CN113363983A - Tractor scheduling method and mobile energy storage system - Google Patents
Tractor scheduling method and mobile energy storage system Download PDFInfo
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- CN113363983A CN113363983A CN202110866098.9A CN202110866098A CN113363983A CN 113363983 A CN113363983 A CN 113363983A CN 202110866098 A CN202110866098 A CN 202110866098A CN 113363983 A CN113363983 A CN 113363983A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/007—Arrangements for selectively connecting the load or loads to one or several among a plurality of power lines or power sources
- H02J3/0073—Arrangements for selectively connecting the load or loads to one or several among a plurality of power lines or power sources for providing alternative feeding paths between load and source when the main path fails, e.g. transformers, busbars
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
- H02J3/322—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means the battery being on-board an electric or hybrid vehicle, e.g. vehicle to grid arrangements [V2G], power aggregation, use of the battery for network load balancing, coordinated or cooperative battery charging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
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Abstract
The invention discloses a tractor scheduling method and a mobile energy storage system, wherein the tractor scheduling method comprises the following steps: the method comprises the steps of receiving communication information sent by a storage bin, checking the communication information, judging whether the storage bin is in fault according to a checking result, if the storage bin is in fault, marking the storage bin as a fault storage bin, determining the working state and the charge state of the storage bin according to the communication information, if the storage bin is in a discharge state and the output power exceeds a set value, marking the storage bin as a power-notch storage bin, if the storage bin is in a charge state and in a full-power state, marking the storage bin as a power-rich storage bin, determining the geographical positions of the fault storage bin, the power-notch storage bin and the power-rich storage bin according to the communication information, and determining a first walking path of a tractor according to the geographical position, so that the tractor preferentially reaches the fault storage bin, and realizing point-to-point assistance on the power-notch storage bin through the power-rich storage bin.
Description
Technical Field
The embodiment of the invention relates to the power grid technology, in particular to a tractor scheduling method and a mobile energy storage system.
Background
Along with the cost reduction and the technical progress of lithium batteries, more and more power grid companies use the mobile lithium battery energy storage multifunctional power supply vehicle to carry out emergency distribution network power supply. The mobile lithium-electricity energy storage power supply vehicle can replace the conventional diesel generator vehicle to participate in the uninterrupted power operation of a power grid, the uninterrupted power supply to a load in the operation process is successfully realized, and the power supply service satisfaction of a distribution network terminal user can be effectively improved. Compared with a diesel power supply vehicle, the mobile lithium-ion energy-storage multifunctional power supply vehicle has the advantages of environmental protection, silence, rapid millisecond response, excellent electric energy quality, on-grid and off-grid seamless switching and the like, and can be applied to multiple scenes of important load power conservation, improvement of power supply capacity of a distribution network, temporary capacity-increasing power supply, uninterrupted operation of the distribution network and the like. The system takes a special motor vehicle as a carrier and consists of a special chassis, an energy storage lithium iron phosphate battery body, an energy conversion system, an intelligent monitoring system, a water mist fire-fighting system and a remote monitoring platform system.
In the prior art, the traction part and the energy storage part of the mobile lithium battery energy storage multifunctional power supply vehicle are usually designed in an integrated mode, the traction part and the energy storage part cannot be separated from each other, and when the power grid needs to be operated without power outage, the whole mobile lithium battery energy storage multifunctional power supply vehicle needs to be stopped at a power grid node to supply power to the power grid, so that human resource waste is caused to a certain degree.
Based on the above, there is a need for a mobile energy storage power vehicle and a mobile energy storage system capable of loading and unloading energy storage units to reduce unnecessary waste of human resources, and a tractor scheduling method is needed to implement rapid and reasonable scheduling of energy storage units.
Disclosure of Invention
The invention provides a tractor dispatching method and a mobile energy storage system, which aim to achieve the purpose of rapidly and reasonably allocating storage bins.
