CN115497319A - Battery replacement guiding method, system, equipment and storage medium for battery replacement vehicle - Google Patents
Battery replacement guiding method, system, equipment and storage medium for battery replacement vehicle Download PDFInfo
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- CN115497319A CN115497319A CN202210920635.8A CN202210920635A CN115497319A CN 115497319 A CN115497319 A CN 115497319A CN 202210920635 A CN202210920635 A CN 202210920635A CN 115497319 A CN115497319 A CN 115497319A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096861—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a method, a system, equipment and a storage medium for guiding battery replacement of a battery replacement vehicle, wherein the method comprises the following steps: after the battery replacement vehicle enters a battery replacement channel, monitoring position information of the battery replacement vehicle in the battery replacement channel in real time by a battery replacement station; the battery replacement station calculates the position adjustment information of the battery replacement vehicle in real time according to the position information monitored in real time and the preset battery replacement area position information, and sends the position adjustment information to a display screen; the display screen displays the direction adjustment information so as to guide a user to accurately stop the battery replacing vehicle to the position of the battery replacing area.
Description
Technical Field
The invention relates to the technical field of heavy truck vehicles, in particular to a power swapping guiding method, a system, equipment and a storage medium for a power swapping vehicle.
Background
The electric machine adopts the mode of changing the battery, can carry out energy supply to electric vehicle fast, reduces user's latency, does not harm battery life again. Therefore, the use of the battery swapping station for providing the battery swapping service for the electric vehicle has high popularization value and economic significance, however, the increase of users of the battery swapping station leads to the gradual increase of the number of the battery swapping vehicles served by the battery swapping station in unit time. Resulting in a queuing situation. Under the condition, except that the battery replacement efficiency is continuously improved, it is very important to effectively manage the battery replacement vehicle to enter the battery replacement station and arrange the battery replacement so as to ensure that the battery replacement station operates orderly and efficiently.
Disclosure of Invention
According to the scheme provided by the embodiment of the invention, the technical problem of how to effectively manage efficient and orderly station entering of the battery replacing vehicle is solved, and the battery replacing efficiency is improved.
The power swapping guiding method for the power swapping vehicle provided by the embodiment of the invention comprises the following steps:
after the battery replacement vehicle enters a battery replacement channel, monitoring position information of the battery replacement vehicle in the battery replacement channel in real time by a battery replacement station;
the battery swapping station calculates the position adjustment information of the battery swapping vehicle in real time according to the position information monitored in real time and the preset battery swapping area position information, and sends the position adjustment information to a display screen;
the display screen displays the azimuth adjustment information so as to guide a user to accurately stop the battery replacing vehicle to the battery replacing area.
According to the embodiment of the invention, the battery replacement guiding system of the battery replacement vehicle comprises:
the battery replacement station is used for monitoring the position information of the battery replacement vehicle in the battery replacement channel in real time after the battery replacement vehicle enters the battery replacement channel; calculating the position adjustment information of the battery replacing vehicle in real time according to the position information monitored in real time and the preset battery replacing area position information, and sending the position adjustment information to a display screen;
and the display screen is used for displaying the azimuth adjustment information so as to guide a user to accurately stop the battery replacing vehicle to the battery replacing area.
According to the scheme provided by the embodiment of the invention, the position information of the vehicle in the battery replacement channel is monitored in real time, and the information is compared with the predicted position information to display the azimuth adjustment information, so that the vehicle can conveniently and orderly enter the station according to the display information, and the battery replacement efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a power swapping guiding method for a power swapping vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a battery swapping guiding system of a battery swapping vehicle according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described below are only for the purpose of illustrating and explaining the present invention, and are not to be construed as limiting the present invention.
Fig. 1 is a flowchart of a power swapping guiding method for a power swapping vehicle according to an embodiment of the present invention, as shown in fig. 1, including:
step S101: after the battery replacement vehicle enters a battery replacement channel, monitoring position information of the battery replacement vehicle in the battery replacement channel in real time by a battery replacement station;
step S102: the battery replacement station calculates the position adjustment information of the battery replacement vehicle in real time according to the position information monitored in real time and the preset battery replacement area position information, and sends the position adjustment information to a display screen;
the orientation adjustment information includes: forward movement distance information, backward movement distance information, leftward movement distance information, rightward movement distance information, and angle adjustment information.
