CN-121536184-B - Mobile charging robot

CN121536184BCN 121536184 BCN121536184 BCN 121536184BCN-121536184-B

Abstract

The invention discloses a mobile charging robot, which relates to the technical field of charging management and aims to solve the technical problems that when a mobile charging robot executes high-power quick charging service in the prior art, the whole output capacity of a battery pack is reduced, the charging speed is limited and potential safety hazards exist due to inconsistent health states of the battery pack; the mobile charging robot body comprises a chassis, a driving system arranged on the chassis, a charging control unit and a control system, wherein the charging control unit is used for being connected with an electric automobile, the thermal management system comprises a battery pack and comprises a plurality of battery units for storing electric energy, and the problem that the output capacity of the mobile charging robot is limited and potential safety hazards are caused by inconsistency of the battery packs in the quick charging process is fundamentally solved by introducing differentiated bidirectional thermal management based on the health states of the battery units.

Inventors

LI XIAOJIANG
LI ZHENG
ZHANG WEIHUA
ZHAO LIANG
SUN RUI
WANG GUIZHU

Assignees

北京京能数字科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251231

Claims (7)

1. The mobile charging robot is characterized by comprising a mobile charging robot body and a thermal management system integrated in the mobile charging robot body; The mobile charging robot body comprises a chassis, a driving system arranged on the chassis, a charging control unit and a control system, wherein the charging control unit is used for being connected with an electric automobile; the thermal management system includes: A battery pack including a plurality of battery cells for storing electric energy; A battery state identification module for identifying the health states of different battery units in the battery pack ; A bi-directional thermal management execution module thermally coupled to the battery pack for performing independent heating or cooling operations on different battery cells within the battery pack; The cooperative control module is respectively in communication connection with the battery state identification module, the bidirectional thermal management execution module and the charging control unit of the mobile charging robot; The control system is integrated with the cooperative control module configured to identify a state of health provided by the battery state identification module during a charging service of the mobile charging robot for the electric vehicle Data controlling the bidirectional thermal management execution module to apply differential thermal fields to battery units with different health states so as to adjust charge receiving capacity of the corresponding battery units and promote electric state balance of the battery pack in a charging process; the cooperative control module is further configured to: controlling the bidirectional thermal management execution module to heat at least one first battery unit with a health state lower than a first threshold value and cool at least one second battery unit with a health state higher than a second threshold value; the first threshold and the second threshold are determined based on the tolerance of the overall average health state of the battery pack and a preset health state difference, and the health state difference is represented by the following algorithm formula: ; in the formula, Represent the first The battery unit and the first A difference in state of health between the individual battery cells; And Respectively representing the first obtained by the battery state recognition module And (b) State of health value of each cell unit When the difference threshold value is larger than the preset difference threshold value, judging that the health state difference needing to be intervened exists, and starting differential thermal management; health status based on the battery status recognition module Generating a bidirectional thermal management strategy for different battery units, wherein the bidirectional thermal management strategy comprises the steps of preheating battery units with relatively low health states in an initial charging stage; generating the bi-directional thermal management strategy includes setting a target temperature differential for the target battery cell that is related to the state of health, specifically calculated by the following algorithm formula: ; in the formula, The representation is for the first A target temperature difference set by each battery cell, i.e., a desired temperature offset with respect to an average temperature of the battery pack; Represent the first The state of health of the individual battery cells; Representing an average state of health value for all cells of the entire battery pack; representing a present or planned charging current value; as a mapping function, it is configured to Below is lower than To output positive I.e. setting a heating target, and The larger, positive The larger the absolute value of (a) is, for Higher than Output negative I.e. setting a cooling target; in the charging process, monitoring the voltage deviation change among all battery units in the battery pack in real time, and dynamically adjusting the heating or cooling power of the corresponding battery units according to the voltage deviation change; The dynamic adjustment corrects the target temperature difference in real time based on the voltage deviation change, and the correction algorithm formula is as follows: ; ; in the formula, Representation of Time of day (time) The corrected target temperature difference of each battery unit; to correct the function, it uses real-time voltage deviation Rate of change of Outputting an adjustment quantity for the initial target temperature difference as input; Representation of Time of day is required to be applied to the first Heating or cooling power of the individual battery cells; Represent the first The battery units are arranged at Real-time temperature at the moment; As a power mapping function, it determines the required heating or cooling power based on the difference between the corrected target temperature difference and the real-time temperature.
2. The mobile charging robot of claim 1, wherein the bidirectional thermal management execution module comprises a plurality of partitioned heat flux control units, each partitioned heat flux control unit corresponding to one battery cell and capable of independently receiving instructions of the cooperative control module to perform heating or cooling operations on the corresponding battery cell.
3. A mobile charging robot according to claim 2, wherein the zone heat flow control unit comprises a thermoelectric heat pump device attached to a heat dissipation surface of the corresponding battery cell, and the heating or cooling mode of the battery cell is switched by changing the current direction.
4. The mobile charging robot of claim 2, wherein the bi-directional thermal management execution module further comprises a heat flow exchange loop coupled to each of the zone heat flow control units for transferring heat removed from one or more zone heat flow control units to another one or more zone heat flow control units.
5. The mobile charging robot of claim 4, wherein the heat flow exchange circuit is a liquid cooling circuit comprising a circulation pump, a fluid channel, and a heat storage device, the zone heat flow control unit being integrated in or in thermal contact with the fluid channel, the heat storage device being configured to temporarily store or release thermal energy.
6. The mobile charging robot of claim 1, wherein the thermal management system further comprises a task interface module for receiving charging task instructions from the mobile charging robot dispatch system; the cooperative control module is further configured to initiate predictive thermal management based on the recognition result of the battery state recognition module while moving to a target electric vehicle according to the charging task instruction, and warm up or pre-cool at least a portion of the battery cells.
7. The mobile charging robot of claim 1, wherein the cooperative control module is further configured to generate a charging parameter adjustment recommendation or instruction to the charging control unit based on an operational effect of the bidirectional thermal management execution module and a real-time state of the battery pack, the charging parameter including a charging current or a charging voltage.