In a first aspect, an embodiment of the present invention provides a tractor scheduling method, including:
receiving communication information sent by a storage bin, checking the communication information, judging whether the storage bin has a fault according to a checking result, marking the storage bin as a fault storage bin if the storage bin has the fault,
determining the working state and the charge state of the storage bin according to the communication information, marking the storage bin as a power gap storage bin if the storage bin is in a discharge state and the output power exceeds a set value, marking the storage bin as a power-rich storage bin if the storage bin is in a charge state and is in a full power state,
and determining the geographic positions of the fault storage bin, the power gap storage bin and the power-rich storage bin according to the communication information, determining a first walking path of the tractor according to the geographic positions, enabling the tractor to preferentially reach the fault storage bin, and realizing point-to-point assistance on the power gap storage bin through the power-rich storage bin.
And further receiving the carrying residual quantity of the tractor, and determining the walking path according to the carrying residual quantity and the geographic positions of the fault storage bin, the power gap storage bin and the power surplus storage bin.
Further, determining the working state and the charge state of the storage bin according to the communication information further comprises marking the storage bin as a potential power gap storage bin if the storage bin is in a discharge state and the charge state after a set time is lower than a set value, marking the storage bin as a potential power rich storage bin if the storage bin is in a charge state and is in a full charge state after the set time,
the scheduling method further comprises the steps of determining the geographic positions of the potential power notch storage bin and the potential power rich storage bin according to the communication information, and determining a second walking path according to the carrying available surplus and the geographic positions of the potential power notch storage bin and the potential power rich storage bin, so that the walking path of the tractor passing through the potential power notch storage bin and the potential power rich storage bin is the shortest.
And further, sequencing the power notch storage bins according to the charge states of the storage bins, and determining the sequence position relation between the power notch storage bins and other power notch storage bins on the tractor when the power notch storage bins are loaded on the tractor according to the sequencing result.
Further, the method also comprises the steps of judging whether the number of the power gap storage bins is larger than that of the power rich storage bins or not, if so, sequencing the power gap storage bins according to the charge states of the storage bins,
and determining the first walking path according to the geographical positions of the fault storage bin, the power gap storage bin and the power rich storage bin and the sequencing result of the power gap storage bin, so that the power gap storage bin and the power rich storage bin which are in front of the sequencing result are exchanged point to point.
Further, the communication information comprises storage bin static information and storage bin dynamic information,
the storage bin static information comprises a storage bin number, specification and delivery date, whether the storage bin has communication fault or not is judged according to the verification result of the storage bin static information,
the dynamic information of the storage bin comprises a charge-discharge state and a charge state, whether the storage bin has an electrical fault or not is judged according to a verification result of the dynamic information of the storage bin,
configuring the communication failure to be higher in priority than the electrical failure so that the tractor preferentially arrives at the storage bin where the communication failure occurs.
Furthermore, the method also comprises the steps of dividing the working area,
and determining the geographical positions of the fault storage bin, the power gap storage bin and the power rich storage bin according to the communication information, determining the fault storage bin, the power gap storage bin and the power rich storage bin which are positioned in the same working area, and determining a first walking path of the tractor according to the geographical positions of the fault storage bin, the power gap storage bin and the power rich storage bin in the same working area.
In a second aspect, an embodiment of the present invention further provides a mobile energy storage system, which includes a storage bin, a tractor and a control system, where the tractor is configured to carry the storage bin, the control system is in communication with the storage bin and the tractor, and the control system is configured to execute the tractor scheduling method described in the embodiment of the present invention.
Further, the storage bin is provided with a direct current interface, an alternating current interface and a connecting component,
the direct current interface is used for supplying power for the tractor, the alternating current interface is used for being connected with a power grid, and the connecting assembly is used for connecting the storage bins.
Furthermore, the storage bin is further provided with a winding reel, the winding reel is used for accommodating a cable, and the cable is used for connecting the alternating current interface into the power grid.
Compared with the prior art, the invention has the beneficial effects that: according to the tractor scheduling method, the storage bins configured for each node in the power grid are classified according to the communication information of the storage bins, the walking path of the tractor is generated according to the types and the geographic positions of the storage bins, the storage bins in the nodes of the power grid can be rapidly allocated, the power gap storage bins are assisted through the power-rich storage bins, and the reasonable distribution of the energy of the storage bins is completed.