Step S103: the display screen displays the direction adjustment information so as to guide a user to accurately stop the battery replacing vehicle to the position of the battery replacing area.
The embodiment of the invention also comprises the following steps: the battery swapping station acquires a battery swapping request containing a battery swapping vehicle type of a battery swapping vehicle, and calculates distance information between a vehicle head of the battery swapping vehicle and a battery pack according to the battery swapping vehicle type in the battery swapping request.
The real-time monitoring of the position information of the battery replacement vehicle in the battery replacement channel by the battery replacement station comprises the following steps: the battery replacing station monitors the position information of the vehicle head of the battery replacing vehicle in the battery replacing channel in real time, and calculates the position information of the battery pack in real time according to the position information of the vehicle head and the distance information.
The method for calculating the position adjustment information of the battery replacing vehicle in real time by the battery replacing station according to the position information monitored in real time and the preset battery replacing area position information comprises the following steps: and the battery replacement station calculates the azimuth adjustment information of the battery replacement vehicle in real time according to the real-time calculation battery pack position information and the target battery replacement position information in the preset battery replacement region position information.
After the battery replacement vehicle is precisely parked to the battery replacement area, the method further comprises the following steps: the battery replacing station starts a battery replacing robot, so that the battery replacing robot captures a power-shortage battery pack on the battery replacing vehicle to a temporary storage position and captures a full-charge battery pack on the battery replacing vehicle.
After the power swapping station starts the power swapping robot, the method further comprises the following steps: the method comprises the following steps that three laser ranging sensors arranged on a battery replacement robot respectively detect the distance between the three laser ranging sensors and a power-shortage battery pack on a battery replacement vehicle, and the distance information detected by each laser ranging sensor is sent to a battery replacement station; the battery replacement station judges whether the battery replacement robot is completely aligned with the power-shortage battery pack or not according to the distance information of each laser ranging sensor; when the battery replacement robot is judged not to be completely aligned with the power-deficient battery pack, the battery replacement station adjusts the position of the battery replacement robot, so that the battery replacement robot is completely aligned with the power-deficient battery pack.
Fig. 2 is a schematic diagram of a power swapping guiding system of a power swapping vehicle according to an embodiment of the present invention, as shown in fig. 2, including: the battery replacement station 201 is used for monitoring position information of a battery replacement vehicle in a battery replacement channel in real time after the battery replacement vehicle enters the battery replacement channel; calculating the position adjustment information of the battery replacing vehicle in real time according to the position information monitored in real time and the preset battery replacing area position information, and sending the position adjustment information to a display screen; and the display screen 202 is used for displaying the azimuth adjustment information so as to guide a user to accurately stop the battery swapping vehicle to the battery swapping area.
An embodiment of the application provides an electronic device, including: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement a guided power swapping method of a swapping vehicle.
A computer-readable storage medium provided in an embodiment of the present application, on which a computer program is stored; the computer program is executed by a processor to implement a battery swapping guiding method for a battery swapping vehicle.
Example one
After guiding a user to accurately stop the battery replacement vehicle to the battery replacement area position, the embodiment of the invention also comprises a battery replacement operation performed between the battery replacement station based on the two battery pack temporary storage seats and the battery replacement vehicle, which specifically comprises the following steps:
step S11: after the battery replacement station acquires a battery replacement request of a battery replacement vehicle, determining a target full-charge battery pack charging seat and a target battery pack temporary storage seat;
step S12: the power exchanging station generates a power exchanging instruction by using the target fully charged battery pack charging seat and the target battery pack temporary storage seat, and sends the power exchanging instruction to a power exchanging robot provided with a bidirectional telescopic mechanism;
step S13: and the battery replacement robot drives the bidirectional telescopic mechanism to complete battery replacement operation according to the battery replacement instruction.
The battery replacing robot arranged in the battery replacing bin reciprocates along a set track, and a bidirectional telescopic mechanism for grabbing and storing the battery pack is arranged on the battery replacing robot. The battery pack temporary storage seat is positioned on the set track and is used for temporarily storing a power-shortage battery pack grabbed by the power-changing robot from the power-changing vehicle. Through set up the battery package seat of keeping in on setting for the track, can keep in by waiting to trade the insufficient voltage battery package of dismantling on the electric vehicle, need not reserve the vacancy in the storehouse of charging that trades the electric equipment for the storehouse of charging can keep full load battery package, has promoted the battery packing capacity in the storehouse of charging.
