CN117337252A

CN117337252A - Battery installation state detection method and device, controller and battery replacement station

Info

Publication number: CN117337252A
Application number: CN202280035749.2A
Authority: CN
Inventors: 何乐为; 王清明
Original assignee: Contemporary Amperex Energy Service Technology Ltd
Current assignee: Contemporary Amperex Energy Service Technology Ltd
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2024-01-02
Also published as: WO2023168666A1

Abstract

The application provides a battery installation state detection method, a device, a controller and a battery replacement station, wherein the method comprises the following steps: after the first target battery is mounted on the target vehicle, controlling a conveying tool to be far away from the target vehicle, wherein the conveying tool is a tool for mounting and conveying the first target battery; detecting an object by a sensor on the conveying tool during the process that the conveying tool is far away from the target vehicle; and if the sensor detects that the first target battery is installed abnormally, performing abnormality processing on the target vehicle.

Description

Battery installation state detection method and device, controller and battery replacement station

Technical Field

The application relates to the technical field of power conversion of a power conversion station, in particular to a battery installation state detection method, a device, a controller and the power conversion station.

Background

Electric vehicles are becoming increasingly popular because of their environmental protection. However, the charging time period of the electric vehicle is longer than the refueling time period of the vehicle using gasoline, so there is some inconvenience in using the electric vehicle

In order to solve the inconvenience, the battery can be replaced to quickly increase the endurance of the electric vehicle. However, the replacement of the unavoidable batteries may present some safety concerns.

Disclosure of Invention

In view of the foregoing, an object of an embodiment of the present application is to provide a method, an apparatus, a controller and a power exchange station for detecting a battery installation state, so as to improve potential safety hazards existing in a battery installation process.

In a first aspect, an embodiment of the present application provides a method for detecting a battery installation state, including: after the first target battery is mounted on the target vehicle, controlling a conveying tool to be far away from the target vehicle, wherein the conveying tool is a tool for mounting and conveying the first target battery; detecting an object through a sensor on the conveying tool in the process that the conveying tool is far away from the target vehicle; and if the sensor detects that the first target battery is installed abnormally, performing abnormality processing on the target vehicle.

Optionally, the performing exception handling on the target vehicle includes: and controlling the conveying tool to perform reinstallation operation on the first target battery.

Optionally, the performing exception handling on the target vehicle includes: selecting a second target battery from the battery compartment; the second target battery is mounted on the target vehicle.

Optionally, the performing exception handling on the target vehicle includes:

if the sensor detects that the number of times of abnormality of battery installation of the target vehicle does not exceed an abnormality threshold, selecting a third target battery from a battery compartment, and replacing a first target battery on the target vehicle by using the third target battery;

and if the sensor detects that the number of times of abnormality of battery installation of the target vehicle exceeds an abnormality threshold, outputting an alarm prompt.

Optionally, the first sensor and the second sensor are disposed on the conveying tool, and the object detection is performed by the sensor on the conveying tool, including:

performing a first object detection on a first area by the first sensor on the conveyance;

and carrying out second object detection on a second area through the second sensor on the conveying tool, wherein the first area and the second area are partial areas of the battery storage position of the target vehicle.

Optionally, the sensor includes a proximity sensor, and the detecting the object by the sensor on the conveying tool includes:

detecting, by a proximity sensor on the conveyance, whether the first target battery is detected within a distance threshold;

And if the first target battery is detected within the distance threshold, the first target battery is installed abnormally.

Optionally, the object detection by the sensor on the conveying tool includes:

collecting image data of the target vehicle through a sensor on the conveying tool;

the image data is identified to determine whether an abnormality exists in the first target battery installation.

Optionally, the sensor includes a distance sensor, and the object detection by the sensor on the conveying tool includes:

detecting the distance through a sensor on the conveying tool, and determining the first distance between the sensor and the first target battery;

determining a second distance between the sensor and the target vehicle according to the movement data of the conveying tool;

comparing the first distance with the second distance;

and if the first distance is smaller than the second distance, the sensor detects that the first target battery is abnormally installed.

In a second aspect, embodiments of the present application provide a battery installation state detection device, including:

a control module for controlling a conveying tool to be far away from a target vehicle after a first target battery is mounted on the target vehicle, wherein the conveying tool is a tool for mounting and transporting the first target battery;

The detection module is used for detecting an object through a sensor on the conveying tool when the conveying tool is far away from the target vehicle;

and the processing module is used for carrying out exception handling on the target vehicle if the sensor detects that the first target battery is installed abnormally.

