Energy storage robot and energy storage system

Abstract

The application discloses an energy storage robot and an energy storage system. The energy storage robot comprises a body, a battery module, a photovoltaic panel and a moving module. The battery module is arranged in the body and is configured to at least supply power to the energy storage robot. The photovoltaic panel is arranged on the body and is configured to receive light and convert light energy into electric energy to charge the battery module. The moving module is arranged at the bottom of the body and comprises at least two moving components configured to drive the body to move relative to a bearing surface. The moving components comprise a first moving part and a second moving part. The second moving part is configured to move relative to the first moving part between a first position and a second position. In the first position, at least part of the second moving part protrudes beyond the first moving part in the advancing direction of the energy storage robot. In the second position, the second moving part and the first moving part are arranged side by side, and the second moving part does not protrude beyond the first moving part in the advancing direction of the energy storage robot.

Description

Technical Field

[0001] This application relates to the field of energy storage technology, and more specifically, to 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, photovoltaic panels mounted on the body, and a mobile module also mounted on the body. The photovoltaic panels receive sunlight and convert it into electrical energy, while the mobile module drives the body to move relative to a support surface (such as the ground). Energy storage robots typically track sunlight by controlling their own movement to ensure power generation efficiency. However, when ditches exist along the robot's path, the robot needs to replan its movement to prevent it from getting stuck, affecting its tracking efficiency and hindering the improvement of power generation efficiency. Utility Model Content

[0003] This application provides an energy storage robot and an energy storage system to solve at least one of the aforementioned technical problems.

[0004] The energy storage robot of this application includes a body, a battery module, a photovoltaic panel, and a moving module. The battery module is disposed within the body and configured to at least power the energy storage robot. The photovoltaic panel is disposed within the body and configured to receive light and convert light energy into electrical energy to charge the battery module. The moving module is disposed at the bottom of the body and includes at least two moving components configured to drive the body to move relative to a supporting surface. Each moving component includes a first moving member and a second moving member. The second moving member is configured to move relative to the first moving member between a first position and a second position. In the first position, at least a portion of the second moving member extends beyond the first moving member in the forward direction of the energy storage robot. In the second position, the second moving member and the first moving member are arranged side-by-side, and the second moving member does not extend beyond the first moving member in the forward direction of the energy storage robot.

[0005] In some embodiments, in the first position, the distance between the second moving member and the bearing surface is greater than the distance between the first moving member and the bearing surface; in the second position, the distance between the second moving member and the bearing surface is equal to the distance between the first moving member and the bearing surface.

[0006] In some embodiments, the first moving member is a track or a rotating wheel; and / or, the second moving member is a track or a rotating wheel.

[0007] In some embodiments, both the first moving member and the second moving member are tracks, and at least two of the moving components are spaced apart along the width direction of the energy storage robot, the width direction being perpendicular to the forward direction and the height direction of the energy storage robot.

[0008] In some embodiments, the moving component further includes a third moving member configured to move relative to the first moving member between a third position and a fourth position. In the third position, at least a portion of the third moving member extends beyond the first moving member in a backward direction of the energy storage robot. In the fourth position, the third moving member and the first moving member are arranged side by side, and the third moving member does not extend beyond the first moving member in a forward direction of the energy storage robot, the backward direction being parallel to and opposite to the forward direction.

[0009] In some embodiments, in the third position, the distance between the third moving member and the bearing surface is greater than the distance between the first moving member and the bearing surface; in the fourth position, the distance between the third moving member and the bearing surface is equal to the distance between the first moving member and the bearing surface.

[0010] In some embodiments, the third moving member and the second moving member are located on the same side of the first moving member in the width direction of the energy storage robot.

[0011] In some embodiments, the mobile module further includes a drive component connected to the mobile component and configured to drive the second mobile member to move relative to the first mobile member between a first position and a second position. The energy storage robot also includes a detection module disposed on the body, configured to detect the shape of the bearing surface, and the drive component is configured to drive the second mobile member to move relative to the first mobile member based on the shape of the bearing surface.

[0012] In some embodiments, the drive assembly includes a drive member and a transmission component. The transmission component includes a transmission gear and a transmission rack. The transmission gear is connected to the output end of the drive member and meshes with the transmission rack. The transmission rack is connected to the second moving member. When the drive member drives the transmission gear to rotate, the transmission gear drives the transmission rack to move, thereby causing the second moving member to move relative to the first moving member.

[0013] The energy storage system of this application 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] In the energy storage robot and energy storage system of this application embodiment, the second moving member can move relative to the first moving member between a first position and a second position. In the first position, at least a portion of the second moving member extends beyond the first moving member in the forward direction of the energy storage robot. This increases the contact size between the moving component and the bearing surface in the forward direction of the energy storage robot, reduces the possibility of the moving component getting stuck in a ditch, and thus ensures that the energy storage robot does not need to replan its movement path when there is a ditch in its movement path, thereby improving the light-tracking efficiency and thus improving the power generation efficiency.

