CN117355438A - Battery storage method, device, controller and battery replacement station - Google Patents
Battery storage method, device, controller and battery replacement station Download PDFInfo
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- CN117355438A CN117355438A CN202280035168.9A CN202280035168A CN117355438A CN 117355438 A CN117355438 A CN 117355438A CN 202280035168 A CN202280035168 A CN 202280035168A CN 117355438 A CN117355438 A CN 117355438A
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- 238000001514 detection method Methods 0.000 claims description 47
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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Abstract
The application provides a battery storage method, a device, a controller and a battery exchange station, wherein the method comprises the following steps: acquiring a first storage position of a battery to be discharged in a battery compartment; controlling the transport to move from the current position to the first storage position within the defined area; controlling the conveying tool to move the to-be-discharged cell to the first storage position; controlling the dynamic component at the first storage position of the battery compartment to move towards the direction of the to-be-discharged battery; the display state of the battery to be discharged is detected by a sensor group arranged on the dynamic component and the first storage position.
Description
The application relates to the technical field of power exchange station control, in particular to a battery storage method, a device, a controller and a power exchange station.
After the electric vehicle is replaced with a battery at the battery replacement station, the battery removed from the electric vehicle is stored at the battery replacement station. The current battery storage is to control the position of the mobile battery of the stacker according to a preset process, so as to realize the storage of the battery.
Disclosure of Invention
In view of the foregoing, an object of an embodiment of the present application is to provide a battery storage method, a device, a controller and a battery exchange station, so as to improve the problem that the display state of the battery is unknown, which may cause that the battery cannot be processed later.
In a first aspect, an embodiment of the present application provides a battery storage method, including: acquiring a first storage position of a battery to be discharged in a battery compartment; controlling the conveying tool to move from the current position to a limited area of the first storage position; controlling the conveying tool to move the to-be-discharged cell to the first storage position; controlling a dynamic component on the first storage position of the battery compartment to move towards the direction of the battery to be discharged; and detecting the display state of the battery to be discharged through a sensor group arranged on the dynamic assembly and the first storage position.
Optionally, the sensor group may include a first sensor and a second sensor; the detecting, by the sensor group installed on the dynamic component and the first storage position, the display state of the battery to be discharged includes:
transmitting a signal through the first sensor installed on the dynamic component, and receiving a signal through the second sensor installed on the first storage position to detect the display state of the to-be-discharged battery on the first storage position, wherein the second sensor can receive the signal transmitted by the first sensor to indicate that the to-be-discharged battery is displayed to be qualified; or,
And receiving signals through the first sensor arranged on the dynamic component, and transmitting signals through the second sensor arranged on the first storage position so as to detect the display state of the to-be-discharged battery at the first storage position, wherein the first sensor can receive the signals transmitted by the second sensor, and the signals indicate that the to-be-discharged battery is displayed to be qualified.
Optionally, before the controlling the dynamic component in the first storage position of the battery compartment to move toward the to-be-discharged battery, the method further includes:
in the process that the conveying tool moves the to-be-discharged pool to the first storage position, in-place detection is carried out through an in-place sensor on the first storage position;
and when the to-be-discharged battery is detected to be in place, executing the step of controlling the dynamic component on the first storage position of the battery compartment to move towards the direction of the to-be-discharged battery.
Optionally, the in-place sensor includes: a third sensor and a fourth sensor; the in-place detection by the third sensor at the first storage position comprises:
performing a first in-place detection by the third sensor on a first edge of the first storage location;
Performing a second in-place detection by the fourth sensor on a second edge of the first storage location, wherein the second edge and the first edge are different edges of the first storage location;
and if the detection results of the first in-place detection and the detection results of the second in-place detection both indicate that the to-be-discharged cell is in place, indicating that the to-be-discharged cell is in place.