Description

Mobile charging robot Technical Field The invention relates to the technical field of charging management, in particular to a mobile charging robot. Background With the popularization of electric automobiles and diversification of charging demands, mobile charging robots are receiving more and more attention as a flexible and deployable energy supplementing solution. The robot integrates energy storage, movement and charging functions, and the performance and service life of a core energy storage unit, namely a battery pack, directly determine the reliability and economy of service. In the actual operation of a mobile charging robot, a built-in battery pack of the mobile charging robot needs to be frequently subjected to high-power discharging (charging for an electric automobile) and charging (self-station-returning energy supplementing), and the aging of the battery pack can be accelerated under the working condition of deep circulation and high multiplying power. A particularly significant technical problem is that the battery pack is formed by connecting a plurality of individual cells in series, and after long-term use, the health status of each individual cell inevitably undergoes differentiation, i.e., inconsistency is aggravated. The harm of the inconsistency is amplified when the high-power quick-charging vehicle is served, namely, the weak monomer with poor health state can reach the upper voltage limit faster under the same charging current due to larger internal resistance and poorer charge receiving capability, so that the whole battery pack is forced to terminate discharging or reduce output power in advance, the service capability and efficiency of the mobile charging robot are severely restricted, meanwhile, the safety risks such as overheat and overcharge are more likely to occur in the weak monomer, and the capacity of the strong monomer cannot be fully utilized. The existing battery management system mainly depends on passive equalization or small-current active equalization technology, and the methods have certain effects in static and slow scenes, but in the dynamic and high-power application scene that a mobile charging robot executes fast-charging tasks, the equalization speed is far from the generation speed of inconsistency, and the energy loss is large, so that the method is essentially a 'post remedy', and the charge receiving capability difference in the fast charging process can not be fundamentally improved. Therefore, a new management scheme capable of actively adjusting the internal state of the battery pack in real time while the mobile charging robot performs the high-power charging task is needed to suppress the negative effects of the inconsistency. Disclosure of Invention The invention aims to provide a mobile charging robot, which solves the technical problems of reduced overall output capacity, limited charging speed and potential safety hazard of a battery pack caused by inconsistent health states when the mobile charging robot executes high-power quick charging service in the prior art. In order to solve the technical problems, the invention provides the following technical scheme that the mobile charging robot comprises a mobile charging robot body and a thermal management system integrated in the mobile charging robot body; The mobile charging robot body comprises a chassis, a driving system arranged on the chassis, a charging control unit and a control system, wherein the charging control unit is used for being connected with an electric automobile; the thermal management system includes: A battery pack including a plurality of battery cells for storing electric energy; A battery state identification module for identifying the health states of different battery units in the battery pack ; A bi-directional thermal management execution module thermally coupled to the battery pack for performing independent heating or cooling operations on different battery cells within the battery pack; The cooperative control module is respectively in communication connection with the battery state identification module, the bidirectional thermal management execution module and the charging control unit of the mobile charging robot; The control system is integrated with the cooperative control module configured to identify a state of health provided by the battery state identification module during a charging service of the mobile charging robot for the electric vehicle And the data control the bidirectional thermal management execution module to apply differentiated thermal fields to the battery units with different health states so as to adjust the charge receiving capacity of the corresponding battery units and promote the electric state balance of the battery pack in the charging process. According to the invention, by introducing differential bidirectional thermal management based on the health state of the battery unit, the thermal management system is changed from a passive