Specifically, the determining, by the battery replacement station, a target fully charged battery pack charging seat and a battery pack temporary storage seat includes: the battery replacement station reads the electric quantity information and the charging duration of the battery pack on each current charging seat; the battery replacement station determines a target full-charge battery pack according to the electric quantity information and the charging duration of the battery pack on each charging seat, and acquires the charging seat and the charging seat position number of the target full-charge battery pack according to the target full-charge battery pack; the battery replacement station determines a temporary storage seat of a target battery pack according to the serial number of the charging seat; the target battery pack temporary storage seat is arranged in the power change cabin.
Wherein, trade the power station according to charging seat position serial number, confirm that the seat of keeping in of target battery package includes: the battery replacement station determines whether the target full-charge battery pack charging seat is located in a first charging area or a second charging area according to the charging seat position number; when the target full-charge battery pack charging seat is determined to be located in the first charging area, the battery replacement station takes the second battery pack temporary storage position as a target battery pack temporary storage seat; when the target full-charge battery pack charging seat is located in a second charging area, the battery replacement station takes the first battery pack temporary storage position as a target battery pack temporary storage seat; the first charging area and the first battery pack temporary storage position are on the same side, and the first charging area and the second battery pack temporary storage position are on different sides; the second charging area is on the same side as the second battery pack temporary storage position and on the different side from the first battery pack temporary storage position.
Specifically, a first battery pack temporary storage seat and a second battery pack temporary storage seat are sequentially arranged on a set track of the battery replacement bin, and a battery replacement station for the battery replacement robot to perform a battery replacement action is arranged between the two battery temporary storage seats. Namely, the temporary storage seats for the battery packs are respectively arranged on the two sides of the battery replacing station, the battery replacing robot can determine the charging area to which the battery replacing robot belongs according to the number of the charging seat position of the target full-charge battery pack, and the captured insufficient-charge battery pack on the battery replacing vehicle is placed on the corresponding temporary storage position of the battery pack according to the charging area. For example, 8 charging seat positions for charging battery packs are arranged in the charging bin, when the battery replacement robot needs to capture a full-charge battery pack located at the charging seat position number 2, a charging area to which the battery replacement robot belongs is determined to be a first charging area, then the first charging area is determined to correspond to a second battery pack temporary storage position, and the second battery pack temporary storage position is used as a target battery pack temporary storage seat, so that the battery replacement robot stores a power-lack battery pack on the battery replacement vehicle onto the second battery pack temporary storage position, and the battery replacement robot is not prevented from subsequently capturing the full-charge battery pack located at the charging seat position number 2 in a left-side moving mode.
The power exchanging station generates a power exchanging instruction by using the target full-charge battery pack charging seat and the target battery pack temporary storage seat, and comprises: the battery replacement station generates a first battery replacement instruction according to a target battery replacement position where a battery replacement vehicle is parked and the target battery pack temporary storage seat; the battery replacement station generates a second battery replacement instruction according to the target battery replacement position where the target full-charge battery pack charging seat and the battery replacement vehicle are parked; and the battery replacement station generates a third battery replacement instruction according to the temporary target battery pack storage seat and the full-charge target battery pack charging seat.
Specifically, the step of driving the bidirectional telescopic mechanism to complete the battery replacement operation by the battery replacement robot according to the battery replacement instruction includes: the battery replacement robot drives the bidirectional telescopic mechanism to grab a power-shortage battery pack from the battery replacement vehicle according to the first battery replacement instruction, and stores the grabbed power-shortage battery pack onto the target battery pack temporary storage seat; and the battery replacement robot drives the bidirectional telescopic mechanism to grab a target full-charge battery pack from the target full-charge battery pack charging seat according to the second battery replacement instruction, and stores the grabbed target full-charge battery pack on the battery replacement vehicle.
The embodiment of the invention also comprises the following steps: the battery replacement robot drives according to the third battery replacement instruction the bidirectional telescopic mechanism is followed the insufficient voltage battery package is grabbed on the target battery package temporary storage seat, and the grabbed insufficient voltage battery package is stored on the target full-charge battery package charging seat, so that the insufficient voltage battery package is charged.