Optionally, the controlling the movement of the transport from the current position to the first storage position within a defined area includes:
determining a target driving distance according to the current position of the conveying tool and the first storage position;
controlling the conveying tool to travel towards the first storage position;
judging whether the running data of the conveying tool reach the target running distance or not;
and if the running data of the conveying tool reaches the target running distance, representing that the conveying tool has moved into a limited area of the first storage position.
Optionally, the determining whether the travel data of the conveying tool reaches the target travel distance includes:
determining, by an encoder in a first axial direction of the conveyance tool, whether the conveyance tool reaches a first target travel distance of the target travel distances in the first axial direction;
And determining whether the conveying tool reaches a second target driving distance in the target driving distances in the second axial direction through an encoder in the second axial direction of the conveying tool.
Optionally, the controller is used for controlling the controller; the method further comprises the steps of:
and sending the display state of the battery to be discharged to a control device in communication connection with the controller.
Optionally, the method further comprises:
and if the sensor group detection result represents that the display state of the battery to be discharged is unqualified, controlling the conveying tool to secondarily place the battery to be discharged.
Optionally, the controlling the conveying tool to secondarily place the to-be-discharged cell includes:
acquiring a second storage position;
and moving the to-be-discharged cell from the first storage position to the second storage position through the conveying tool.
In a second aspect, embodiments of the present application provide a battery storage device, including:
the acquisition module is used for acquiring a first storage position of the battery to be discharged in the battery compartment;
a first movement module for controlling the movement of the transport from a current position into a defined area of the first storage position;
The second moving module is used for controlling the conveying tool to move the to-be-discharged cell to the first storage position;
the third moving module is used for controlling the dynamic component at the first storage position of the battery compartment to move towards the direction of the battery to be discharged;
the first detection module is used for detecting the display state of the battery to be placed through a sensor group arranged on the dynamic assembly and the first storage position.
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 when the control device is run.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium, wherein the computer readable storage medium stores 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;
wherein, the conveying system comprises the controller.
According to the battery storage method, device, controller and power exchange station, the sensor group is used for detecting the display state of the battery, and compared with the prior art that the battery is only displayed to the required position according to the preset flow, the battery storage method, device, controller and power exchange station can detect whether the display state of the battery meets the requirement or not, so that the display state of the battery required to be placed at the storage position meets the requirement more, and the safety of the battery displayed at the storage position can be improved.
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.
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 view of an operating environment of a battery storage method according to an embodiment of the present application;
Fig. 2 is a flowchart of a battery storage method according to an embodiment of the present application;
fig. 3 is a schematic functional block diagram of a battery storage device according to an embodiment of the present application.
The technical solutions in the embodiments of the present application will 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, and the time required for replacing the battery is far less than the time required for fully charging the battery.
After the battery on the vehicle is replaced by the power exchange station, the battery with the power shortage needs to be transported back to a battery rack of a battery compartment, and the battery compartment carries out subsequent treatment on the battery with the power shortage. It is considered that if the display state of the placed battery is not satisfactory, the battery compartment may not be able to perform subsequent treatment on the battery with insufficient power.
Based on the above, the battery storage method can detect the position of the battery stored in the battery compartment. The battery storage method provided by the present application is described below by way of several examples.
To facilitate understanding of the present embodiment, an operating environment for performing a battery storage method disclosed in the embodiments of the present application will be described first.
Fig. 1 is a schematic view of an operation environment of a battery storage method according to an embodiment of the present application. The battery storage method may include the battery exchange station 100 and the server 200 in an operating environment. 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.
The power exchange station 100 may include: a conveyor system 110, a battery compartment 120, and a control device 130.
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 111, a conveyance rail 112, and a controller 113.
The controller 113 may be a programmable logic controller (Programmable Logic Controller, abbreviated as PLC). The transport means can travel on the transport track to move the battery to be treated.
The conveyance 111 may be controlled by the programmable logic controller described above, and the conveyance moves according to control instructions of the programmable logic controller. The programmable logic controller may control the conveyance based on data provided by the control device 130.