[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 certain embodiments of this application, wherein the second moving member is located in a second position;

[0018] Figure 2 This is a structural schematic diagram of an energy storage robot according to some embodiments of this application, wherein the second moving part is located in the first position;

[0019] Figure 3 This is a structural schematic diagram of an energy storage robot according to other embodiments of this application, wherein the second moving part is located in the first position;

[0020] Figure 4 This is a schematic diagram of the energy storage robot moving on the bearing surface according to certain embodiments of this application;

[0021] Figure 5 This is a schematic diagram of the structure of the moving component of the moving module in the energy storage robot according to certain embodiments of this application;

[0022] Figure 6 This is a schematic diagram of a portion of the structure of the mobile module in an energy storage robot according to certain embodiments of this application;

[0023] Figure 7 This is a schematic diagram of the energy storage system according to some embodiments of this application.

[0024] Explanation of key component symbols:

[0025] 1000 energy storage system;

[0026] 100 energy storage robots; 300 charging devices; X forward direction; Z height direction; Y width direction;

[0027] 10. Body; 20. Battery module; 30. Photovoltaic panel; 40. Moving module; 41. Moving component; 411. First moving part; 413. Second moving part; 415. Third moving part; 43. Drive component; 433. Transmission component; 4331. Transmission gear; 4333. Transmission rack; 45. Positioning component; 451. Positioning piece; 453. Power component; 50. Detection module. Detailed Implementation

[0028] The embodiments of this application are described in detail below. Examples of these 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.

[0029] In the description of this application, it should be understood that the terms "thickness," "upper," "top," "bottom," "inner," "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used 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, and therefore should not be construed as a limitation of this application. 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 indicated technical features. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly. In one example, they can be a fixed connection, a detachable connection, or an integral connection; they can be a mechanical connection, an electrical connection, or a connection that allows communication between them; they can be a direct connection or an indirect connection through an intermediate medium; they can be the internal connection of two elements or the interaction between two elements.

[0031] 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 electrical equipment outdoors or in other power-deprived environments. In related technologies, an energy storage robot includes a body, a photovoltaic panel mounted on the body, and a moving module mounted on the body. The photovoltaic panel receives sunlight and converts it into electrical energy, while the moving module drives the body to move relative to a supporting surface (such as the ground). Energy storage robots typically track sunlight by controlling their own movement to ensure power generation efficiency. However, when ditches exist along the robot's path, the robot needs to replan its path to prevent it from getting stuck, affecting its tracking efficiency and hindering power generation efficiency. To address these issues, this application provides an energy storage robot 100 (… Figure 1 (as shown) and energy storage system 1000 ( Figure 7 (As shown).

[0032] Please see Figures 1 to 3 The energy storage robot 100 according to this application includes a body 10, a battery module 20, a photovoltaic panel 30, and a moving module 40. The battery module 20 is disposed within the body 10 and configured to at least power the energy storage robot 100. The photovoltaic panel 30 is disposed on the body 10 and configured to receive light and convert light energy into electrical energy to charge the battery module 20. The moving module 40 is disposed at the bottom of the body 10 and includes at least two moving components 41. The moving components 41 are configured to drive the body 10 to move relative to a supporting surface. Each moving component 41 includes a first moving member 411 and a second moving member 413. The second moving member 413 is configured to be at a first position relative to the first moving member 411 (e.g., ...). Figure 2 or Figure 3 (as shown) and the second position (as shown) Figure 1 The second moving member 413 moves between the first moving member 411 and the first moving member 411 in the first position. In the second position, at least a portion of the second moving member 413 extends beyond the first moving member 411 in the forward direction X of the energy storage robot 100. In the second position, the second moving member 413 and the first moving member 411 are arranged side by side, and the second moving member 413 does not extend beyond the first moving member 411 in the forward direction X of the energy storage robot 100.

[0033] 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 30) installed within the energy storage robot 100, ensuring that the energy storage robot 100 has sufficient stored energy.

[0034] 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.

[0035] 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 7When the battery module 20 is a rechargeable battery module, the energy storage robot 100 can charge the battery module 20 through the charging device 300 (such as a charging pile) to replenish its energy. When the battery module 20 is a non-rechargeable battery module, the energy storage robot 100 can replace the battery in the battery module 20 through the charging device 300 (such as a charging pile) to replenish its power. The charging device 300 is a device that provides power to devices with energy storage functions. For example, the charging device 300 can provide power to new energy vehicles, the energy storage robot 100, or other energy storage devices. This application uses the charging device 300 providing power to the energy storage robot 100 as an example. The charging device 300 provides power to the energy storage robot 100 in two ways: charging the battery module 20 in the energy storage robot 100 and replacing the battery module 20 (battery swapping).

[0036] The photovoltaic panel 30 is a component that converts light energy into electrical energy to charge devices connected to it. The photovoltaic panel 30 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 30 is positioned on top of the energy storage robot 100 to ensure that it can fully absorb light energy. The photovoltaic panel 30 receives light and converts it into electrical energy to charge the battery module 20. Of course, in other embodiments, the photovoltaic panel 30 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 30 can be directly electrically connected via cables, or an electrical connection can be achieved through intermediate devices such as junction boxes or combiner boards.