In a third aspect, embodiments of the present application provide a controller, including: a processor, a memory storing machine readable instructions executable by the processor, which when executed by the processor perform the steps of the method described above.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method described above.

In a fifth aspect, embodiments of the present application provide a power exchange station, including: the conveying system, the battery compartment and the control equipment;

the conveying system comprises a conveying tool and the controller.

According to the battery installation state detection method, device, controller and power exchange station, after the battery is installed, the detection of the sensor on the conveying tool can be performed, and when the installation of the battery is abnormal, the abnormality can be further processed. The success rate of battery installation can be improved, the installed battery is more reliable, and the safety of a vehicle provided with the battery can be better guaranteed.

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an operating environment of a battery installation state detection method according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a power exchange station according to an embodiment of the present application;

fig. 3 is a flowchart of a battery installation state detection method provided in an embodiment of the present application;

fig. 4 is a detailed flowchart of step 330 of the battery installation state detection method provided in the embodiment of the present application;

fig. 5 is another detailed flowchart of step 330 of the battery installation state detection method provided in the embodiment of the present application;

fig. 6 is a schematic structural diagram of a battery storage location of a target vehicle according to an embodiment of the present disclosure;

Fig. 7 is a detailed flowchart of step 320 of the battery installation state detection method provided in the embodiment of the present application;

fig. 8 is another detailed flowchart of step 320 of the battery installation state detection method provided in the embodiment of the present application;

fig. 9 is a schematic functional block diagram of a battery installation state detection device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application need to be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

With the importance of environmental protection, new energy electric vehicles with more environmental protection are also rapidly developed. However, the charging speed of the electric vehicle is slow, and if the electric vehicle has insufficient electric quantity in the process of using the electric vehicle, the driver needs to wait for a long time, which can certainly affect the use experience of the driver.

Based on the current situation, a new technology is presented, the battery on the electric vehicle can be directly replaced by a full-charge battery or a foot-charge battery, and the time required for replacing the battery is far less than the time required for fully charging the battery. A full cell may be a 100% charge cell, which may represent a cell having a charge greater than a specified value. The specified value may be 90%, 95% equivalent.

As a result of the study by the inventors, it is inevitable that the battery may not be successfully mounted during the mounting process, and thus, detection of the mounted state of the battery is necessary. Based on the above, the battery installation state detection method provided by the application can detect the installation condition of the battery at a proper time so as to improve the stability of the installation result of the battery. The battery mounting state detection method provided by the present application is described below by several embodiments.

To facilitate understanding of the present embodiment, an operation environment in which a battery installation state detection method disclosed in the embodiments of the present application is performed will be described first.

As shown in fig. 1, an operation environment diagram of a battery installation state detection method according to an embodiment of the present application is shown. The battery installation state detection method may include the battery exchange station 100 and the server 200 in an operating environment thereof. The server 200 is communicatively coupled to one or more of the power stations 100 for data communication or interaction via a network. The server may be a web server, database server, or the like.

The battery exchange station 100 is used to exchange batteries for electric vehicles.

As shown in fig. 2, the power exchange station 100 may include: a conveyor system 110, a battery compartment 120, a control device 130, and a parking space 140.

The conveyor system 110 is used to transport batteries that are replaced from an electric vehicle and may also be used to transport batteries that are taken from the battery compartment 120.

Illustratively, the delivery system 110 may include: a conveyance tool, a conveyance track, and a controller.

Wherein the transport means can travel on the transport track to move the battery to be treated. The conveying tool can be controlled by a controller, and the conveying tool moves according to a control instruction of the controller. The controller may control the conveyance based on data provided by the control device 130.

The controller may be, for example, a programmable logic controller (Programmable Logic Controller, simply: PLC).

Illustratively, the conveyance may include a rail guided vehicle (Rail Guided Vehicle; RGV for short), stacker, or the like.

The stacker crane is used for taking the battery from the battery bin and transferring the battery to the rail guided vehicle. The stacker crane is also used for taking the battery from the rail guided vehicle and placing the battery back into the battery compartment.

The power exchange station 100 may communicate with a server via a control device 130. The control device 130 may also establish a communication connection with the electric vehicle of the battery to be replaced to obtain data transmitted by the electric vehicle of the battery to be replaced.

In this embodiment, the controller may include a memory and a processor.

The memory and the processor are electrically connected with each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor is configured to execute the executable modules stored in the memory.

The Memory may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory is configured to store a computer program, and the processor executes the program after receiving an execution instruction, where the method executed by the controller defined by the process disclosed in any embodiment of the present application may be applied to, or implemented by, the processor.