By way of example, the transport 111 may include a rail guided vehicle (Rail Guided Vehicle; RGV for short), stacker, or the like.
The stacker is used for taking the batteries from the battery bin and transferring the batteries to the rail guided vehicle. The stacker is also used to take the battery from the rail guided vehicle and replace the battery in the battery compartment. The stacker may also be used to move batteries inside 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 113 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 113 may further include a display unit that provides an interactive interface (e.g., a user-operated interface) between the controller 113 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 113 in this embodiment may be used to perform various steps in various methods provided in embodiments of the present application. The implementation of the battery storage method is described in detail below by way of several embodiments.
Referring to fig. 2, a flowchart of a battery storage method according to an embodiment of the present application is shown. The specific flow shown in fig. 2 will be described in detail.
Step 310, a first storage position of the battery to be discharged in the battery compartment is obtained.
Illustratively, the first storage location is an empty storage location of the battery compartment.
The battery storage method in this embodiment is applicable to a controller in a conveying system for controlling movement of respective devices in the conveying system.
The controller may be a programmable logic controller.
The controller may obtain the first storage location from a control device communicatively coupled to the controller.
The battery compartment may include one or more rows of shelves, each row of shelves including one or more layers thereon, and each layer on the shelves may include a plurality of storage locations for storing batteries.
The battery storage method in this embodiment may be applied to a control device in a battery exchange station, which selects the first storage position from storage positions in a battery compartment that are currently in an idle state.
Alternatively, when there are a plurality of storage locations in the battery compartment in the idle state, the storage location closest to the parking space in the power exchange station may be selected as the first storage location.
Alternatively, when there are a plurality of storage positions in the battery compartment in the idle state, the storage position closest to the conveyance tool may be selected as the first storage position.
Alternatively, when there are a plurality of storage positions in the battery compartment in the idle state, the first storage position may also be selected randomly from the plurality of storage positions.
Step 330, controlling the transport to move from the current position to the first storage position within the defined area.
The specific location of the first storage location may be represented by coordinates, for example. In one example, the first storage location may be represented by three-dimensional coordinates (x 1, y1, z 1). Wherein x1 represents the number of columns where the first storage position is located, y1 represents the number of columns where the first storage position is located, and z1 represents the number of layers where the first storage position is located.
The defined area may be in the same number of columns as the first storage location and in the same number of layers as the first storage location.
For example, both sides of the racks in each row of battery bins may be provided with a travel track on which the conveyance may travel. The transport may travel on the track to the column x1 where the first storage location is located. The conveying tool is provided with a lifting mechanism, and the to-be-discharged cell can be lifted to the layer number where the first storage position is located through the lifting mechanism.
Step 350, controlling the conveying tool to move the to-be-discharged cell to the first storage position.
The transport means transfers the cell to be discharged into the first storage position.
Illustratively, the transport may include a fork thereon. The cell to be discharged may be placed in the first storage position by a fork.
For example, the transport may comprise a robotic arm thereon by means of which the cell to be discharged may be placed in the first storage position.
And 370, controlling the dynamic component at the first storage position of the battery compartment to move towards the direction of the to-be-discharged battery.
For example, the dynamic component may be controlled to move toward the cell to be discharged after determining that the cell to be discharged is placed in the first storage position. Alternatively, the dynamic assembly may be controlled by a programmable logic controller to move the dynamic assembly toward the cell to be discharged.
Illustratively, the dynamic assembly may be an electric push rod mounted on the first storage location of the battery compartment, the electric push rod being movable in a direction perpendicular to the placement surface of the first storage location. When the battery to be discharged is placed in the first storage position in a qualified manner, the battery to be discharged is contacted with a placement surface of the first storage position.
Step 390, detecting the display state of the battery to be discharged through the sensor group installed on the dynamic component and the first storage position.