Example two
After guiding a user to accurately stop the battery replacing vehicle to the battery replacing area position, the embodiment of the invention also comprises a battery replacing operation performed between the battery replacing station and the battery replacing vehicle based on two bidirectional telescopic mechanisms, which specifically comprises the following steps:
step S21: after the battery replacement equipment acquires a battery replacement request of a battery replacement vehicle, determining the charging potential of a fully charged battery box;
each battery fixing seat can fix a battery box, and each battery fixing seat can charge the battery box installed on the battery fixing seat, namely, each battery fixing seat provides a charging potential.
Step S22: and the battery replacement equipment drives a first bidirectional telescopic mechanism to grab the fully charged battery box on the charging position according to the charging position of the fully charged battery box, and drives a second bidirectional telescopic mechanism to grab the insufficient battery box on the battery replacement vehicle.
Step S23: the battery replacement device drives the first bidirectional telescopic mechanism to store the grabbed full-charge battery box on the battery replacement vehicle, and drives the second bidirectional telescopic mechanism to store the grabbed insufficient-charge battery box on the charging potential.
The battery replacement device comprises: a charging bin having a plurality of charging sites; the battery replacing cabin is used for the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism to transversely move along the guide rail; the two ends of the guide rail arranged in the power conversion bin are respectively longer than the supporting part positioned in the charging bin by one charging potential. Or the two ends of the charging bin are respectively provided with an idle position with the same size as the charging position, no battery fixing seat is arranged, and the length of the charging bin is the same as that of the power change bin.
After the battery replacement device determines the charging position of the fully charged battery box, the embodiment of the application further includes: the battery replacement equipment determines whether the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is a split mode or an integrated mode; the split mode refers to that the first bidirectional telescopic mechanism is arranged on a first battery replacement robot, and the second bidirectional telescopic mechanism is arranged on a second battery replacement robot. The integrated mode means that the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism are both arranged on a third electric-switched robot.
Wherein, trade the electric equipment according to the first bidirectional telescoping mechanism of charge position drive of battery box of full charge snatchs to be located charge position is last full charge's battery box, and drive second bidirectional telescoping mechanism snatchs to be located and trade the insufficient voltage battery box on the electric vehicle and include: when the battery swapping device determines that the setting mode of a first bidirectional telescopic mechanism and a second bidirectional telescopic mechanism is a split mode, taking a battery swapping robot closest to the charging position of the fully charged battery box as a first battery swapping robot, taking a battery swapping robot not closest to the charging position of the fully charged battery box as a second battery swapping robot, sending a first instruction to the first battery swapping robot, and sending a second instruction to the second battery swapping robot; the first battery replacing robot drives a first bidirectional telescopic mechanism to grab a fully charged battery box located on the charging position according to the first instruction, and simultaneously the second battery replacing robot drives a second bidirectional telescopic mechanism to grab a power-shortage battery box located on the battery replacing vehicle according to a second instruction; or after the first battery replacing robot drives the first bidirectional telescopic mechanism to grab the fully charged battery box located on the charging position according to the first instruction, the second battery replacing robot drives the second bidirectional telescopic mechanism to grab the power-deficient battery box located on the battery replacing vehicle according to the second instruction; or after the second battery replacing robot drives the second bidirectional telescopic mechanism to grab the power-shortage battery box on the battery replacing vehicle according to the second instruction, the first battery replacing robot drives the first bidirectional telescopic mechanism to grab the fully-charged battery box on the charging position according to the first instruction.
Wherein, the battery replacement equipment controls the first bidirectional telescopic mechanism to store the grabbed fully-charged battery box onto the battery replacement vehicle, and drives the second bidirectional telescopic mechanism to store the grabbed insufficient-charged battery box onto the charging potential comprises: the battery swapping device sends a third instruction to the first battery swapping robot and simultaneously sends a fourth instruction to the second battery swapping robot; the first battery replacing robot drives a first bidirectional telescopic mechanism to store the grabbed fully-charged battery box onto the battery replacing vehicle according to the third instruction, and simultaneously the second battery replacing robot drives a second bidirectional telescopic mechanism to store the grabbed insufficient-charged battery box to the charging potential according to the fourth instruction; or after the first battery replacement robot drives the first bidirectional telescopic mechanism to store the grabbed fully-charged battery box onto the battery replacement vehicle according to the third instruction, the second battery replacement robot drives the second bidirectional telescopic mechanism to store the grabbed insufficient-charged battery box to the charging potential according to the fourth instruction; or the second battery replacement robot drives the second bidirectional telescopic mechanism to store the grabbed power-lack battery box to the charging potential according to the fourth instruction, and the first battery replacement robot drives the first bidirectional telescopic mechanism to store the grabbed fully-charged battery box to the battery replacement vehicle according to the third instruction.