[0037] The photovoltaic panel 30 is configured to switch between an unfolded state and a folded state. The light-receiving area of ​​the photovoltaic panel 30 in the unfolded state is larger than that in the folded state. In the folded state, at least a portion of the photovoltaic panel 30 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 30 remains in the folded state during the movement of the energy storage robot 100, the wind resistance experienced by the energy storage robot 100 is reduced, and the power consumption per unit distance is also reduced. In the unfolded state, the photovoltaic panel 30 is fully unfolded, presenting the form that occupies the maximum space.

[0038] 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 mobile component 41, which is used to drive the body 10 to move relative to the bearing surface. The mobile component 41 includes a first moving member 411 and a second moving member 413, at least one of which can drive the body 10 to move relative to the bearing surface. 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 ramps of mobile vehicles (such as vehicles and ships) that abut the ground, indoor floors, etc. The mobile vehicle can load the energy storage robot 100 and move it to meet the needs of multi-point power supply.

[0039] In some embodiments of this application, the first moving member 411 is a track or a rotating wheel; and / or, the second moving member 413 is a track or a rotating wheel. Tracks are highly adaptable, capable of handling various terrains, including mud, ruggedness, and unevenness; they have a high load-bearing capacity, capable of supporting heavier weights; and strong traction, with the traction of tracks being stronger than that of wheels (rotating wheels), enabling travel on steeper slopes and providing greater stability. The contact area of ​​tracks is also larger than that of wheels, providing more stable travel. Wheels have less rolling friction, providing higher speeds and greater flexibility, making turning and U-turns easier. Specifically, the combination of the types of the first moving member 411 and the second moving member 413 can be at least one of the following: the first moving member 411 is a track and the second moving member 413 is a rotating wheel; the first moving member 411 is a rotating wheel and the second moving member 413 is a track; both the first moving member 411 and the second moving member 413 are tracks; or both the first moving member 411 and the second moving member 413 are rotating wheels. For ease of understanding, the following embodiments will be described using the example that both the first moving part 411 and the second moving part 413 are tracks.

[0040] In some embodiments, the first moving member 411 and the second moving member 413 are both configured to drive the body 10 to move relative to the bearing surface. This can, on the one hand, increase the driving force output by the moving member 41, which is beneficial to the stable movement of the energy storage robot 100 on terrains such as slopes, sand, or mud. On the other hand, it can achieve redundancy and fault tolerance. When one of the first moving member 411 and the second moving member 413 cannot output driving force, the other can still output driving force, so that the energy storage robot 100 can still maintain basic movement.

[0041] In other embodiments, one of the first moving member 411 and the second moving member 413 is configured to drive the body 10 to move relative to the bearing surface. This simplifies the structure of the mobile module 40 for driving the first moving member 411 or the second moving member 413, reduces production costs, and lightens the weight of the energy storage robot 100. In some embodiments of this application, the mobile module 40 drives the body 10 to move relative to the bearing surface at least through the first moving member 411.

[0042] In some embodiments, the first position can be the position of the second moving member 413 relative to the first moving member 411 when the second moving member 413 moves relative to the first moving member 411 along the forward direction X of the energy storage robot 100 and the second moving member 413 exceeds the first moving member 411. The second position can be the position of the second moving member 413 relative to the first moving member 411 when the second moving member 413 and the first moving member 411 are arranged side by side and along the forward direction X of the energy storage robot 100, the second moving member 413 does not exceed the first moving member 411.

[0043] Specifically, please combine Figure 4 In the forward direction X of the energy storage robot 100, the body 10 includes a front side and a rear side facing away from each other, and the first moving member 411 includes a first end facing away from each other (e.g., ...). Figure 1 The leftmost end of the first moving part 411) and the second end (as shown in the image) Figure 1 The rightmost end of the first moving member 411), the first end of the first moving member 411 is closer to the front than the second end of the first moving member 411. Wherein, the second moving member 413 extending beyond the first moving member 411 can be: in the forward direction X, at least a portion of the second moving member 413 is closer to the front than the first end of the first moving member 411; the second moving member 413 not extending beyond the first moving member 411 can be: in the forward direction X, the end of the second moving member 413 closer to the front is farther from the front than the first end of the first moving member 411; or, the end of the second moving member 413 closer to the front is flush with the first end of the first moving member 411.

[0044] Thus, compared to the second moving member 413 being in the second position, when the second moving member 413 is in the first position, the moving component 41 occupies a larger size in the forward direction X, which facilitates the moving component 41 crossing wider ditches, etc. This improves the stability of the energy storage robot 100's movement, meaning it can still move smoothly even when encountering small depressions. Furthermore, when there are ditches in the moving path of the energy storage robot 100, the energy storage robot 100 does not need to replan its movement path, ensuring light-tracking efficiency and contributing to improved power generation efficiency. It should be noted that in some embodiments, the ditch can be a depression with a certain depth-to-width ratio on the bearing surface. If the moving component 41 falls into the ditch, the moving module 40 will find it difficult to detach from the ditch using its own driving force. In the forward direction X, the size of the ditch can be less than or equal to half the maximum size of the moving component 41 (e.g., the size of the moving component 41 when the second moving member 413 is in the first position), thus ensuring that the moving component 41 can cross the ditch.