The processor may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (digital signal processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will be appreciated by those skilled in the art that the above examples of the components included in the control device according to the embodiments of the present application should not be limited to the structure of the controller. For example, the controller may also include more or fewer components, or a different configuration.

For example, the controller may further comprise a display unit providing an interactive interface (e.g. a user-operated interface) between the controller and the user or for displaying image data to a user reference. In this embodiment, the display unit may be a liquid crystal display or a touch display. In the case of a touch display, the touch display may be a capacitive touch screen or a resistive touch screen, etc. supporting single-point and multi-point touch operations. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations simultaneously generated from one or more positions on the touch display, and the sensed touch operations are passed to the processor for calculation and processing.

The controller in this embodiment may be used to perform each step in each method provided in the embodiments of the present application. The implementation of the battery installation state detection method is described in detail below by several embodiments.

Referring to fig. 3, a flowchart of a method for detecting a battery installation state according to an embodiment of the present application is shown. The specific flow shown in fig. 3 will be described in detail.

At step 310, after the first target battery is mounted to the target vehicle, the conveyance is controlled away from the target vehicle.

The transport is used for installing and transporting the first target battery. The conveyance may be controlled by a controller, for example.

The first target battery may be a power supply battery selected from a battery compartment in the battery exchange station according to the requirements of the target vehicle.

In step 320, object detection is performed by a sensor on the conveyance during the conveyance moving away from the target vehicle.

After the first target battery is mounted on the target vehicle, object detection is performed by a sensor on the conveying tool during the process of conveying the conveying tool of the first target battery away from the target vehicle.

Alternatively, the conveyance may start the detection action of the sensor of the conveyance after the mounting action of the first target battery is performed. Alternatively, the sensor on the conveying tool may be in a continuous working state, and the detection data of the sensor on the conveying tool may determine the installation state of the first target battery during the process that the conveying tool is far away from the target vehicle.

Taking the example of the battery of the target vehicle being mounted at the vehicle bottom, the target vehicle may be raised to a specified height prior to the battery being mounted. After the target battery is installed on the target vehicle through the conveying tool, the conveying tool is controlled to descend to be far away from the target vehicle, so that the conveying tool is further controlled to move out of the bottom of the target vehicle, and then the target vehicle is put down. After the battery is installed through the conveying tool, in the descending process of the conveying tool, the sensor on the conveying tool is used for detecting objects.

In the above example, whether or not the target battery on the target vehicle is mounted is detected by the sensor. For example, whether the target battery falls down may be detected by a sensor. For another example, whether the target battery is in a horizontal state may be detected by a sensor. For another example, whether the target battery is parallel to the conveyance may be detected by a sensor. For another example, whether the target battery is orderly or not can be detected by a sensor.

Taking the example where the battery of the target vehicle is mounted between the vehicle head and the vehicle cargo box, the battery is lowered from the top of the vehicle to mount the battery between the vehicle head and the vehicle cargo box. After the target battery is installed on the target vehicle through the conveying tool, the conveying tool is controlled to ascend to be far away from the target vehicle, so that the conveying tool is further controlled to move out of the top of the target vehicle. After the conveying tool is provided with the battery, in the lifting process of the conveying tool, the sensor on the conveying tool is used for detecting objects.

In the above example, whether or not the target battery on the target vehicle is mounted is detected by the sensor. For example, whether the display state of the target battery satisfies the set criterion may be detected by a sensor.

Alternatively, the distance from the first target battery can be detected by the sensor, and whether the first target battery is displayed in the battery storage position of the target vehicle is qualified or not can be determined.

As the conveying tool is away from the target vehicle, the distance between the conveying tool and the target vehicle is gradually increased, and the distance between the sensor of the conveying tool and the target vehicle is also gradually increased, so that whether the first target battery is displayed in the battery storage position of the target vehicle is qualified or not can be determined according to the distance between the sensor and the first target battery and the theoretical distance between the sensor and the first target battery, which are detected by the sensor. For example, if the distance is less than the theoretical distance, it may indicate that the first target battery is out of stock. For example, if the distance is equal to the theoretical distance, it may indicate that the first target battery is acceptable for display. The theoretical distance of the sensor from the first target battery may represent the distance of the current position of the sensor from the first target battery if the first target battery is successfully installed in the battery storage location of the target vehicle.

Optionally, a plurality of sensors may be installed on the conveying tool, and whether the first target battery is qualified or not may be determined according to a plurality of distances between the first target battery and the first target battery detected by the plurality of sensors.