Optionally, one or more sets of obstacle detection sensors may be included in the sensor set. A portion of each set of obstacle detection sensors may be mounted at an edge of the first storage location and another portion of the obstacle detection sensors may be mounted at an edge of the dynamic assembly.
The placement surface of the first storage location may be, for example, rectangular, wherein a first bracket is provided at a first side of the rectangle. For example, the first rack may be perpendicular to the placement surface of the first storage location and perpendicular to the first side. The dynamic component is mounted on the first bracket and can move along the first bracket.
The placement surface of the first storage position may also be circular, for example, with a second support provided on the side of the circular shape. For example, the second rack may be perpendicular to the placement surface of the first storage location and perpendicular to the tangent line of the circle. The dynamic component may be mounted on and movable along the second support.
If any battery is displayed in the first storage position, the any battery is only displayed on the placement surface of the first storage position, and the edge of the first storage position where the sensor is installed is not blocked.
Alternatively, the display state may be transmitted to a control device connected to the controller.
Optionally, if the display state indicates that the to-be-discharged battery is displayed to be qualified, the display state is sent to the control device, and the control device can record storage information of the battery. The storage information may include a battery identification, a battery storage location, etc.
Optionally, if the display state represents that the display of the to-be-discharged battery is not qualified, an alarm signal can be output through alarm equipment.
The alarm device may be an alarm lamp, for example, and the alarm signal may be a light signal of a specified color displayed by the alarm lamp. For example, the specified color may be red, blue, or the like. Of course, the specified color may be other colors, and may be specifically set as needed.
The alarm device may be an audible alarm, for example, and the alarm signal may be an audible signal of a specified frequency output by the audible alarm. The specified frequency may be set as desired.
The alarm device may be an audible and visual alarm, and the alarm signal may be a light signal with a specified color and a sound signal with a specified frequency output by the audible and visual alarm.
Through the steps, after the battery performs the placing action, whether the display of the battery to be discharged is qualified or not can be detected through the sensor, so that the display state of the battery to be placed at the storage position can be more satisfactory, and the safety of the battery to be placed at the storage position can be improved.
In an alternative embodiment, the sensor set may include a first sensor mounted on the dynamic assembly and a second sensor mounted at an edge of the first storage location. The dynamic component can move along the appointed direction after receiving the instruction. The specified direction may be a placement surface perpendicular to the first storage location.
During the movement of the dynamic component, the dynamic component can enable the first sensor to move along the appointed direction, and the second sensor can be arranged at the intersection point of the extension line of the movement track of the first sensor and the first storage position. For example, if there is no object between the first sensor and the second sensor, the first sensor and the second sensor may implement transmission and reception of signals.
In one example, the second sensor is mounted at an edge of the first storage location, the first sensor is mounted at an edge of the dynamic component, and if any one of the batteries is acceptably displayed at the first storage location, the battery is placed on a placement surface of the first storage location and does not cover the second sensor mounted at the first storage location.
Alternatively, the first sensor may be a laser emitting sensor and the second sensor may be a laser receiving sensor. Step 350 may include: the display state of the to-be-discharged battery in the first storage position is detected by transmitting a signal through a first sensor arranged on the dynamic component and receiving a signal through a second sensor arranged on the first storage position, wherein the second sensor can receive the signal transmitted by the first sensor, and the display of the to-be-discharged battery is qualified.
For example, when no obstruction is present between the first sensor and the second sensor, the second sensor can receive the signal transmitted by the first sensor after the first sensor transmits the signal.
For example, when a blocking object exists between the first sensor and the second sensor, after the first sensor transmits a signal, the transmitted signal is blocked by the blocking object, so that the second sensor cannot receive the signal transmitted by the first sensor.
Alternatively, the first sensor may be a laser receiving sensor and the second sensor may be a laser transmitting sensor. Step 350 may include: and receiving signals through a first sensor arranged on the dynamic component, and transmitting signals through a second sensor arranged on the first storage position so as to detect the display state of the to-be-discharged battery on the first storage position, wherein the first sensor can receive the signals transmitted by the second sensor, and the display of the to-be-discharged battery is qualified.