[0045] In addition, in the second position, the second moving member 413 and the first moving member 411 are arranged side by side. That is, in the second position, the second moving member 413 and the first moving member 411 are arranged side by side along the width direction Y of the energy storage robot 100 (perpendicular to the forward direction X and the height direction Z of the energy storage robot 100). This can increase the contact area between the moving member 41 and the bearing surface in the width direction Y when the moving member 41 is moving normally, reduce the possibility of the energy storage robot 100 tipping over, and improve the stability of the movement of the energy storage robot 100.

[0046] It should be noted that the orientations described in the embodiments of this application are defined with the mobile module 40 of the energy storage robot 100 supported on the bearing surface. "Front side" and "rear side" are relative to the forward direction X of the energy storage robot 100. When the energy storage robot 100 moves along the forward direction X, the foremost part of the body 10 closest to the forward direction X is the front side of the body 10, and the rearmost part of the body 10 closest to the forward direction X is the rear side of the body 10.

[0047] In the energy storage robot 100 of this application embodiment, the second moving member 413 can move relative to the first moving member 411 between a first position and a second position. In the first position, at least a portion of the second moving member 413 extends beyond the first moving member 411 in the forward direction X of the energy storage robot 100. This increases the contact size between the moving member 41 and the bearing surface in the forward direction X of the energy storage robot 100, reducing the possibility of the moving member 41 getting stuck in a ditch or deep pit. As a result, when there is a ditch in the moving path of the energy storage robot 100, the energy storage robot 100 does not need to replan its moving path, ensuring the light-tracking efficiency and thus contributing to the improvement of power generation efficiency.

[0048] Furthermore, in the first position, at least a portion of the second moving member 413 extends beyond the first moving member 411 in the forward direction X of the energy storage robot 100. This increases the size of the support polygon formed by the contact points between the moving module 40 and the bearing surface, ensuring that the vertical line of the energy storage robot 100's center of gravity falls on the support polygon. This reduces the possibility of the energy storage robot 100 tipping over due to a shift in its center of gravity, improving the stability and reliability of the energy storage robot 100's movement. It is understood that the support polygon is a hypothetical polygon, the smallest convex polygon formed by the contact points between the energy storage robot 100 and the bearing surface. The vertical projection of the energy storage robot 100's center of gravity (the vertical line of the energy storage robot 100's center of gravity) must fall within the support polygon; otherwise, the energy storage robot 100 will tip over.

[0049] For example, when the second moving member 413 is in the second position and the energy storage robot 100 is about to tip forward relative to the bearing surface, that is, when the bearing surface on the rear side of the body 10 is tilted up, the vertical line of the center of gravity may exceed the support polygon formed by the contact point of the moving component 41 (first moving member 411) and the bearing surface. In this case, the second moving member 413 can switch from the second position to the first position so that the contact point of the moving component 41 (first moving member 411 and second moving member 413) and the bearing surface can form a new support polygon, thereby causing the vertical line of the center of gravity to fall back into the new support polygon, preventing the energy storage robot 100 from tipping over.

[0050] The energy storage robot 100 will be further described below with reference to the accompanying drawings.

[0051] Please see Figures 1 to 3 and combined Figure 5 In some embodiments, both the first moving member 411 and the second moving member 413 are tracks. Specifically, the track may have two drive wheels, which are spaced apart within the track, and at least one of the drive wheels is configured to drive the track to rotate. For example, both drive wheels are configured to drive the track to rotate. This can, on the one hand, increase the driving force output by the track assembly, which is beneficial for the stable movement of the energy storage robot 100 on terrains such as slopes, sand, or mud; on the other hand, it can make the force distribution on the track more uniform, reduce wear caused by unilateral force on the track, and extend the service life of the track; and it can also achieve redundancy and fault tolerance, so that if one of the first drive wheel and the second drive wheel cannot drive the track to rotate, the other can still drive the track to rotate, allowing the energy storage robot 100 to maintain basic movement. As another example, one of the two drive wheels is configured to drive the track to rotate.

[0052] Furthermore, the mobile module 40 may also include a drive unit, which is a component for providing driving force, such as a drive motor, internal combustion engine, or pneumatic motor. For example, the drive unit can be a hub motor, located inside the drive wheel, and drives the track to rotate via the drive wheel. This reduces the space occupied by the drive unit, facilitating the miniaturization of the energy storage robot 100. Alternatively, the drive unit can be a DC servo motor, AC servo motor, stepper motor, etc., located outside the drive wheel, and drives the track to rotate via the drive wheel. This facilitates the maintenance and replacement of the drive unit, improving the stability and reliability of the mobile module 40.