Wherein, trade the electric equipment according to the first bidirectional telescoping mechanism of charge position drive of battery box of full charge snatchs to be located charge position is last full charge's battery box, and drive second bidirectional telescoping mechanism snatchs to be located and trade the insufficient voltage battery box on the electric vehicle and include: when the battery swapping device determines that the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is the integrated mode, taking the bidirectional telescopic mechanism closest to the charging position of the fully charged battery box as the first bidirectional telescopic mechanism, and simultaneously taking the bidirectional telescopic mechanism not closest to the charging position of the fully charged battery box as the second bidirectional telescopic mechanism, and sending a fifth instruction to the third battery swapping robot; the third battery replacement robot drives the first bidirectional telescopic mechanism to grab a fully charged battery box on the charging position according to the fifth instruction, and then drives the second bidirectional telescopic mechanism to grab a power-shortage battery box on the battery replacement vehicle; or the third battery replacing robot drives the second bidirectional telescopic mechanism to grab the power-shortage battery box on the battery replacing vehicle according to the fifth instruction, and then drives the first bidirectional telescopic mechanism to grab the fully-charged battery box on the charging position.
Wherein, the battery replacement equipment controls the first bidirectional telescopic mechanism to store the grabbed full-charge battery box onto the battery replacement vehicle, and drives the second bidirectional telescopic mechanism to store the grabbed insufficient-charge battery box onto the charging potential comprises: the battery swapping device sends a sixth instruction to the third battery swapping robot; the third battery replacement robot drives the first bidirectional telescopic mechanism to store the grabbed full-charge battery box onto the battery replacement vehicle according to the sixth instruction, and then drives the second bidirectional telescopic mechanism to store the grabbed insufficient-charge battery box onto the charging potential; or the third battery replacement robot drives the second bidirectional telescopic mechanism to store the grabbed insufficient-charge battery box to the charging potential according to the sixth instruction, and then drives the first bidirectional telescopic mechanism to store the grabbed full-charge battery box to the battery replacement vehicle.
The battery swapping vehicle is used for sending a battery swapping request to the battery swapping equipment; the battery replacement equipment is used for determining the charging potential of the fully charged battery box after acquiring a battery replacement request of the battery replacement vehicle; driving a first bidirectional telescopic mechanism to grab a fully charged battery box positioned on the charging position according to the charging position of the fully charged battery box, and driving a second bidirectional telescopic mechanism to grab a power-lack battery box positioned on a battery replacement vehicle; and driving the first bidirectional telescopic mechanism to store the grabbed full-charge battery box onto the battery replacement vehicle, and driving the second bidirectional telescopic mechanism to store the grabbed insufficient-charge battery box onto the charging point.
EXAMPLE III
After the user is guided to accurately stop the battery swapping vehicle to the battery swapping area, the embodiment of the invention also comprises battery swapping operation performed between the battery swapping station with two battery swapping robots and the battery swapping vehicle, wherein the two battery swapping robots are the main battery swapping robot and the standby battery swapping robot respectively. When only one of the main battery replacement robot and the standby battery replacement robot executes a battery replacement task, a battery fixing seat is usually reserved as a vacant seat, and a power-shortage battery box taken out of a battery replacement vehicle is conveniently stored. The battery replacement method specifically comprises the following steps:
step S31: after the battery swapping device obtains a battery swapping request of a battery swapping vehicle, determining a charging level of a full-charge battery box, and judging whether the current main battery swapping robot can work normally;
step S32: when the current main battery replacing robot can work normally, the battery replacing equipment generates a first battery replacing instruction and sends the first battery replacing instruction to the main battery replacing robot, so that the main battery replacing robot completes the battery replacing operation of the battery replacing vehicle according to the first battery replacing instruction;
step S33: when the battery swapping device judges that the current main battery swapping robot cannot work normally, a second battery swapping instruction is generated and sent to the standby battery swapping robot, so that the standby battery swapping robot completes the battery swapping operation of the battery swapping vehicle according to the second battery swapping instruction.