For example, when no obstruction is present between the first sensor and the second sensor, the first sensor can receive the signal transmitted by the first sensor after the second sensor transmits the signal.
For example, when a blocking object exists between the first sensor and the second sensor, after the second sensor transmits a signal, the transmitted signal is blocked by the blocking object, so that the first sensor cannot receive the signal transmitted by the second sensor.
Whether a shielding object exists between the two sensors can be detected more accurately through the transmitting sensor and the receiving sensor, if the shielding object exists, the battery is inclined in the placing process, so that the battery shields the first sensor and the second sensor, and whether the placing of the battery is qualified is detected.
In order to improve the accuracy of detection of the battery display state, the display state of the battery may be detected in various ways. In an alternative embodiment, the method may further comprise, prior to step 370: step 360, in the process that the conveying tool moves the to-be-discharged cell to the first storage position, the in-place detection is performed through the in-place sensor on the first storage position.
And when detecting that the battery to be discharged is in place, executing the step of controlling the dynamic component on the first storage position of the battery compartment to move towards the direction of the battery to be discharged.
The in-place sensor may be, for example, a proximity sensor, which can determine, by means of distance detection, whether the battery to be discharged is placed in the first storage position.
Optionally, a plurality of in-place sensors may be disposed at the first storage location, so as to realize whether different positions of the first storage location can detect whether the to-be-discharged cell is in place.
For example, if multiple in-place sensors can be mounted on the first storage location, the in-place sensors can be distributed at different locations of the first storage location.
By detecting whether the battery to be discharged is in place or not through one or more sensors, the second round of detection can be performed after detecting whether the battery is placed in the first storage position or not, and the accuracy of detecting the display state of the battery can be improved.
In an alternative embodiment, step 360 may include: performing a first in-place detection by a third sensor on a first edge of the first storage location; a second in-place detection is performed by a fourth sensor on a second edge of the first storage location.
The second edge and the first edge are different edges of the first storage position.
The first and second edges may be two parallel edges, for example.
And if the detection results of the first in-place detection and the detection results of the second in-place detection both indicate that the battery to be discharged is in place, indicating that the battery to be discharged is in place.
Whether the to-be-discharged pool is in place or not is detected by a plurality of sensors arranged at different edges of the first storage position, the display state of the to-be-discharged pool at the first storage position can be better determined, and the situation that one side of the to-be-discharged pool is placed well and the other side of the to-be-discharged pool is not placed well can be prevented. The detection by the plurality of sensors can improve the accuracy of the detection of the battery display state.
In an alternative embodiment, step 330 may include: steps 331 to 333.
And step 331, determining a target driving distance according to the current position of the conveying tool and the first storage position.
Optionally, the target traveling direction of the conveying tool may be determined according to the current position of the conveying tool and the first storage position.
Step 332, controlling the conveying tool to travel toward the first storage position.
For example, the conveyance may be controlled to travel in the target travel direction.
Step 333, determining whether the travel data of the conveying tool reaches the target travel distance.
And if the running data of the conveying tool reaches the target running distance, representing that the conveying tool has moved into a limited area of the first storage position.
For example, it may be determined whether the travel data of the conveyance reaches the target travel distance based on the data of the encoder on the conveyance.
For example, it may be determined whether the conveyance is traveling in the target traveling direction based on the real-time position of the conveyance.
Through the steps, the conveying tool can be better controlled to travel towards the first storage position, and whether the conveying tool moves accurately or not can also be judged based on the traveling data.
In an alternative embodiment, step 333 may include: step 3331 and step 3332.
In step 3331, it is determined whether the conveyance reaches a first target travel distance in the first axial direction by an encoder in the first axial direction of the conveyance.