[0053] The track material may include at least one of carbon steel and aluminum alloy. The inner side of the track (the side in contact with the drive wheel) has a groove to connect (e.g., mesh) the track and the drive wheel, ensuring that the drive wheel can transmit power through the track. When the drive wheel rotates, the upper teeth of the drive wheel mesh with the groove, and the lower teeth of the drive wheel disengage from the groove, thereby causing the track to rotate. The outer side of the track (the side in contact with the load-bearing surface) has anti-slip protrusions. These protrusions increase the friction between the track and the load-bearing surface, improving the stability of the energy storage robot 100's movement.

[0054] In some embodiments, the first moving member 411 and the second moving member 413 are both tracks, and at least two moving components 41 are spaced apart along the width direction Y of the energy storage robot 100, which is perpendicular to the forward direction X and the height direction Z of the energy storage robot 100.

[0055] For example, the moving components 41 include two units, which are respectively disposed on opposite sides of the body 10 in the width direction Y of the energy storage robot 100. This improves the stability of the energy storage robot 100's movement. The central axis of the track is located in the middle of the body 10, and the central axes of the tracks of the two moving components 41 can coincide. The middle of the body 10 is the intermediate region between the front and rear sides. This allows the moving components 41 to better balance the energy storage robot 100, making the energy storage robot 100 more stable during movement, preventing unstable walking postures, and improving the stability and reliability of the energy storage robot 100's operation.

[0056] It should be noted that, in some embodiments, the fact that the central axis of the track is located in the middle of the fuselage 10 does not limit the central axis of the track to be exactly located on the center line of the forward direction X of the fuselage 10. Alternatively, the central axis of the track may be offset by an appropriate distance from the center line of the forward direction X of the fuselage 10 towards the front of the fuselage 10, or the central axis of the track may be offset by an appropriate distance from the center line of the forward direction X of the fuselage 10 towards the rear of the fuselage 10.

[0057] In other embodiments, the first moving member 411 and the second moving member 413 are both rotating wheels. The moving assembly 41 includes four components, which can be grouped in pairs. The two moving components 41 in each group are spaced apart along the width direction Y, and the two groups are spaced apart along the forward direction X. This allows the moving module 40 to better balance the energy storage robot 100, making the energy storage robot 100 more stable during movement, preventing the energy storage robot 100 from having unstable walking posture, and improving the stability and reliability of the energy storage robot 100's operation.

[0058] Please see Figure 1 and Figure 3 In some implementations, at the first position ( Figure 3 As shown), the distance between the second moving member 413 and the bearing surface is greater than the distance between the first moving member 411 and the bearing surface; at the second position ( Figure 1 As shown below, the distance between the second moving member 413 and the bearing surface is equal to the distance between the first moving member 411 and the bearing surface.

[0059] Specifically, in some embodiments, when the energy storage robot 100 is supported on the support surface, the first moving member 411 remains in contact with the support surface, that is, the distance between the first moving member 411 and the support surface is approximately 0, thereby ensuring that the first moving member 411 can drive the body 10 to move relative to the support surface. In the first position, the distance between the second moving member 413 and the support surface is greater than the distance between the first moving member 411 and the support surface, that is, in the first position, the second moving member 413 is raised relative to the support surface. This facilitates the moving component 41 in overcoming obstacles, so that the energy storage robot 100 does not need to replan its movement path when encountering obstacles, thus improving movement efficiency.

[0060] Furthermore, when the energy storage robot 100 is on the ramp, the second moving part 413 can switch from the second position to the first position, thereby raising the second moving part 413. This allows the second moving part 413 to overcome the height gap, enabling the energy storage robot 100 to autonomously climb onto the ramp under the driving action of the first moving part 411. This eliminates the need for manual transport of the energy storage robot 100 to the ramp or mobile vehicle, ensuring that the energy storage robot 100 can be transferred via a mobile vehicle to meet the needs of multi-point power supply. It should be noted that in some embodiments, the height gap may be caused by factors such as the ramp being too thick or the ground surface being uneven.

[0061] Understandably, the tracks have a certain degree of deformability. When encountering small depressions, the tracks can deform appropriately to allow the energy storage robot 100 to smoothly traverse them. Furthermore, as described above, the second moving member 413 can switch between a first position and a second position, enabling the energy storage robot 100 to overcome obstacles such as protrusions and ditches. Thus, the energy storage robot 100 of this application can effectively adapt to different shapes of the bearing surface, improving the stability of the energy storage robot 100's movement.

[0062] Please see Figures 1 to 3 In some embodiments, the moving component 41 further includes a third moving member 415, which is configured to be in a third position relative to the first moving member 411. Figure 2 or Figure 3 (as shown) and the fourth position ( Figure 1 The third moving member 415 moves between the first moving member 411 and the second moving member 413 in the first position. In the third position, at least a portion of the third moving member 415 extends beyond the first moving member 411 in the backward direction of the energy storage robot 100. In the fourth position, the third moving member 415 and the first moving member 411 are arranged side by side, and the third moving member 415 does not extend beyond the first moving member 411 in the forward direction X of the energy storage robot 100. The backward direction is parallel to and opposite to the forward direction X. It should be noted that in this embodiment, the maximum size of the moving member 41 in the forward direction X can be: the size of the moving member 411 in the forward direction X when the second moving member 413 is in the first position and the third moving member 415 is in the third position.