Drawings
FIG. 1 is a flow chart of a tractor scheduling method in an embodiment;
FIG. 2 is a flow chart of another tractor scheduling method in an embodiment;
FIG. 3 is a block diagram of a mobile energy storage system in an embodiment;
FIG. 4 is a block diagram of a storage bin structure in an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a tractor scheduling method in an embodiment, where the tractor scheduling method in this embodiment may be executed by a control system, and referring to fig. 1, the tractor scheduling method includes:
s101, receiving communication information sent by a storage bin, checking the communication information, judging whether the storage bin is in fault according to a checking result, and marking the storage bin as a fault storage bin if the storage bin is in fault.
In an exemplary embodiment, the storage bin is used for providing electric energy for a power grid or an electric device, so that uninterrupted operation of the power grid is facilitated, the power grid uninterruptedly supplies power to a load in an operation process, and meanwhile, the storage bin can be used as a trailer and pulled by a tractor to move.
For example, in this embodiment, the storage bin is in communication connection with the control system, the storage bin may send communication information to the control system, the communication information sent by the storage bin includes a check code, the control system checks the communication information after receiving the communication information, if the check code calculated by the control system is different from the check code carried by the communication information, it is determined that a communication trip between the storage bin and the control system is faulty, and at this time, the control system marks the storage bin with the fault as a faulty storage bin.
S102, determining the working state and the charge state of the storage bin according to the communication information, if the storage bin is in the discharge state and the output power exceeds a set value, marking the storage bin as a power gap storage bin, and if the storage bin is in the charge state and in the full power state, marking the storage bin as a power-rich storage bin.
In this embodiment, the storage bin is configured with charging and discharging functions, and the communication information sent by the storage bin may include the current charging and discharging State of the storage bin, the State of Charge (SOC), the output current, the output voltage, the input current, the input voltage, and the like.
For example, in this embodiment, the control system may calculate the output power of the storage bin through the output current and the output voltage of the storage bin, and if the output power exceeds a set value, it indicates that the power consumption of the grid node configured with the storage bin is relatively large, and it is difficult to provide the power consumption demand of the grid node through the currently configured storage bin, and at this time, the control system marks the storage bin configured with the grid node as a rate-cut storage bin.
For example, in this embodiment, when a storage bin configured at a grid node is in a charging state, if the state of charge of the storage bin is 100%, it indicates that the storage bin is in a full-power state, and at this time, the control system marks the storage bin as a power-rich storage bin.
For example, a storage bay may also be marked as a power-rich storage bay if it is mounted on a tractor and the state of charge of the storage bay is 100%.
For example, in this step, the set value may be 90% of the maximum output power of the storage bin.
S103, determining the geographic positions of the fault storage bin, the power gap storage bin and the power-rich storage bin according to the communication information, determining a first walking path of the tractor according to the geographic positions, enabling the tractor to preferentially reach the fault storage bin, and realizing point-to-point assistance on the power gap storage bin through the power-rich storage bin.
For example, in this embodiment, the communication information sent by the storage bin further includes geographical location information of the storage bin, and when the control system marks the storage bin as a power-cut storage bin and a power-rich storage bin, the control system may simultaneously obtain geographical locations corresponding to the power-cut storage bin and the power-rich storage bin.
In an exemplary embodiment, the control system determines the processing priority of the failed storage bin as the highest, and when the failed storage bin occurs in the grid node, preferentially assigns a tractor to the position of the failed storage bin, and repairs or replaces the failed storage bin.
For example, in this embodiment, the first walking path is a walking path covering all the positions where the fault storage bin, the power gap storage bin and the power rich storage bin are located.
For example, in this embodiment, when the storage bin of the grid node is the power gap storage bin, the remaining power of the storage bin is usually less, and at this time, the point-to-point exchange between the power gap storage bin and the power rich storage bin may be achieved by the tractor. For example, the power-rich storage bin of one grid node may be allocated to another grid node having a power-gap storage bin by the towing vehicle, and the newly allocated power-rich storage bin and the original storage bin may provide electric energy for the grid node.