The first axis may be, for example, the direction in which the travel rail in front of the shelf in the battery compartment is located.
By determining whether the transport reaches a first target travel distance in a first axial direction, it is determined whether the transport reaches the column in which the first storage location is located.
At step 3332, it is determined, via an encoder in the second axial direction of the conveyance, whether the conveyance has reached a second target travel distance in the second axial direction.
The second axis may be a direction perpendicular to the ground on which the travel track is located.
Determining whether the transport reaches the level of the first storage location by determining whether the transport reaches a first target travel distance in a second axis.
In the steps, whether the conveying tool is in place or not can be judged from two directions, and the conveying tool can be stopped more accurately. Further, under the condition that the conveying tool is accurately stopped, the battery can be placed more accurately.
Some situations of abnormal placement can be avoided, and the to-be-discharged cell can be rearranged through automatic flow processing of the machine equipment. The battery storage method may further include: step 3010, if the sensor group detection result indicates that the display state of the to-be-discharged battery is not qualified, controlling the conveying tool to secondarily place the to-be-discharged battery.
For example, the transport may be controlled to take the cell to be discharged and then to reposition the cell to be discharged in the first storage position.
Illustratively, during the process of putting the battery to be discharged in the first storage position again, the display state of the battery to be discharged may also be detected through the processes of step 370 and step 390.
Through the actions, the storage position can be not selected again, the battery to be discharged is directly put again at the first storage position, and the display success rate of the battery to be discharged can be improved.
In an alternative embodiment, step 3010 may include: acquiring a second storage position; the battery to be discharged is moved from the first storage position to the second storage position by the conveying tool.
Alternatively, the second storage location may be the closest storage location to the first storage location.
In one example, the second storage location may be in the same column of shelves as the first storage location.
Through the steps, when the battery to be discharged cannot be placed in the first storage position, the storage position can be selected nearby, and the success rate of battery storage can be improved.
Based on the same application conception, the embodiment of the present application further provides a battery storage device corresponding to the battery storage 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 storage 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. 3 is a schematic functional block diagram of a battery storage device according to an embodiment of the disclosure. The respective modules in the battery storage device in this embodiment are used to perform the respective steps in the above-described method embodiments. The battery storage device includes: the acquisition module 410, the first movement module 420, the second movement module 430, the third movement module 440, and the first detection module 450; wherein the contents of each module are shown below.
An obtaining module 410, configured to obtain a first storage position of the battery to be discharged in the battery compartment;
a first movement module 420 for controlling the movement of the transport from the current position into the defined area of the first storage position;
a second moving module 430 for controlling the conveying means to move the to-be-discharged cell to the first storage position;
a third moving module 440, configured to control the dynamic component at the first storage position of the battery compartment to move toward the to-be-discharged cell;
The first detecting module 450 is configured to detect a display state of the battery to be placed through a sensor group installed on the dynamic component and the first storage location.
In a possible implementation manner, the first detection module 450 is configured to:
transmitting a signal through a first sensor arranged on the dynamic component, and receiving a signal through a second sensor arranged on the first storage position to detect the display state of the to-be-discharged cell on the first storage position, wherein the second sensor can receive the signal transmitted by the first sensor to indicate that the to-be-discharged cell is displayed to be qualified; or,
and receiving signals through a first sensor arranged on the dynamic component, and transmitting signals through a second sensor arranged on the first storage position so as to detect the display state of the to-be-discharged battery on the first storage position, wherein the first sensor can receive the signals transmitted by the second sensor, and the display of the to-be-discharged battery is qualified.
In one possible embodiment, the battery storage device further includes:
the second detection module is used for detecting in-place through a third sensor on the first storage position in the process that the conveying tool moves the to-be-discharged cell to the first storage position;
When the battery to be discharged is detected to be in place, the third mobile module 440 is executed again.