[0063] Thus, the placement of the third moving member 415 further increases the contact size between the moving component 41 and the bearing surface in the forward direction X of the energy storage robot 100, effectively reducing the possibility of the moving component 41 getting stuck in a ditch. This means that when there is a ditch in the moving path of the energy storage robot 100, the energy storage robot 100 does not need to replan its moving path, ensuring the light-tracking efficiency and thus contributing to the improvement of power generation efficiency. Furthermore, with the second moving member 413 in the first position and the third moving member 415 in the third position, the moving component 41 can cross larger ditches, which helps improve the adaptability of the energy storage robot 100 to different terrains.

[0064] In some embodiments, the third moving member 415 can be a track or a rotating wheel. The third moving member 415 can be configured to drive the body 10 to move relative to the bearing surface, which can increase the driving force output by the moving component 41 and help to achieve stable movement of the energy storage robot 100 on terrains such as slopes, sand, or mud.

[0065] The third position can be the position of the third moving member 415 when the third moving member 415 moves relative to the first moving member 411 and along the backward direction of the energy storage robot 100, and the second moving member 413 exceeds the first moving member 411. The fourth position can be the position of the third moving member 415 when the third moving member 415 and the first moving member 411 are arranged side by side and along the forward direction X of the energy storage robot 100, and the third moving member 415 does not exceed the first moving member 411. Wherein, the third moving member 415 exceeding the first moving member 411 can be: in the backward direction, at least a portion of the third moving member 415 is closer to the rear than the second end of the first moving member 411; the third moving member 415 not exceeding the first moving member 411 can be: in the backward direction, the rearward end of the third moving member 415 is farther from the rear than the second end of the first moving member 411; or, the rearward end of the third moving member 415 is flush with the second end of the first moving member 411.

[0066] Please see Figure 1 and Figure 3 In some implementations, at the third position ( Figure 3 As shown), the distance between the third moving member 415 and the bearing surface is greater than the distance between the first moving member 411 and the bearing surface; at the fourth position ( Figure 1 As shown below, the distance between the third moving member 415 and the bearing surface is equal to the distance between the first moving member 411 and the bearing surface.

[0067] In the third position, the distance between the third moving part 415 and the bearing surface is greater than the distance between the first moving part 411 and the bearing surface. That is, in the third position, the third moving part 415 is raised relative to the bearing surface. This makes it easier for the moving component 41 to move over obstacles when it moves backward, so that the energy storage robot 100 does not need to replan its movement path when it encounters obstacles, thus improving its movement efficiency.

[0068] Please combine Figure 5 In some embodiments, the third moving member 415 and the second moving member 413 are located on the same side of the first moving member 411 in the width direction Y of the energy storage robot 100.

[0069] Specifically, in some embodiments, in the width direction Y of the energy storage robot 100, the first moving member 411 includes a first side facing away from each other ( Figure 5 The left side of the first moving part 411) and the second side ( Figure 5The first moving part 411 is located on the right side of the first moving part 411, with its first side facing outwards. The second moving part 413 and the third moving part 415 are both located on the second side of the first moving part 411. This reduces the size of the moving assembly 41 in the width direction Y, and compared to having the second moving part 413 and the third moving part 415 located on the first and second sides of the first moving part 411 respectively, the overall structure of the moving assembly 41 is cleaner, reducing visual imperfections and improving the aesthetics of the moving module 40.

[0070] Furthermore, the third moving member 415 and the second moving member 413 are both located on the second side of the first moving member 411. Therefore, compared to the second moving member 413 and the third moving member 415 being located on the first side of the first moving member 411, the first moving member 411 can provide a certain degree of protection for the second moving member 413 and the third moving member 415, reducing the possibility of external objects interfering with the movement of the second moving member 413 and the third moving member 415, ensuring the normal operation of the moving module 40, and improving the stability of the movement of the energy storage robot 100.

[0071] Please see Figure 1 , Figure 3 , Figure 5 and Figure 6 In some embodiments, the mobile module 40 further includes a drive component 43 connected to the mobile component 41 and configured to drive the second moving member 413 to move relative to the first moving member 411 between a first position and a second position. The energy storage robot 100 also includes a detection module 50 disposed on the body 10. The detection module 50 is configured to detect the shape of the bearing surface, and the drive component 43 is configured to drive the second moving member 413 relative to the first moving member 411 based on the shape of the bearing surface.

[0072] Specifically, in the above embodiments, the drive component 43 is a structure in the moving module 40 used to apply a driving force to the second moving member 413. When the driving force of the drive component 43 is transmitted to the second moving member 413, the second moving member 413 can move relative to the first moving member 411 to switch between a first position and a second position. In some embodiments, there is a physical connection between the drive component 43 and the second moving member 413, that is, the drive component 43 and the second moving member 413 are directly connected, or the drive component 43 and the second moving member 413 are indirectly connected through an intermediate element. In this case, the drive component 43 may include a drive motor, an internal combustion engine, or a pneumatic motor, etc. In other embodiments, there is no physical connection between the drive component 43 and the second moving member 413. In this case, the drive component 43 can apply a driving force to the second moving member 413 by generating a magnetic field or injecting compressed air, etc.