Specifically, the completing the battery replacement operation of the battery replacement vehicle by the main battery replacement robot according to the first battery replacement instruction includes: the main battery replacement robot acquires a charging position of a full-charge battery box from the first battery replacement instruction; the main battery replacing robot grabs a power-lack battery box of the battery replacing vehicle to a temporary storage position according to the charging position of the power-lack battery box, grabs the power-lack battery box of the charging position to the battery replacing vehicle, and grabs the power-lack battery box of the temporary storage position to the charging position, so that the battery replacing operation of the battery replacing vehicle is completed. The charging position is provided for a battery fixing seat, the temporary storage position can be provided for a battery fixing seat, and can also be provided for a supporting structure different from the battery fixing seat.
Specifically, the completing the battery replacement operation of the battery replacement vehicle by the standby battery replacement robot according to the second battery replacement instruction includes: the standby battery replacement robot acquires a charging position of a full-charge battery box from the second battery replacement instruction; the standby battery replacement robot is used for grabbing a temporary storage position for a power-lack battery box of the battery replacement vehicle according to the charging position of the full-power battery box, grabbing the full-power battery box at the charging position for the battery replacement vehicle, grabbing the power-lack battery box at the temporary storage position for the battery replacement vehicle, and grabbing the power-lack battery box at the charging position for the battery replacement vehicle, so that the battery replacement operation of the battery replacement vehicle is completed.
After the battery replacement device determines the charging position of the fully charged battery box, the method further comprises the following steps: the battery replacement equipment detects whether a temporary storage position for temporarily storing a power-shortage battery box is available; when the battery swapping device detects that the temporary storage potential is unavailable, a third battery swapping instruction is generated and simultaneously sent to the main battery swapping robot and the standby battery swapping robot, so that the main battery swapping robot and the standby battery swapping robot complete the battery swapping operation of the battery swapping vehicle according to the third battery swapping instruction.
The main battery swapping robot and the standby battery swapping robot complete the battery swapping operation of the battery swapping vehicle according to the third battery swapping instruction, and the method comprises the following steps: the main battery replacement robot and the standby battery replacement robot respectively acquire the charging positions of the fully charged battery boxes from the third battery replacement instruction; the main battery replacement robot firstly grabs a power-deficient battery box from the battery replacement vehicle according to the charging position of the full-charge battery box and then stores the power-deficient battery box to the charging position; meanwhile, the standby battery replacement robot firstly grabs the fully charged battery box from the charging position according to the charging position of the fully charged battery box and then stores the fully charged battery box on the battery replacement vehicle; or the standby battery replacement robot firstly grabs a power-deficient battery box from the battery replacement vehicle according to the charging position of the full-charge battery box and then stores the power-deficient battery box to the charging position; meanwhile, the main battery replacement robot firstly grabs the full-charge battery box from the charging position according to the charging position of the full-charge battery box and then stores the full-charge battery box on the battery replacement vehicle.
After the battery replacement device determines the charging position of the fully charged battery box, the embodiment of the invention further comprises: and the battery replacement equipment determines a battery replacement robot matched with the charging position according to the charging position of the fully charged battery box, and the point replacement robot is used as a main battery replacement robot.
The battery replacement equipment is used for determining the charging position of a full-charge battery box after acquiring a battery replacement request of the battery replacement vehicle and judging whether the main battery replacement robot can work normally or not; when the main battery replacing robot is judged to work normally, generating a first battery replacing instruction, and sending the first battery replacing instruction to the main battery replacing robot; when the main battery replacing robot cannot work normally, generating a second battery replacing instruction, and sending the second battery replacing instruction to the standby battery replacing robot; the main battery swapping robot is used for completing the battery swapping operation of the battery swapping vehicle according to the first battery swapping instruction; and the standby battery replacement robot is used for completing the battery replacement operation of the battery replacement vehicle according to the second battery replacement instruction.