In a possible embodiment, the second detection module is configured to:
performing a first in-place detection by a third sensor on a first edge of the first storage location;
performing a second in-place detection by a fourth sensor on a second edge of the first storage location, wherein the second edge and the first edge are different edges of the first storage location;
and if the detection results of the first in-place detection and the detection results of the second in-place detection both indicate that the battery to be discharged is in place, indicating that the battery to be discharged is in place.
In a possible implementation, the first mobile module 420 includes: distance determining unit, travel unit and judging unit.
The distance determining unit is used for determining a target driving distance according to the current position of the conveying tool and the first storage position;
a traveling unit for controlling the conveying tool to travel toward the first storage position;
a judging unit for judging whether the running data of the conveying tool reaches the target running distance;
and if the running data of the conveying tool reaches the target running distance, representing that the conveying tool has moved into a limited area of the first storage position.
In a possible implementation manner, the judging unit is configured to:
determining, by an encoder in a first axial direction of the conveyance, whether the conveyance reaches a first target travel distance in the first axial direction;
and determining whether the conveying tool reaches a second target driving distance in the second axial direction through an encoder in the second axial direction of the conveying tool.
In one possible embodiment, the battery storage device may further include:
and the placement module is used for controlling the conveying tool to secondarily place the to-be-discharged battery if the sensor group detection result represents that the to-be-discharged battery is not connected with the charging connector on the first storage position.
In a possible embodiment, the placement module is configured to:
acquiring a second storage position;
the battery to be discharged is moved from the first storage position to the second storage position by the conveying tool.
Furthermore, the embodiments of the present application also provide a computer readable storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the battery storage method described in the above-described method embodiments.
The computer program product of the battery storage method provided in the embodiments of the present application includes a computer readable storage medium storing program codes, where the program codes include instructions for executing the steps of the battery storage method described in the method embodiments, and the specific reference may be made to the method embodiments, which are not repeated 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 (13)
- A battery storage method, comprising:acquiring a first storage position of a battery to be discharged in a battery compartment;controlling the conveying tool to move from the current position to a limited area of the first storage position;Controlling the conveying tool to move the to-be-discharged cell to the first storage position;controlling a dynamic component on the first storage position of the battery compartment to move towards the direction of the battery to be discharged;and detecting the display state of the battery to be discharged through a sensor group arranged on the dynamic assembly and the first storage position.
- The method of claim 1, wherein the sensor group comprises a first sensor and a second sensor; the detecting, by the sensor group installed on the dynamic component and the first storage position, the display state of the battery to be discharged includes:transmitting a signal through the first sensor installed on the dynamic component, and receiving a signal through the second sensor installed on the first storage position to detect the display state of the to-be-discharged battery on the first storage position, wherein the second sensor can receive the signal transmitted by the first sensor to indicate that the to-be-discharged battery is displayed to be qualified; or,and receiving signals through the first sensor arranged on the dynamic component, and transmitting signals through the second sensor arranged on the first storage position so as to detect the display state of the to-be-discharged battery at the first storage position, wherein the first sensor can receive the signals transmitted by the second sensor, and the signals indicate that the to-be-discharged battery is displayed to be qualified.
- The method of claim 1, wherein prior to said controlling the dynamic assembly on the first storage location of the battery compartment to move toward the to-be-discharged cell, the method further comprises:in the process that the conveying tool moves the to-be-discharged pool to the first storage position, in-place detection is carried out through an in-place sensor on the first storage position;and when the to-be-discharged battery is detected to be in place, executing the step of controlling the dynamic component on the first storage position of the battery compartment to move towards the direction of the to-be-discharged battery.
- A method according to claim 3, wherein the in-place sensor comprises: a third sensor and a fourth sensor; the in-place detection by the third sensor at the first storage position comprises:performing a first in-place detection by the third sensor on a first edge of the first storage location;performing a second in-place detection by the fourth sensor on a second edge of the first storage location, wherein the second edge and the first edge are different edges of the first storage location;And if the detection results of the first in-place detection and the detection results of the second in-place detection both indicate that the to-be-discharged cell is in place, indicating that the to-be-discharged cell is in place.
