 300 can be a charging pile, a power supply base station, a battery swapping station, etc.

[0121] Specifically, in the above embodiments, 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) that provides energy for scheduling or utilizing energy, and an energy supply device that stores energy and supplies power to the energy storage robot 100. The energy storage system 1000 can be any system possessing 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 electrical 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 device 300 (such as a charging pile), and the charging device 300 supplies power to the logistics robot so that the logistics robot can use electrical 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 device 300 (such as a charging pile), and the charging device 300 supplies power to the new energy vehicle so that the new energy vehicle can use electrical energy to move. This application takes the energy storage system 1000 as an example of a power dispatching system. In this case, the energy storage robot 100 is a mobile energy storage power source, and the power supply device is a charging device 300. The charging device 300 supplies power to the energy storage robot 100 so that the energy storage robot 100 can move using electrical energy and perform power dispatching and utilization.

[0122] It should be noted that the specific structure and properties of the charging device 300 in this embodiment are exactly the same as those of the charging device 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 those of the energy storage robot 100 in the above embodiment, and will not be explained again here.

[0123] When the energy storage robot 100 reaches the location of the charging device 300, the charging device 300 can charge or replace the battery module 20 of the energy storage robot 100. Taking charging as an example, the charging device 300 can charge the energy storage robot 100 via wired charging or wireless charging. When the charging device 300 charges the energy storage robot 100 via wired charging, the energy storage robot 100 connects to the physical plug of the charging device 300 (such as Type 1, Type 2, GB / T, or a customized interface) through a connection device (not shown) or a guide device (not shown). In this case, the charging process of the energy storage robot 100 by the charging device 300 is simple, reliable, and fast. When the charging device 300 charges the energy storage robot 100 wirelessly, both the energy storage robot 100 and the charging device 300 are equipped with induction coils. The induction coil of the charging device 300 generates a magnetic field and transfers energy to the energy storage robot 100 through its induction coil to charge the battery module 20 of the energy storage robot 100. In this case, the charging device 300 and the energy storage robot 100 do not need to contact each other, preventing wear and tear on the energy storage robot 100, resulting in a better appearance and longer service life. When the charging device 300 performs battery swapping for the energy storage robot 100, it directly replaces the battery module 20 with a fully charged one. In this case, the energy replenishment speed of the energy storage robot 100 is fast, and its working time is longer.

[0124] Since the energy storage system 1000 in this application embodiment includes an energy storage robot 100, it is 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 are described above with reference to the beneficial effects of the energy storage robot 100, and will not be repeated here.

[0125] The technical features of the embodiments described above can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Furthermore, other implementation methods can be derived from the above embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0126] The embodiments described above are merely illustrative of several implementation methods of this application, and 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 those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should 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 detection module, and a movement module. The battery module is configured to power the energy storage robot. The detection module is configured to detect the slope information of the bearing surface and the weight information of the energy storage robot. The movement module is configured to drive the energy storage robot to move relative to the bearing surface. The control method includes: Obtain the slope information of the bearing surface; Obtain the weight information of the energy storage robot; Based on the slope information and the weight information, the target driving force and target electrical charge required for the energy storage robot to move relative to the bearing surface are obtained; The target torque of the mobile module is obtained based on the target driving force; and If the current remaining power of the battery module is greater than or equal to the target power, the mobile module is controlled to drive the energy storage robot to move with the target torque.

2. The control method according to claim 1, characterized in that, The control method further includes: If the current remaining power is less than the target power, control the energy storage robot to move to the charging device; and / or issue a prompt message.

3. The control method according to claim 1, characterized in that, The energy storage robot also includes a photovoltaic panel, which is configured to receive light and convert light energy into electrical energy to charge the battery module. The control method further includes: The first amount of electricity generated by the photovoltaic panel within a preset time period is obtained, where the preset time period is the time required for the mobile module to consume the current remaining electricity when it is running at the target torque. and If the sum of the current remaining power and the first power is greater than the target power, the mobile module is controlled to drive the energy storage robot to move with the target torque.

4. The control method according to claim 3, characterized in that, The control method further includes: If the sum of the current remaining power and the first power is less than the target power, obtain the travel time required for the energy storage robot to move to the charging device; Obtain the second electrical charge generated by the photovoltaic panel during the movement time; If the sum of the current remaining power and the second power is greater than or equal to the target power, control the energy storage robot to recharge in place and issue a prompt message; If the sum of the current remaining power and the second power is less than the target power, and the charging efficiency of the photovoltaic panel for the battery module is less than the charging efficiency of the charging device for the battery module, the energy storage robot is controlled to move to the charging device.

5. The control method according to claim 1, characterized in that, The control method further includes: Obtain the theoretical displacement of the energy storage robot; Obtain the actual displacement of the energy storage robot; When the actual displacement is less than the theoretical displacement, the deceleration torque is obtained, and the moving module is controlled to move at the deceleration torque, which is less than the target torque. When the actual displacement equals the theoretical displacement, the moving module is controlled to continue operating at the target torque.

6. The control method according to claim 5, characterized in that, After the steps of acquiring the deceleration torque and controlling the moving module to move at the deceleration torque, the control method further includes: When the driving force of the mobile module under the deceleration torque is less than the gravitational component of the energy storage robot, braking is initiated; When the driving force of the mobile module under the deceleration torque is greater than the gravity component of the energy storage robot, the mobile module is controlled to move at the deceleration torque.

7. The control method according to claim 5, characterized in that, The mobile module includes a moving component and a driving component, wherein the driving component is configured to drive the moving component to rotate, thereby moving the energy storage robot; obtaining the theoretical displacement of the energy storage robot includes: The theoretical displacement of the energy storage robot is obtained based on the number of rotations of the moving component.

8. An energy storage robot, characterized in that, The energy storage robot includes a battery module, a detection module, a movement module, and a controller. The battery module is configured to power the energy storage robot. The detection module is configured to detect the slope information of the bearing surface and the weight information of the energy storage robot. The movement module is configured to drive the energy storage robot to move on the bearing surface. The controller is configured to execute the control method according to any one of claims 1-7.

9. The energy storage robot according to claim 8, characterized in that, The energy storage robot also includes a photovoltaic panel, which is configured to receive light and convert light energy into electrical energy to charge the battery module; the photovoltaic panel is configured to switch between a first state and a second state, wherein the light-receiving area of ​​the photovoltaic panel in the first state is greater than the light-receiving area of ​​the photovoltaic panel in the second state.

10. An energy storage system, characterized in that, include: The energy storage robot as described in claim 9; and A charging device configured to provide electrical energy to the energy storage robot.

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