For example, when the target vehicle is placed horizontally with respect to the ground, and the conveyor is placed horizontally with respect to the ground, the first target battery is also placed horizontally with respect to the ground if the first target battery is acceptable in the battery storage position of the target vehicle. Thus, detection of a distance from a first target battery by a plurality of sensors on the conveyance may be indicative of whether the first target battery is in a horizontal state. For example, if the plurality of sensors detect that the distance from the first target battery is equal, or if any two sensors detect that the difference between the distances from the first target battery is less than a preset value, the first target battery may be characterized as being acceptable for display. For example, where two sensors detect a difference in distance from a first target battery that is greater than a preset value, it may be characterized that the first target battery is not in a level state as compared to ground, and that the first target battery is out of stock.

And 330, performing exception handling on the target vehicle.

Alternatively, the exception handling may include outputting a hint message. For example, the hint message may include exception content. For example, a controller controlling the conveyance tool may transmit an abnormality signal to a control device of the power exchange station, and the control device may output a prompt message according to the abnormality signal.

By way of example, the manner in which the hint message is output may include: a reminder message is displayed on a display of a control device of the power exchange station.

The manner of outputting the prompt message may also include: and playing the prompt message in a loudspeaker arranged in the power exchange station.

Alternatively, the exception handling may include refastening the first target battery with a conveyance. The conveyance tool may repeatedly perform the mounting operation of the first target battery by the conveyance tool, for example.

Through the steps, after the battery is installed, the detection of the sensor on the conveying tool can be performed, and when the battery is installed abnormally, the abnormality processing can be further performed. The success rate of battery installation can be improved, the installed battery is more reliable, and the safety of a vehicle provided with the battery can be better guaranteed.

The abnormality in the battery installation may be caused by an error in the installation position or misalignment of the target vehicle at the time of installation. Under the present situation, since the target battery has no abnormality, the abnormality can be handled simply, and the efficiency of battery replacement can be improved. Based on this, step 330 may include: and controlling the conveying tool to perform reinstallation operation on the first target battery.

Alternatively, in the process of installing the first target battery by the conveying tool, a plurality of actions may be included, and only the last action may be executed in the case of exception handling. Taking the example of the battery of the target vehicle being mounted at the vehicle bottom, the actions involved in the process of mounting the first target battery may include: the positioning operation of the target vehicle and the conveying tool push the first target battery toward the target vehicle. During exception handling, the conveyance may then be controlled to execute again: the first target battery is pushed in a target vehicle direction to place the first target battery into a battery storage location of the target vehicle.

Taking the example of the battery of the target vehicle being mounted at the bottom of the vehicle, the last action of the conveyance tool to mount the first target battery for the target vehicle is to push the first target battery upward. Exception handling may include: the transport may be controlled to move upward to lift the first target battery so that the first target battery engages the target vehicle.

Taking the example of the battery of the target vehicle being mounted between the head and the trunk, the last action of the conveyor to mount the battery for the target vehicle is to lower the first target battery from above into the battery storage location of the target vehicle. The exception handling may be: the first target battery is grasped by the conveying means and then the first target battery is reinstalled on the target vehicle.

Alternatively, the conveyance may include a plurality of actions during the installation of the first target battery, and all the actions may be executed during the abnormality processing. Taking the example of the battery of the target vehicle being mounted at the vehicle bottom, the actions involved in the process of mounting the first target battery may include: the positioning operation of the target vehicle and the conveying tool push the first target battery toward the target vehicle. When the abnormality is handled, the conveying tool can be controlled to detach the first target battery; then, a positioning operation of the target vehicle; finally, the transport is controlled to push the first target battery in the direction of the target vehicle so as to put the first target battery into the battery storage position of the target vehicle.

Taking the example that the battery of the target vehicle is mounted at the bottom of the vehicle, the act of mounting the first target battery for the target vehicle by the conveying tool includes: positioning operation of the target vehicle and pushing up the first target battery so that the first target battery is mounted on the target vehicle. Exception handling may include: the conveying tool is used for detaching the first target battery from the target vehicle, positioning the target vehicle, and then moving upwards to lift the first target battery so that the first target battery is clamped on the target vehicle.

Through the steps, when the mounted battery possibly has an inaccurate mounting position or is not aligned with the battery storage position on the target vehicle, the first target battery can be simply reloaded, and the operation required for reloading the battery can be reduced.

If the first target battery has not been successfully installed in the battery storage compartment of the target vehicle, there may be some problems with the first target battery itself, based on which the battery may also be reselected for the target vehicle. Optionally, as shown in fig. 4, the step 330 may include: step 331 and step 332.

Step 331, selecting a second target battery from the battery compartment.