- The method of claim 1, wherein the controlling the movement of the conveyance from the current position to within the defined area of the first storage position comprises:determining a target driving distance according to the current position of the conveying tool and the first storage position;controlling the conveying tool to travel towards the first storage position;judging whether the running data of the conveying tool reach the target running distance or not;and if the running data of the conveying tool reaches the target running distance, representing that the conveying tool has moved into a limited area of the first storage position.
- The method of claim 5, wherein the determining whether the travel data of the conveyance reaches the target travel distance comprises:determining, by an encoder in a first axial direction of the conveyance tool, whether the conveyance tool reaches a first target travel distance of the target travel distances in the first axial direction;and determining whether the conveying tool reaches a second target driving distance in the target driving distances in the second axial direction through an encoder in the second axial direction of the conveying tool.
- The method of any one of claims 1-6, applied to a controller for controlling the controller; the method further comprises the steps of:and sending the display state of the battery to be discharged to a control device in communication connection with the controller.
- The method according to any one of claims 1-6, further comprising:and if the sensor group detection result represents that the display state of the battery to be discharged is unqualified, controlling the conveying tool to secondarily place the battery to be discharged.
- The method of claim 8, wherein said controlling the conveyor to secondarily place the cell to be discharged comprises:acquiring a second storage position;and moving the to-be-discharged cell from the first storage position to the second storage position through the conveying tool.
- A battery storage device, comprising:the acquisition module is used for acquiring a first storage position of the battery to be discharged in the battery compartment;a first movement module for controlling the movement of the transport from a current position into a defined area of the first storage position;the second moving module is used for controlling the conveying tool to move the to-be-discharged cell to the first storage position;The third moving module is used for controlling the dynamic component at the first storage position of the battery compartment to move towards the direction of the battery to be discharged;the first detection module is used for detecting the display state of the battery to be placed through a sensor group arranged on the dynamic assembly and the first storage position.
- 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 when the control device is run.
- 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 9.
- A power exchange station, comprising: the conveying system, the battery compartment and the control equipment;wherein the delivery system comprises the controller of claim 11.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/080221 WO2023168672A1 (en) | 2022-03-10 | 2022-03-10 | Battery placing method and device, controller and battery swapping station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117355438A true CN117355438A (en) | 2024-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202280035168.9A Pending CN117355438A (en) | 2022-03-10 | 2022-03-10 | Battery storage method, device, controller and battery replacement station |
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| Country | Link |
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| CN (1) | CN117355438A (en) |
| WO (1) | WO2023168672A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11348066B2 (en) * | 2013-07-25 | 2022-05-31 | IAM Robotics, LLC | System and method for piece picking or put-away with a mobile manipulation robot |
| CN205076344U (en) * | 2015-10-16 | 2016-03-09 | 江苏拓新天机器人科技有限公司 | Lithium cell automatic stereo warehouse access system |
| CN206798397U (en) * | 2017-06-03 | 2017-12-26 | 安徽国防科技职业学院 | Stereoscopic warehousing system |
| CN208746871U (en) * | 2018-08-23 | 2019-04-16 | 陕西中烟工业有限责任公司 | Shuttle external form detection of goods device |
| CN111823936A (en) * | 2019-03-29 | 2020-10-27 | 中立元(镇江)电动汽车加电科技有限公司 | Battery replacement station for sharing intelligent quick battery replacement of electric cars of different battery replacement types |
| CN214058766U (en) * | 2020-11-13 | 2021-08-27 | 苏州盟萤电子科技有限公司 | Stacking machine |
-
2022
- 2022-03-10 CN CN202280035168.9A patent/CN117355438A/en active Pending
- 2022-03-10 WO PCT/CN2022/080221 patent/WO2023168672A1/en active Application Filing
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