In the tractor scheduling method provided by this embodiment, the storage bins configured for each node in the power grid are classified according to the communication information of the storage bins, and are specifically divided into a fault storage bin, a power gap storage bin and a power-rich storage bin, a walking path of the tractor is generated according to the category and the geographical position of the storage bins, so that the storage bins in the power grid nodes can be allocated quickly, the power gap storage bin is assisted by the power-rich storage bin, and the reasonable distribution of the energy of the storage bins is completed.
Fig. 2 is a flowchart of another tractor scheduling method in an embodiment, and referring to fig. 2, the tractor scheduling method includes:
s201, receiving communication information sent by the storage bin, checking the communication information, judging whether the storage bin is in fault according to a checking result, and marking the storage bin as a fault storage bin if the storage bin is in fault.
Illustratively, in this step, the communication information includes bin static information and bin dynamic information.
The controller firstly judges whether the storage bin has communication faults according to a check result of the storage bin static information.
The dynamic information of the storage bin comprises a charge-discharge state and a charge state, and if the storage bin is not in communication failure, the control system judges whether the storage bin is in electrical failure or not according to a verification result of the dynamic information of the storage bin.
For example, in the present embodiment, when determining whether the storage bin is faulty, a maximum number of communications may be set, for example, 10 times.
When the control system receives the communication information sent by the storage bin, if the communication information passes the verification, the communication information is stored, if the communication information does not pass the verification, the control system sends a communication information request instruction to the storage bin again, after the communication information is received, the verification is carried out again, and if the communication information still does not pass the verification after 10 verification processes, the storage bin is marked as a fault storage bin.
For example, in this step, when a storage bin in the power grid stores a communication fault and an electrical fault, the control system configures the communication fault to have a higher priority than the electrical fault.
S202, determining the working state and the charge state of the storage bin according to the communication information, judging whether the storage bin is in a discharge state and the output power exceeds a set value, and if so, marking the storage bin as a power notch storage bin; and judging whether the storage bin is in a charging state and a full power state, and if so, marking the storage bin as a power-rich storage bin.
In this step, the manner of determining the power-cut reserve and the power-rich reserve is the same as that described in step S102.
S203, if the storage bin does not meet the condition required by the storage bin marked as the power notch, judging whether the storage bin is in a discharging state or not, and judging whether the charge state after the set time is lower than a set value or not, if so, marking the storage bin as a potential power notch storage bin; and judging whether the storage bin is in a charging state or not, judging whether the storage bin is in a full power state after a set time, and if so, marking the storage bin as a potential power-rich storage bin.
In this step, the storage bins are classified into the potential power notch storage bin and the potential power rich storage bin according to the state of charge of the storage bins.
For example, in this step, the set time may be 30 minutes, and for a storage bin located at the grid node, the formula used for determining the state of charge of the storage bin after the set time elapses includes:
in the formula, SOCcSetting the SOC value, SOC, of the storage after charging for a set time0SOC value at initial time, U1To charge voltage, I1For charging current, SOCdSetting the SOC value after discharging the storage bin0SOC value at initial time, U2To discharge voltage, I2Is a discharge current.
For example, in this step, the set value in this step may be 20% of the nominal charge of the storage bin.
And S204, receiving the carrying residual quantity of the tractor, and determining the geographic positions of the fault storage bin, the power gap storage bin, the power-rich storage bin, the potential power gap storage bin and the potential power-rich storage bin according to the communication information.
For example, in this embodiment, the towing vehicle is in communication connection with the control system, one towing vehicle can mount a plurality of storage bins, and the control system can receive the carrying residual amount sent by the towing vehicle.
S205, if the potential power notch storage bin and the potential power surplus storage bin do not exist, determining a first walking path according to the geographic positions of the fault storage bin, the power notch storage bin and the power surplus storage bin.
In this step, when the storage bins configured in the grid node do not include the potential power notch storage bin and the potential power rich storage bin, the remaining carrying capacity of the tractor and the length of the walking path are not considered, so that the tractor preferentially reaches the fault storage bin, and the power notch storage bin is assisted point to point through the power rich storage bin, that is, after the fault storage bin is processed, the power rich storage bin and the power notch storage bin are sequentially allocated in pairs.