Alternatively, the criteria for screening the second target battery may be the same as the criteria for the first target battery described above. The screening criteria of the first target battery is for screening the battery above the specified power, and the screening criteria of the second target battery may be for screening the battery above the specified power. The screening criteria of the first target battery is for screening a battery of a specified model, and the screening criteria of the second target battery may be for screening a battery of a specified model.

Alternatively, the criteria for screening the second target battery may be different from the criteria for the first target battery. The second target battery may be, for example, a screening criteria that distinguishes it from the first target battery. For example, if the screening criteria of the first target battery is to screen the battery above the first specified power, the screening criteria of the second target battery may be to screen the battery above the second specified power.

Alternatively, the criteria for screening the second target battery may be unrelated to the criteria for the first target battery. The second target battery may be screened based on the desired battery of the target vehicle. For example, the second target battery may be screened based on the type parameter of the target vehicle.

At step 332, the second target battery is mounted on the target vehicle.

The second target battery may be mounted in the same manner as the first target battery. Of course, the mounting manner of the second target battery may be other as long as the second target battery can be put into the target vehicle, and the mounting manner of the second target battery is not limited in this embodiment.

Through the secondary screening target battery, the abnormal condition exists in the first selected target battery, so that secondary power change is realized, the success rate of battery change for the target vehicle is improved, and the reliability and safety of battery change for the target vehicle can also be improved.

If the battery of the target vehicle is abnormal in multiple detection, the battery replacement station repeatedly gives the battery replacement for multiple times, which may result in a longer waiting time for the user, in order to improve the efficiency of successful battery replacement and the safety of the target vehicle in the battery replacement process, as shown in fig. 5, step 330 may include:

Step 333, it is determined whether the number of times that the sensor detects that there is an abnormality in the battery mounting of the target vehicle exceeds an abnormality threshold.

If the sensor detects that there is an abnormality in the battery mounting of the target vehicle for a number of times that does not exceed an abnormality threshold, step 334 is performed.

An abnormality count variable for storing the number of times there is an abnormality in the installation of the vehicle battery that is currently changing the battery may be preset. For example, the anomaly count variable may be used only to record the number of times there is an anomaly in the battery installation of the vehicle per drive into the battery exchange station.

In one example, before the target vehicle enters the power exchange station, the abnormal counting variable is cleared, and when the detection result of the sensor of the conveying tool represents that the battery of the target vehicle is installed abnormally, the abnormal counting variable is increased by one; and when the detection result of the sensor of the conveying tool indicates that the battery of the target vehicle is normally installed, the abnormal counting variable is cleared.

At step 334, a third target battery is selected from the battery compartment, and the first target battery on the target vehicle is replaced with the third target battery.

If the sensor detects that there is an abnormality in the battery mounting of the target vehicle more than an abnormality threshold, step 335 is performed.

The implementation process of step 334 is similar to the implementation process of step 331 and step 332, and further details of step 334 may be referred to the descriptions in step 331 and step 332, and will not be repeated here.

Step 335, outputting an alarm prompt.

For example, after receiving the detection result of the sensor on the conveying tool, the controller may send an abnormal signal to a control device of the power exchange station, and the control device outputs an alarm prompt.

The controller may also be connected to an alarm, for example, by which an alarm prompt is output. For example, the alarm may be an audible and visual alarm.

Through two strategies of alarming or battery replacement, the vehicle safety can be improved without long waiting time under the condition of improving the success rate of battery replacement and timely notifying related personnel to perform abnormal treatment.

In an alternative embodiment, the conveyor may be provided with a plurality of sensors in order to improve the accuracy of detection of the installation of the battery. For example, two sensors, a first sensor and a second sensor, respectively, may be provided on the conveyance. Step 320 may include: performing a first object detection on a first area by the first sensor on the conveyance; and performing second object detection on a second area through the second sensor on the conveying tool.

The first region and the second region are exemplary partial regions of the battery storage location of the target vehicle.

And determining whether the battery installation of the target vehicle is abnormal or not according to the first detection result of the first object detection and the first detection result of the second object detection.

The first sensor may be a proximity sensor, and the second sensor may be a proximity sensor, for example. The distance to the first target battery may be detected by the proximity sensor.

In one example, as shown in fig. 6, if the first target battery is a rectangular battery, the battery storage location of the target vehicle is also a rectangular storage location, the first region may be a region P1 located near one long side of the rectangular storage location, and the second region is a region P2 located near the other long side of the rectangular storage location.