[0073] The detection module 50 is a module in the energy storage robot 100 used to detect the shape of the bearing surface. The detection module 50 includes at least one detection element such as a vision sensor and a ranging sensor. For example, please refer to... Figure 4 When the detection module 50 detects a ditch on the bearing surface, the drive component 43 can drive the second moving member 413 to move relative to the first moving member 411, so that the second moving member 413 switches from the second position to the first position, thereby enabling the moving member 41 to cross the ditch and ensure the tracking efficiency. When the detection module 50 detects that the ditch has been crossed and the bearing surface is a flat road surface, the drive component 43 can drive the second moving member 413 to move relative to the first moving member 411, so that the second moving member 413 switches from the first position to the second position.

[0074] Please combine Figure 6 In some embodiments, the drive assembly 43 includes a drive member and a transmission component 433. The transmission component 433 includes a transmission gear 4331 and a transmission rack 4333. The transmission gear 4331 is connected to the output end of the drive member and meshes with the transmission rack 4333. The transmission rack 4333 is connected to the second moving member 413. When the drive member drives the transmission gear 4331 to rotate, the transmission gear 4331 drives the transmission rack 4333 to move, thereby causing the second moving member 413 to move relative to the first moving member 411.

[0075] Specifically, in some embodiments, the driving element is the component in the driving assembly 43 used to provide driving force. The driving element includes, but is not limited to, a drive motor, an internal combustion engine, and a pneumatic motor. The transmission component 433 is a structure in the driving assembly 43 used to transmit the driving force of the driving element to the second moving component 413. The transmission component 433 can be any one or any combination of two of the following transmission components: gear transmission, rack and pinion transmission, belt transmission, chain transmission, and linkage mechanism transmission. In this application, a rack and pinion transmission is used as an example for the transmission component 433. Wherein, when the driving element is operating normally, the transmission gear 4331 can rotate under the driving action of the driving element and drive the transmission rack 4333 to move, thereby causing the second moving component 413 to move relative to the first moving component 411.

[0076] More specifically, in some embodiments, the distance between the tooth surface of the transmission rack 4333 and the bearing surface gradually increases in the forward direction X. That is, the transmission rack 4333 is inclined relative to the forward direction X. This ensures that when the transmission rack 4333 moves, it can not only drive the second moving member 413 to move in the forward direction X, but also drive the second moving member 413 to move in the height direction Z.

[0077] Furthermore, if the transmission rack 4333 only drives the second moving member 413 to move along the forward direction X, it may be difficult to drive due to excessive friction between the second moving member 413 and the bearing surface. Therefore, in some embodiments of this application, the transmission rack 4333 can drive the second moving member 413 to move along the forward direction X and also drive the second moving member 413 to move along the height direction Z, thereby reducing the friction between the second moving member 413 and the bearing surface, and thus improving driving stability while reducing driving consumption.

[0078] In some embodiments, the mobile module 40 further includes a locking assembly 45, which includes a locking member 451 that engages with the transmission gear 4331. The locking member 451 can switch between a first state and a second state. In the first state, the locking member 451 and the transmission gear 4331 are engaged to prevent the transmission gear 4331 from rotating. In the second state, the locking member 451 and the transmission gear 4331 are disengaged.

[0079] Specifically, in the above embodiment, the locking assembly 45 is a structure in the movable module 40 that can selectively engage with the transmission gear 4331. The locking element 451 is a component in the locking assembly 45 that can prevent the transmission gear 4331 from rotating. The first state can be: the state of the locking element 451 when it is engaged with the transmission gear 4331 to prevent the transmission gear 4331 from rotating; the second state can be: the state of the locking element 451 when it is disengaged from the transmission gear 4331. Specifically, when the locking component 451 is in the first state and the second moving component 413 is in the first position, the transmission gear 4331 cannot rotate. Therefore, when the transmission gear 4331 receives a force from the second moving component 413 (due to a collision between the second moving component 413 and an external structure or other reasons), the transmission gear 4331 cannot rotate, preventing the second moving component 413 from switching from the first position to the second position. This prevents the second moving component 413 from retracting (switching from the first position to the second position) during the energy storage robot 100's crossing of the ditch, ensuring the energy storage robot 100 can stably cross the ditch. It should be noted that when the locking component 451 is in the second state, the second moving component 413 can freely switch between the first and second positions.

[0080] Furthermore, in some embodiments, the locking assembly 45 further includes a power element 453 connected to the locking member 451 to drive the locking member 451 to switch between a first state and a second state.

[0081] Specifically, in the above embodiment, the power component 453 is a component in the locking assembly 45 used to provide power to the locking member 451. The power component 453 can drive the locking member 451 to move relative to the body 10, thereby disengaging the locking member 451 from the transmission gear 4331, allowing the transmission gear 4331 to rotate freely.