As an implementation, before determining the first traveling path, the method further includes determining whether the number of power-notch bins is greater than the number of power-rich bins, and if so, sorting the power-notch bins according to their states of charge.
In an exemplary embodiment, the power gap storage bins are arranged in an ascending order according to the charge states of the storage bins, that is, the lower the remaining electric quantity is, the higher the scheduling priority is, after the priority of the power gap storage bin is determined, the first walking path is determined according to the geographical positions of the fault storage bin, the power gap storage bin and the power-rich storage bin and the sorting result of the power gap storage bin, so that the power gap storage bin with the front sorting result is preferentially assisted point to point through the power-rich storage bin.
For example, in this embodiment, if the towing vehicle is an electric vehicle, the storage bin may serve as a backup power source for the towing vehicle.
As an embodiment, when point-to-point assistance is provided to the power-cut storage by the power-rich storage, if the power is supplied to the towing vehicle by the power-rich storage, the state of charge of the power-rich storage mounted when the towing vehicle reaches the designated power-cut storage position is determined according to the following formula:
SOC＝SOC0-P×S
in the formula, SOC0The system is an initial SOC value when the power-rich storage bin is mounted to the tractor, P is electric energy consumed by the tractor per unit distance of driving, and S is a driving distance when the power-rich storage bin is mounted to the tractor and the tractor drives to the storage bin with the designated power notch.
For example, the power or energy requirement for a given power-cut storage bay location may be determined, and if the intervention of a single power-rich storage bay is insufficient to meet the power or energy requirement after powering a tractor, the plurality of tractors may be invoked to place a plurality of power-rich storage bays at the given power-cut storage bay location.
For example, when a plurality of tractors are called and the tractors are powered through the power-rich storage bin, the state of charge when the power-rich storage bin mounted by a single tractor reaches the storage bin position of the designated power notch is as follows:
SOCi＝SOC0_i-P×Si
for example, the number of power-rich bins to call is determined based on the power demand or energy demand for a given power-gap bin location, and the following conditions are satisfied:
wherein W is the power or energy requirement for the fixed power gap bin location.
For example, if the power supply to the towing vehicle through the storage bay is not required, if the intervention of a single power-rich storage bay is not sufficient to meet the power demand or energy demand, multiple towing vehicles may be invoked to put multiple power-rich storage bays or one towing vehicle may be invoked to put multiple power-rich storage bays at the location of the designated power-cut storage bay.
S206, if the potential power gap storage bin and the potential power rich storage bin exist, determining a second walking path according to the carrying surplus and the geographic positions of the potential power gap storage bin and the potential power rich storage bin.
For example, in this step, if the storage bins in the grid node have the potential power gap storage bin and the potential power rich storage bin, after the processing for the fault storage bin, the power gap storage bin, and the power rich storage bin is completed, the path planning for allocating the potential power gap storage bin and the potential power rich storage bin is performed.
Illustratively, in this step, mathematical modeling is performed based on the traveler problem, and the solution is performed by using Lingo software, and illustratively, the mathematical model may be:
the constraint conditions of the mathematical model are as follows:
in the above formula, z is the total length of the traveling path, dijRepresenting the distance from bin i to bin j, x when the tractor is directed from bin i to bin jijGet 1, otherwise xijTaking 0 and n as the number u of the configured storage bins in the power gridi、ujIs a customized auxiliary variable larger than 0.
For example, when the second walking path planning is performed, if the remaining carrying capacity of the tractor is greater than or equal to the number of all the potential power-rich storage bins to be scheduled, the shortest path of the tractor when walking through all the potential power-rich storage bins is determined; and if the carrying quantity of the tractors is greater than or equal to all the potential power gap storage bins to be dispatched after all the potential power rich storage bins are loaded, determining the shortest path when the tractors walk through all the potential power gap storage bins, and further determining the final second walking path. For example, if the shortest path when walking through all of the potential power-rich bins is a-C-G-B and the shortest path when walking through all of the potential power-gap bins is D-K-J, then the second walking path is a-C-G-B-D-K-J. And if the carrying quantity of the tractors is less than that of all the potential power gap storage bins to be scheduled after all the potential power rich storage bins are loaded, traversing the combination forms of all the potential power gap storage bins according to the carrying quantity of the tractors, calculating the calculation result of each combination form, selecting one combination form with the minimum calculation result, and determining the final second walking path.