Alternatively, the line connecting the center of the region P1 and the center of the region P2 may not be parallel to the long side of the rectangular storage position, and the line connecting the center of the region P1 and the center of the region P2 may not be parallel to the short side of the rectangular storage position. For example, when the region P1 and the region P2 are two circular regions, the line between the center of the region P1 and the center of the region P2 is not parallel to the short side of the rectangular storage position, and the line between the center of the region P1 and the center of the region P2 is also not parallel to the long side of the rectangular storage position. By arranging the center of the region P1 and the region P2, the installation conditions of different positions of the first target battery can be detected, and the accuracy of the detection of the installation conditions of the first target battery can be further improved.

Alternatively, the two sensors may detect the object of the first target battery, and determine the detection results.

For example, it may be determined whether there is an abnormality in the display of the first target battery in the battery storage location of the target vehicle at the first area based on the distance to the first target battery detected by the first sensor at the first area and the theoretical distance to the first target battery. For example, if the distance detected by the first sensor is less than the theoretical distance, it may indicate that the first target battery is displayed with an abnormality. For example, if the distance detected by the first sensor is equal to the theoretical distance, it may indicate that the first target battery is acceptable for display at the first area.

For example, it may be determined whether there is an abnormality in the display of the first target battery in the battery storage location of the target vehicle at the second area based on the distance to the first target battery detected by the second sensor at the second area and the theoretical distance to the first target battery. For example, if the distance detected by the second sensor is less than the theoretical distance, it may indicate that the first target battery is displayed with an abnormality. For example, if the distance detected by the second sensor is equal to the theoretical distance, it may indicate that the first target battery is acceptable for display at the second area.

If the detection result of any one of the first sensor or the second sensor indicates that the display of the first target battery in the battery storage position of the target vehicle is abnormal, the display of the first target battery in the battery storage position of the target vehicle is abnormal; if the detection results of the two sensors in the first sensor or the second sensor indicate that the first target battery is displayed in the battery storage position of the target vehicle to be qualified, the first target battery is displayed in the battery storage position of the target vehicle to be qualified.

Alternatively, the two sensors may perform object detection on the first target battery, and the detection result is determined based on the detection data of the two sensors.

For example, the distance to the first target battery may be detected by the first sensor, and the distance to the first target battery may be detected by the second sensor. And determining whether the first target battery is abnormally installed or not through the distance detected by the first sensor and the distance detected by the second sensor. For example, if the distance detected by the first sensor is the same as the distance detected by the second sensor, it may be determined whether there is an abnormality in the installation of the first target battery.

In other embodiments, a greater number of sensors may be provided on the conveyance to detect multiple areas of the battery storage location.

By detecting the plurality of areas, the detection accuracy of whether the battery is abnormally mounted can be improved.

In an alternative embodiment, the sensor mounted on the conveyance may be a proximity sensor, and step 320 may include: detecting, by a proximity sensor on the conveyance, whether the first target battery is detected within a distance threshold.

The distance threshold may be set as desired.

Alternatively, the distance threshold may be determined based on the real-time position of the conveyance. The position of the transport means may be different, as may the corresponding distance threshold. For example, the distance between the upper surface of the conveyance and the bottom of the target vehicle may be determined based on the real-time position of the conveyance and the position of the bottom of the target vehicle, and the distance threshold may be a value smaller than the distance between the upper surface of the conveyance and the bottom of the target vehicle.

By means of the proximity sensor, whether the first target battery is abnormally installed or not can be determined through simple distance data, requirements on equipment required for detection are low, and therefore detection cost can be relatively low. Further, since the proximity sensor detects data relatively simply, the abnormality detection efficiency is also relatively high.

In an alternative embodiment, as shown in FIG. 7, step 320 may include step 321 and step 322.

In step 321, image data of the target vehicle is acquired by a sensor on the conveyance.

The image data may be, for example, image data of a side of the target vehicle where the battery storage location is located.

For example, the conveyance may include a plurality of image pickup sensors thereon, and images of a side of the target vehicle adjacent to the conveyance may be picked up by the plurality of image pickup sensors. For example, the battery of the target vehicle is mounted at the bottom of the target vehicle, and the image data collected by the sensor may be an image of the bottom of the target vehicle. For another example, the battery of the target vehicle is mounted between the head and trunk of the target vehicle, and the image data collected by the sensor may be an image of the top of the target vehicle.

At step 322, the image data is identified to determine if there is an abnormality in the first target battery installation.

Alternatively, the image data may be compared with a standard image to determine whether there is an abnormality in the first target battery installation. The standard image may be an image taken in a case where a battery is mounted on the target vehicle and the battery is mounted on the target vehicle, for example. The standard image may be an image taken in a case where a battery is mounted on the same vehicle as the target vehicle model, and the battery is mounted on the vehicle.