The battery replacement equipment is also used for detecting whether a temporary storage position for temporarily storing a power-shortage battery box is available; when the temporary storage position is detected to be unavailable, a third battery swapping instruction is generated and simultaneously sent to the main battery swapping robot and the standby battery swapping robot, so that the main battery swapping robot and the standby battery swapping robot complete the battery swapping operation of the battery swapping vehicle according to the third battery swapping instruction.
Although the present invention has been described in detail hereinabove, the present invention is not limited thereto, and various modifications can be made by those skilled in the art in light of the principle of the present invention. Thus, modifications made in accordance with the principles of the present invention should be understood to fall within the scope of the present invention.
Claims (10)
1. A power swapping guiding method of a power swapping vehicle is characterized by comprising the following steps:
after the battery replacement vehicle enters a battery replacement channel, monitoring position information of the battery replacement vehicle in the battery replacement channel in real time by a battery replacement station;
the battery replacement station calculates the position adjustment information of the battery replacement vehicle in real time according to the position information monitored in real time and the preset battery replacement area position information, and sends the position adjustment information to a display screen;
the display screen displays the direction adjustment information so as to guide a user to accurately stop the battery replacing vehicle to the position of the battery replacing area.
2. The method of claim 1, wherein the orientation adjustment information comprises: forward movement distance information, backward movement distance information, left movement distance information, right movement distance information, and angle adjustment information.
3. The method of claim 1, further comprising:
the battery swapping station acquires a battery swapping request containing a battery swapping vehicle type of a battery swapping vehicle, and calculates distance information between a vehicle head of the battery swapping vehicle and a battery pack according to the battery swapping vehicle type in the battery swapping request.
4. The method of claim 3, wherein the monitoring, in real time, the position information of the battery swapping vehicle in the battery swapping channel by the battery swapping station comprises:
the battery replacing station monitors the position information of the head of the battery replacing vehicle in the battery replacing channel in real time, and calculates the position information of the battery pack in real time according to the position information of the head and the distance information.
5. The method of claim 4, wherein the calculating the position adjustment information of the battery replacement vehicle in real time according to the real-time monitored position information and preset battery replacement area position information by the battery replacement station comprises:
and the battery replacement station calculates the azimuth adjustment information of the battery replacement vehicle in real time according to the real-time calculation battery pack position information and the target battery replacement position information in the preset battery replacement region position information.
6. The method of claim 1, wherein after the battery replacement vehicle is parked to the battery replacement area position, the method further comprises:
the battery replacing station starts a battery replacing robot, so that the battery replacing robot captures a power-shortage battery pack on the battery replacing vehicle to a temporary storage position and captures a full-charge battery pack on the battery replacing vehicle.
7. The method of claim 6, wherein after the swapping station starts the swapping robot, the method further comprises:
the method comprises the following steps that three laser ranging sensors arranged on a battery replacement robot respectively detect the distance between the three laser ranging sensors and a power-shortage battery pack on a battery replacement vehicle, and the distance information detected by each laser ranging sensor is sent to a battery replacement station;
the battery replacement station judges whether the battery replacement robot is completely aligned with the power-shortage battery pack or not according to the distance information of each laser ranging sensor;
when the battery replacement robot is judged not to be completely aligned with the power-deficient battery pack, the battery replacement station adjusts the position of the battery replacement robot, so that the battery replacement robot is completely aligned with the power-deficient battery pack.
8. A guide battery replacement system of a battery replacement vehicle is characterized by comprising:
the battery replacing station is used for monitoring the position information of the battery replacing vehicle in the battery replacing channel in real time after the battery replacing vehicle enters the battery replacing channel; calculating the position adjustment information of the battery replacing vehicle in real time according to the position information monitored in real time and the preset battery replacing area position information, and sending the position adjustment information to a display screen;
and the display screen is used for displaying the direction adjustment information so as to guide a user to accurately stop the battery replacing vehicle to the position of the battery replacing area.
9. An electronic device, comprising: a memory; a processor; and a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, having stored thereon a computer program; the computer program is executed by a processor to implement the method of any one of claims 1-7.
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| CN202210920635.8A CN115497319A (en) | 2022-08-02 | 2022-08-02 | Battery replacement guiding method, system, equipment and storage medium for battery replacement vehicle |
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| CN202210920635.8A CN115497319A (en) | 2022-08-02 | 2022-08-02 | Battery replacement guiding method, system, equipment and storage medium for battery replacement vehicle |
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