If the carrying residual quantity of the tractor is smaller than the quantity of all potential power surplus storage bins to be scheduled, traversing all combination forms of the potential power surplus storage bins according to the carrying residual quantity, obtaining a calculation result of each combination form through the model and the constraint conditions, and selecting one combination form with the minimum calculation result; if the carrying quantity of the tractors is larger than or equal to all the potential power gap storage bins to be dispatched after all the potential power rich storage bins are loaded, then determining the shortest path when the tractors walk through all the potential power gap storage bins; if the carrying quantity of the tractors is less than that of all the potential power gap storage bins to be scheduled after all the potential power rich storage bins are loaded, traversing the combination forms of all the potential power gap storage bins according to the carrying quantity of the tractors, calculating the calculation result of each combination form, and selecting the combination form with the minimum calculation result; the final second travel path is determined from the two stage calculations, e.g., the first stage having a potential power-rich bin A, B, C, D with bin A, C, D forming the shortest path a-C-D, and the second stage having a potential power-gap bin E, F, G, H with bin F, G, H forming the shortest path G-F-H, the second travel path is a-C-D-G-F-H.
For example, in this step, when a tractor cannot cover all of the potential power gap storage bins and the potential power rich storage bins after walking once, planned storage bins may be proposed from all of the potential power gap storage bins and the potential power rich storage bins, and the determination process of the second walking path may be performed in a loop, so that all of the potential power gap storage bins and the potential power rich storage bins in the power grid are scheduled by a plurality of tractors.
For example, as an implementable embodiment, in this embodiment, the tractor scheduling method may further include dividing a work area, and completing planning of the first walking path and the second walking path by combining the work area.
For example, in this embodiment, the power grid may be divided into a plurality of working areas according to administrative districts, when planning a first walking path, the fault storage bin, the power gap storage bin, and the power rich storage bin that are located in the same working area are determined, and the first walking path of the tractor is determined according to the geographic positions of the fault storage bin, the power gap storage bin, and the power rich storage bin in the same working area.
For example, in this embodiment, if the number of power notch bins is less than or equal to the number of power-rich bins in the same working area, the first walking path is planned in the area, and if the number of power notch bins is greater than the number of power-rich bins, the power notch bin with the front priority is planned into the first walking path in the area.
For example, in this embodiment, the potential power notch storage bins may also be sorted according to their states of charge.
Specifically, the storage bins with potential power gaps are sorted in an ascending order according to their states of charge, i.e., the less the charge remaining, the higher the scheduling priority. When the tractor cannot complete the scheduling of all the potential power notch storage bins in the same working area after one-time walking, the planning of the second walking path is preferentially completed according to the potential power notch storage bin with the front priority and the power-rich storage bin in the same working area, and when the potential power notch storage bin with the rear priority is scheduled, the working area is not taken as a limiting condition, namely, the planned second walking path can cross different working areas.
For example, as an implementation scheme, in this embodiment, the sequential position relationship between the storage bin and other storage bins on the tractor when the storage bin is loaded on the tractor may also be determined according to the sequencing result based on the state of charge.
For example, in this embodiment, the smaller the remaining capacity of the storage bin is, the closer the storage bin is to the towing vehicle, for example, if the mounted storage bin is a potential power gap storage bin with 30% of remaining capacity, a power gap storage bin with 10% of remaining capacity, a potential power rich storage bin with 80% of remaining capacity, and a power rich storage bin with 100% of remaining capacity, the mounting order from the towing vehicle to the tail storage bin is 10% of remaining capacity, 30% of remaining capacity, 80% of remaining capacity, and 100% of remaining capacity.