Alternatively, the distance between the conveying tool and each position point on the first target battery can be determined through image recognition, and whether the first target battery is abnormally installed or not can be determined according to the distance between the conveying tool and each position point on the first target battery. Illustratively, each location point on the first target battery may be a plurality of location points located on the same plane.

For example, the distance of the conveyance from each location point on the first target battery may be compared to the theoretical distance of the sensor from the first target battery to determine if there is an abnormality in the first target battery installation.

For example, the distance of the conveyance from each location point on the first target battery may be compared to determine if there is an abnormality in the first target battery installation. For example, if the distance difference between the conveying tool and each position point on the first target battery is greater than a preset value, it may indicate that the first target battery is abnormally mounted. The preset value may be set as desired, and for example, the preset value may be 1cm, 2cm, or the like.

Optionally, after the image data is acquired by the image acquisition sensor, the controller may perform subsequent processing on the image data to determine whether an abnormality exists in the first target battery installation.

Optionally, the image acquisition sensor may also be provided with a processor, and the processor processes the image data acquired by the image acquisition sensor to determine whether there is an abnormality in the first target battery installation.

The battery installation condition on the target vehicle can be intuitively presented through the image, and the image data can more comprehensively present the image of the battery storage position of the target vehicle; the state of the first target battery can be more intuitively and comprehensively represented through visual identification or comparison with the standard image, and the accuracy of state detection of the first target battery can be further improved.

In an alternative embodiment, the sensor comprises a distance sensor, as shown in fig. 8, step 320 may comprise: steps 323 to 325.

Step 323, performing distance detection by a sensor on the conveying tool, and determining a first distance between the sensor and the first target battery.

For example, the sensor may output a pulse of light that encounters the time the first target cell was reflected back by the first target cell, and the distance to the first target cell is calculated from the length of time the pulse of light was emitted back.

Step 324, determining a second distance between the sensor and the target vehicle according to the movement data of the conveying tool.

The movement data may include a movement duration, a movement speed, etc. of the conveyance.

For example, after the first target battery is installed, the conveying tool may be far away from the target vehicle, and then the second distance between the conveying tool and the target vehicle may be determined according to the moving speed and the moving time of the conveying tool.

In one example, if the battery is capable of being acceptably mounted in the target vehicle and the first target battery is acceptably mounted in the battery storage location of the target vehicle, the second distance of the sensor from the target vehicle is equal to the first distance of the sensor from the first target battery when the surface of the first target battery is in the same plane as the bottom of the target vehicle.

In another example, if the battery is capable of being acceptably installed in the target vehicle and the first target battery is acceptably installed in the battery storage location of the target vehicle, when there is a height difference between the surface of the first target battery and the bottom of the target vehicle, the sum of the second distance of the sensor from the target vehicle and the height difference is equal to the first distance of the sensor from the first target battery.

Step 325, comparing the first distance with the second distance.

By detecting the first distance and the second distance from the first target battery by the two sensors, it can be determined whether the display of the first target battery is flat compared to the display of the conveying means. Further, the detection of a plurality of sensors and a plurality of positions can enable the detection result to be more accurate.

Based on the same application conception, the embodiment of the present application further provides a battery installation state detection device corresponding to the battery installation state detection method, and since the principle of solving the problem of the device in the embodiment of the present application is similar to that of the foregoing embodiment of the battery installation state detection method, the implementation of the device in the embodiment of the present application may refer to the description in the embodiment of the foregoing method, and the repetition is omitted.

Fig. 9 is a schematic functional block diagram of a battery installation state detection device according to an embodiment of the present application. Each module in the battery mounting state detection device in the present embodiment is used to perform each step in the above-described method embodiment. The battery mounting state detection device includes: a control module 410, a detection module 420, and a processing module 430; the contents of each module are as follows:

a control module 410 for controlling a conveyance means, which is a means for installing and transporting the first target battery, away from the target vehicle after the first target battery is installed on the target vehicle;

a detection module 420 for performing object detection by a sensor on the conveyance during a process of the conveyance being away from the target vehicle;

and a processing module 430, configured to perform exception handling on the target vehicle if the sensor detects that the first target battery is installed abnormally.

In a possible implementation, the processing module 430 is configured to:

and controlling the conveying tool to perform reinstallation operation on the first target battery.

In one possible implementation, the processing module 430 is configured to select a second target battery from the battery compartment; the second target battery is mounted on the target vehicle.

In a possible implementation, the processing module 430 is configured to: if the sensor detects that the number of times of abnormality of battery installation of the target vehicle does not exceed an abnormality threshold, selecting a third target battery from a battery compartment, and replacing a first target battery on the target vehicle by using the third target battery; and if the sensor detects that the number of times of abnormality of the battery installation of the target vehicle exceeds an abnormality threshold, outputting an alarm prompt.