[0082] In some embodiments, the drive assembly 43 is further configured to drive the third moving member 415 to move relative to the first moving member 411 based on the shape of the bearing surface, so that the third moving member 415 switches between a third position and a fourth position. In this way, the motion of the third moving member 415 reuses the drive assembly 43, so that the energy storage robot 100 does not need to be equipped with an additional new drive assembly 43, which helps to reduce production costs and lighten the weight of the energy storage robot 100.

[0083] In other embodiments, the energy storage robot 100 may further include a second drive assembly (not shown), which is connected to a third moving member 415. The second drive assembly is configured to drive the third moving member 415 to move relative to the first moving member 411 between a third position and a fourth position. It should be noted that the way the second drive assembly drives the third moving member 415 is essentially the same as the direction in which the drive assembly 43 drives the second moving member 413, and will not be described again here. The energy storage robot 100 includes a drive assembly 43 and a second drive assembly, ensuring that even if one of the drive assembly 43 or the second drive assembly fails, the other can still enable the energy storage robot 100 to cross trenches, further improving the stability of the energy storage robot 100's movement.

[0084] In the following embodiments, the energy storage robot 100 is described using only the drive component 43 and the drive component 43 in the second drive component, without including the second drive component.

[0085] In some embodiments, there are two transmission gears 4331 and two transmission racks 4333, and each transmission gear 4331 and transmission rack 4333 corresponds to another transmission rack 4333. The two transmission gears 4331 mesh, and the two transmission racks 4333 are respectively connected to the second moving member 413 and the third moving member 415 of the moving assembly 41. When the driving member drives one transmission gear 4331 to rotate, the other transmission gear 4331 rotates in the opposite direction. In this case, the two transmission gears 4331 drive the two transmission racks 4333 to move, so that the two transmission racks 4333 drive the second moving member 413 and the third moving member 415 to move relative to the first moving member 411.

[0086] Please see Figure 1 and Figure 7The 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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 the described 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.

[0092] 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. An energy storage robot, characterized in that, include: body; A battery module is located inside the body and is configured to power at least the energy storage robot. A photovoltaic panel is disposed on the body, and the photovoltaic panel is configured to receive light and convert light energy into electrical energy to charge the battery module; and A mobile module is disposed at the bottom of the body. The mobile module includes at least two mobile components. The mobile components are configured to drive the body to move relative to the bearing surface. The mobile components include a first mobile member and a second mobile member. The second mobile member is configured to move relative to the first mobile member between a first position and a second position. In the first position, at least a portion of the second mobile member extends beyond the first mobile member in the forward direction of the energy storage robot. In the second position, the second mobile member and the first mobile member are arranged side by side, and the second mobile member does not extend beyond the first mobile member in the forward direction of the energy storage robot.

2. The energy storage robot according to claim 1, characterized in that, In the first position, the distance between the second moving member and the bearing surface is greater than the distance between the first moving member and the bearing surface; in the second position, the distance between the second moving member and the bearing surface is equal to the distance between the first moving member and the bearing surface.

3. The energy storage robot according to claim 1, characterized in that, The first moving component is a track or a rotating wheel; and / or, The second moving part is a track or a rotating wheel.

4. The energy storage robot according to claim 1, characterized in that, Both the first moving component and the second moving component are tracks, and at least two of the moving components are spaced apart along the width direction of the energy storage robot, the width direction being perpendicular to the forward direction and the height direction of the energy storage robot.

5. The energy storage robot according to claim 1, characterized in that, The moving component further includes a third moving member configured to move relative to the first moving member between a third position and a fourth position. In the third position, at least a portion of the third moving member extends beyond the first moving member in a backward direction of the energy storage robot. In the fourth position, the third moving member and the first moving member are arranged side by side, and the third moving member does not extend beyond the first moving member in a forward direction of the energy storage robot, the backward direction being parallel to and opposite to the forward direction.

6. The energy storage robot according to claim 5, characterized in that, In the third position, the distance between the third moving member and the bearing surface is greater than the distance between the first moving member and the bearing surface; in the fourth position, the distance between the third moving member and the bearing surface is equal to the distance between the first moving member and the bearing surface.

7. The energy storage robot according to claim 5, characterized in that, In the width direction of the energy storage robot, the third moving member and the second moving member are located on the same side of the first moving member.

8. The energy storage robot according to any one of claims 1-7, characterized in that, The mobile module further includes a drive component connected to the mobile component and configured to drive the second moving member to move relative to the first moving member between the first position and the second position. The energy storage robot also includes: A detection module is disposed on the body, the detection module is configured to detect the shape of the bearing surface, and the driving component is configured to drive the second moving member to move relative to the first moving member based on the shape of the bearing surface.

9. The energy storage robot according to claim 8, characterized in that, The driving component includes: Drive components; and The transmission component includes a transmission gear and a transmission rack. The transmission gear is connected to the output end of the drive component and meshes with the transmission rack. The transmission rack is connected to the second moving component. When the drive component drives the transmission gear to rotate, the transmission gear drives the transmission rack to move, thereby causing the second moving component to move relative to the first moving component.

10. An energy storage system, characterized in that, include: The energy storage robot according to any one of claims 1-9; and A charging device configured to provide electrical energy to the energy storage robot.

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