For example, if the power gap storage bin or the potential power gap storage bin needs to be unloaded to a certain grid node, unloading is performed according to the mounting sequence of the storage bins on the tractor, that is, the storage bin with low remaining power is unloaded preferentially.
As an embodiment, if the tractor needs to use the storage bin as a power source, the state of charge of the storage bin powering the tractor can be calculated by:
SOC＝SOC0-P×S
in the above equation, SOC0The initial SOC value of the storage bin when the storage bin is mounted to the tractor, P is the electric energy consumed by the tractor in each driving unit distance, and S is the driving distance of the tractor when the storage bin is mounted and the storage bin supplies power.
When the storage bin needs to be unloaded to a certain power grid node, the storage bin with low residual capacity can be unloaded preferentially based on the re-determined state of charge of the storage bin.
Example two
Fig. 3 is a block diagram of a mobile energy storage system in an embodiment, and referring to fig. 3, the embodiment provides a mobile energy storage system, which includes a storage bin 100, a towing vehicle 200 and a control system 300, the towing vehicle 200 is used for carrying the storage bin 100, and the control system 300 is in communication connection with the storage bin 100 and the towing vehicle 200.
For example, in this embodiment, one tractor may mount a plurality of storage bins, one tractor may form a mobile energy storage vehicle with the plurality of storage bins, the control system 300 may perform data interaction with a plurality of tractors and the plurality of storage bins, and the control system 300 may execute any one of the tractor scheduling methods described in the first embodiment.
In this embodiment, a tractor can carry a plurality of storage storehouses, a tractor can transport a plurality of storage storehouses to different electric wire netting nodes, and storage storehouse can break away from the tractor and independent for the electric wire netting node power supply, need not personnel on duty during the operation, for traditional removal lithium electricity energy storage multifunctional power source car, when needing to supply power the operation for a plurality of electric wire netting nodes simultaneously, the required staff of removal energy storage car that this embodiment provided is less, unnecessary manpower wasting of resources has been reduced.
In this embodiment, the beneficial effects of the control system are the same as those of the tractor scheduling method in the first embodiment, and are not described herein again.
Fig. 4 is a block diagram of a storage silo in an embodiment, and referring to fig. 4, the storage silo is configured with a dc interface 101, an ac interface 102, a connection assembly 103, a communication unit 104, a control unit 105, an energy storage unit 106, an inverter unit 107, and a box 108.
Illustratively, the energy storage unit 106 is a battery, and the battery is connected to the dc interface 101, and the battery can supply power to the tractor through the dc interface 101.
The converter unit 107 is a bidirectional DC-AC converter, the energy storage unit 106 is connected to the converter unit 107, the converter unit 107 is connected to the AC interface 102, the AC interface 102 is used for connecting to a power grid, and the control unit 105 is connected to the converter unit 107 and is used for controlling the operating mode of the converter unit 107, so that the power grid charges the energy storage unit 106 or discharges the energy storage unit 106 to the power grid.
The control unit 105 is connected to the energy storage unit 106, and can obtain the operating state information (bin dynamic information) of the energy storage unit 106. The control unit 105 is further connected to the communication unit 104, the control unit 105 further stores configuration information (bin static information) of the bins, the communication unit 104 can receive the configuration information and the operating state information sent by the control unit 105, and the communication unit 104 is connected to the control system and sends the configuration information and the operating state information to the control system.
The coupling assembly 103 may be a hook, the coupling assembly 103 being arranged outside the casing 108, the coupling assembly being used for coupling the storage bins to a tractor, or for coupling between the storage bins.
Illustratively, the exterior of the housing 108 is also configured with tires.
As an embodiment, the storage bin is further configured with a winding reel for receiving a cable for connecting the ac interface to the power grid.