In a possible embodiment, the conveying tool is provided with a first sensor and a second sensor, and the detection module 420 is used for performing first object detection on a first area through the first sensor on the conveying tool; and carrying out second object detection on a second area through the second sensor on the conveying tool, wherein the first area and the second area are partial areas of the battery storage position of the target vehicle.

In a possible embodiment, the sensor includes a proximity sensor, and the detection module 420 is configured to detect whether the first target battery is detected within a distance threshold by the proximity sensor on the conveyance; and if the first target battery is detected within the distance threshold, the first target battery is installed abnormally.

In a possible embodiment, the detection module 420 is configured to collect image data of the target vehicle by a sensor on the conveying tool; the image data is identified to determine whether there is an abnormality in the first target battery installation.

In a possible embodiment, the sensor includes a distance sensor, a detection module 420 for:

comparing the first distance with the second distance;

In addition, the embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, performs the steps of the battery installation state detection method described in the above method embodiment.

The computer program product of the battery installation state detection method provided in the embodiments of the present application includes a computer readable storage medium storing program codes, where the instructions included in the program codes may be used to execute the steps of the battery installation state detection method described in the above method embodiments, and the detailed description of the method embodiments will be omitted herein.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes. It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A battery mounting state detection method, characterized by comprising:

after the first target battery is mounted on the target vehicle, controlling a conveying tool to be far away from the target vehicle, wherein the conveying tool is a tool for mounting and conveying the first target battery;

Detecting an object through a sensor on the conveying tool in the process that the conveying tool is far away from the target vehicle;

and if the sensor detects that the first target battery is installed abnormally, performing abnormality processing on the target vehicle.
The method of claim 1, wherein the exception handling of the target vehicle comprises:

and controlling the conveying tool to perform reinstallation operation on the first target battery.
The method of claim 1, wherein the exception handling of the target vehicle comprises:

selecting a second target battery from the battery compartment;

the second target battery is mounted on the target vehicle.
The method of claim 1, wherein the exception handling of the target vehicle comprises:

if the sensor detects that the number of times of abnormality of battery installation of the target vehicle does not exceed an abnormality threshold, selecting a third target battery from a battery compartment, and replacing a first target battery on the target vehicle by using the third target battery;

and if the sensor detects that the number of times of abnormality of battery installation of the target vehicle exceeds an abnormality threshold, outputting an alarm prompt.
The method of claim 1, wherein the first sensor and the second sensor are disposed on the conveyance, and wherein the object detection by the sensor on the conveyance comprises:

performing a first object detection on a first area by the first sensor on the conveyance;

and carrying out second object detection on a second area through the second sensor on the conveying tool, wherein the first area and the second area are partial areas of the battery storage position of the target vehicle.
The method of claim 1, wherein the sensor comprises a proximity sensor, the object detection by the sensor on the conveyance comprising:

detecting, by a proximity sensor on the conveyance, whether the first target battery is detected within a distance threshold;

and if the first target battery is detected within the distance threshold, the first target battery is installed abnormally.
The method of claim 1, wherein the object detection by the sensor on the conveyance comprises:

collecting image data of the target vehicle through a sensor on the conveying tool;

The image data is identified to determine whether an abnormality exists in the first target battery installation.
The method of any one of claims 1-7, wherein the sensor comprises a distance sensor, and wherein the object detection by the sensor on the conveyance comprises:

detecting the distance through a sensor on the conveying tool, and determining the first distance between the sensor and the first target battery;

determining a second distance between the sensor and the target vehicle according to the movement data of the conveying tool;

comparing the first distance with the second distance;

and if the first distance is smaller than the second distance, the sensor detects that the first target battery is abnormally installed.
A battery mounting state detection device, characterized by comprising:

a control module for controlling a conveying tool to be far away from a target vehicle after a first target battery is mounted on the target vehicle, wherein the conveying tool is a tool for mounting and transporting the first target battery;

the detection module is used for detecting an object through a sensor on the conveying tool when the conveying tool is far away from the target vehicle;

And the processing module is used for carrying out exception handling on the target vehicle if the sensor detects that the first target battery is installed abnormally.
A controller, comprising: a processor, a memory storing machine-readable instructions executable by the processor, which when executed by the processor perform the steps of the method of any of claims 1 to 8.
A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1 to 8.
A power exchange station, comprising: the conveying system, the battery compartment and the control equipment;

wherein the conveyor system comprises a conveyor tool and the controller of claim 10.