In an exemplary embodiment, a section of cable is disposed between the ac interface 102 and the converter unit 107, the cable is wound on a winding reel, a scrolling device is disposed in an axial direction of the winding reel, and the winding reel can freely rotate when the cable is drawn out, so that the cable is drawn out from the winding reel. When the cable needs to be retracted, the winding device can rotate to automatically wind the cable on the winding reel in a spiral shape, so that the cable is prevented from being overlapped or wound.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A tractor scheduling method, comprising:
receiving communication information sent by a storage bin, checking the communication information, judging whether the storage bin has a fault according to a checking result, marking the storage bin as a fault storage bin if the storage bin has the fault,
determining the working state and the charge state of the storage bin according to the communication information, marking the storage bin as a power gap storage bin if the storage bin is in a discharge state and the output power exceeds a set value, marking the storage bin as a power-rich storage bin if the storage bin is in a charge state and is in a full power state,
and determining the geographic positions of the fault storage bin, the power gap storage bin and the power-rich storage bin according to the communication information, determining a first walking path of the tractor according to the geographic positions, enabling the tractor to preferentially reach the fault storage bin, and realizing point-to-point assistance on the power gap storage bin through the power-rich storage bin.
2. The tractor scheduling method of claim 1, further comprising receiving a remaining amount of shippable for the tractor, the first travel path being determined based on the remaining amount of shippable and the geographic location of the fault, power gap, and power slack storage bins.
3. The tractor dispatching method of claim 2, wherein determining the operating state and the state of charge of the storage bin based on the communication further comprises marking the storage bin as a potentially power-cut storage bin if the storage bin is in a discharge state and the state of charge is below a set value after a set time, marking the storage bin as a potentially power-rich storage bin if the storage bin is in a charge state and the storage bin is fully charged after the set time,
the scheduling method further comprises the steps of determining the geographic positions of the potential power notch storage bin and the potential power rich storage bin according to the communication information, and determining a second walking path according to the carrying available surplus and the geographic positions of the potential power notch storage bin and the potential power rich storage bin, so that the walking path of the tractor passing through the potential power notch storage bin and the potential power rich storage bin is the shortest.
4. The tractor scheduling method of claim 1, further comprising ranking the power notch bins according to their states of charge, and determining from the ranking results a sequential positional relationship between the power notch bins, when loaded onto the tractor, and other power notch bins on the tractor.
5. The tractor scheduling method of claim 1, further comprising determining whether the number of power-notch bins is greater than the number of power-rich bins, and if so, sorting the power-notch bins according to their states of charge,
and determining the first walking path according to the geographical positions of the fault storage bin, the power gap storage bin and the power rich storage bin and the sequencing result of the power gap storage bin, and realizing point-to-point assistance on the power gap storage bin with the sequencing result being earlier through the power rich storage bin.
6. The tractor dispatching method of claim 1, wherein the communication information includes bin static information and bin dynamic information,
the storage bin static information comprises a storage bin number, specification and delivery date, whether the storage bin has communication fault or not is judged according to the verification result of the storage bin static information,
the dynamic information of the storage bin comprises a charge-discharge state and a charge state, whether the storage bin has an electrical fault or not is judged according to a verification result of the dynamic information of the storage bin,
configuring the communication failure to be higher in priority than the electrical failure so that the tractor preferentially arrives at the storage bin where the communication failure occurs.
7. The tractor dispatching method of claim 1, further comprising dividing a work area,
and determining the geographical positions of the fault storage bin, the power gap storage bin and the power rich storage bin according to the communication information, determining the fault storage bin, the power gap storage bin and the power rich storage bin which are positioned in the same working area, and determining a first walking path of the tractor according to the geographical positions of the fault storage bin, the power gap storage bin and the power rich storage bin in the same working area.
8. A mobile energy storage system comprising a storage bin, a tractor for carrying the storage bin, and a control system in communication with the storage bin and tractor, the control system being configured to perform the tractor scheduling method of claim 1.
9. A mobile energy storage system according to claim 8, wherein the storage bin is configured with a DC interface, an AC interface, and a connection assembly,
the direct current interface is used for supplying power for the tractor, the alternating current interface is used for being connected with a power grid, and the connecting assembly is used for connecting the storage bins.
10. The mobile energy storage system of claim 8, wherein the storage bin is further configured with a spool for receiving a cable for connecting the ac interface to the power grid.
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| CN112615369A (en) | 2021-04-06 |
| CN113363983B (en) | 2023-02-10 |
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