WO2019104882A1 - 充电电池的转运控制系统、电动汽车换电控制系统及方法 - Google Patents

充电电池的转运控制系统、电动汽车换电控制系统及方法 Download PDF

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Publication number
WO2019104882A1
WO2019104882A1 PCT/CN2018/076367 CN2018076367W WO2019104882A1 WO 2019104882 A1 WO2019104882 A1 WO 2019104882A1 CN 2018076367 W CN2018076367 W CN 2018076367W WO 2019104882 A1 WO2019104882 A1 WO 2019104882A1
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WO
WIPO (PCT)
Prior art keywords
battery
temporary storage
storage bin
control unit
moving mechanism
Prior art date
Application number
PCT/CN2018/076367
Other languages
English (en)
French (fr)
Inventor
陈志浩
黄春华
仇丹梁
Original Assignee
上海电巴新能源科技有限公司
奥动新能源汽车科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201711240282.2A external-priority patent/CN108128285A/zh
Application filed by 上海电巴新能源科技有限公司, 奥动新能源汽车科技有限公司 filed Critical 上海电巴新能源科技有限公司
Publication of WO2019104882A1 publication Critical patent/WO2019104882A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • 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
    • B65G57/00—Stacking of articles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts

Definitions

  • the invention relates to the field of power exchange control of an electric vehicle, in particular to a transfer control system for a rechargeable battery, an electric vehicle control system and method for the electric vehicle.
  • the battery to be charged needs to be removed and placed on the charging stand for charging, and the battery that has been charged is replaced with the electric vehicle.
  • the current power-changing control system often makes mistakes in the process of picking up and discharging the battery, and even replacing the uncharged battery to the electric vehicle, resulting in the electric vehicle not being able to be used normally. It can be seen that the existing power control system has high error rate and low efficiency.
  • the technical problem to be solved by the present invention is to overcome the defects of high battery replacement error rate and low efficiency of the electric vehicle in the prior art, and to provide a charging battery transportation control system and an electric vehicle power exchange control system and method.
  • a transfer control system for a rechargeable battery characterized in that the transfer control system comprises a battery transfer device, the battery transfer device comprising a control unit, a first moving mechanism and a battery transfer mechanism;
  • the control unit is configured to control the first moving mechanism to move to the first temporary storage bin, and the battery transfer mechanism places the battery to be charged in the first temporary storage bin;
  • the control unit is further configured to control the first moving mechanism to move to a second temporary storage bin, and the battery transport mechanism acquires a battery to be transferred from the second temporary storage bin.
  • control unit is configured to control the first moving mechanism to move to the peripheral device according to the battery replacement instruction, the battery transport mechanism acquires the battery to be charged from the peripheral device, and controls the first Moving the mechanism to the first temporary storage bin, the battery transport mechanism placing the battery to be charged in the first temporary storage bin;
  • the control unit is further configured to control the first moving mechanism to move to the second temporary storage bin, the battery transport mechanism acquires a battery to be transferred from the second temporary storage bin, and controls the first mobile mechanism Moving to the peripheral device, the battery transfer mechanism places the battery to be transferred in the peripheral device.
  • control unit is configured to control the first moving mechanism to move to the first temporary storage bin according to a battery charging instruction, and the battery transporting mechanism acquires the battery to be charged from the first temporary storage bin; And controlling the first moving mechanism to move to the charging compartment, the battery transporting mechanism placing the battery to be charged in the charging compartment, wherein the charging compartment is configured to charge the battery to be charged;
  • the charging bin is further configured to send charging completion information to the control unit when charging the battery to be charged to be greater than a battery power threshold;
  • the charging completion information includes location information of the charging bin ;
  • the control unit is further configured to control, according to the location information, that the first moving mechanism moves to the charging bin, and the battery transporting mechanism acquires, from the charging bin, a target battery whose electric quantity is greater than the battery power threshold;
  • the control unit is further configured to control the first moving mechanism to move to the second temporary storage bin, and the battery transport mechanism places the target battery in the second temporary storage bin.
  • the transport control system further includes a background for transmitting an instruction to the control unit, the instruction including the battery replacement instruction and the battery charging instruction.
  • the transport control system further comprises a visual sensor or a first infrared sensor or locator provided on the battery transfer device;
  • the visual sensor or the first infrared sensor or the locator is configured to detect a first coordinate deviation between the battery transfer device and the first temporary storage bin, and send the same to the control unit;
  • the control unit is configured to control the first moving mechanism to move toward the first temporary storage bin, and control the first moving mechanism to stop moving when determining that the first coordinate deviation is within a preset range, and send a battery transfer command to the battery transfer mechanism;
  • the visual sensor or the first infrared sensor or the locator is further configured to detect a second coordinate deviation between the battery transfer device and the second temporary storage bin, and send the same to the control unit;
  • the control unit is further configured to control the first moving mechanism to move toward the second temporary storage bin, and control the first moving mechanism to stop moving when determining that the second coordinate deviation is within a preset range, and Sending a battery transfer command to the battery transfer mechanism;
  • the visual sensor or the first infrared sensor or the locator is further configured to detect a third coordinate deviation between the battery transfer device and the peripheral device, and send the same to the control unit;
  • the control unit is further configured to control the first moving mechanism to move toward the peripheral device, and control the first moving mechanism to stop moving when determining that the third coordinate deviation is within a preset range, and send a battery Transshipment instructions to the battery transfer mechanism;
  • the visual sensor or the first infrared sensor or the locator is further configured to detect a fourth coordinate deviation between the battery transfer device and the charging chamber, and send the same to the control unit;
  • the control unit is further configured to control the first moving mechanism to move toward the charging bin, and control the first moving mechanism to stop moving when determining that the fourth coordinate deviation is within a preset range, and send a battery transfer Directing to the battery transfer mechanism;
  • the battery transfer mechanism is configured to perform an operation of acquiring or placing a battery when receiving the battery transfer instruction
  • the first temporary storage bin is provided with a first reflector
  • the visual sensor or the first infrared sensor or the locator is configured to detect the battery transfer device according to the first reflector a first coordinate deviation between the first temporary storage bins; and/or,
  • a second reflector is disposed on the second temporary storage bin, and the visual sensor or the first infrared sensor or the locator is further configured to detect the battery transfer device according to the second reflector a second coordinate deviation between the second temporary storage bins; and/or,
  • the peripheral device is provided with a third reflector, and the vision sensor or the first infrared sensor or the locator is further configured to detect the battery transfer device and the peripheral device according to the third reflector a third coordinate deviation between the devices; and/or,
  • a fourth reflector is disposed on the charging compartment, and the visual sensor or the first infrared sensor or the locator is further configured to detect the battery transfer device and the charging bin according to the fourth reflector The fourth coordinate deviation between.
  • the battery transport mechanism comprises: a second moving mechanism, a car, an extension mechanism and a PLC controller, the extension mechanism is mounted on the car, and the car is mounted on the second movement Institutional
  • the PLC controller is configured to control the extension mechanism to extend, and control the second moving mechanism to lower the car to a first preset height Carrying the battery to be charged on the extension mechanism to the first temporary storage compartment, and retracting the extension mechanism;
  • the PLC controller is configured to control the extension mechanism to extend, and control the second moving mechanism to raise the car to a second preset height And carrying the battery to be transferred in the second temporary storage bin to the extension mechanism, and retracting the extension mechanism.
  • the PLC controller is configured to control the car to move in a vertical direction.
  • the transport control system further comprises:
  • a second infrared sensor is disposed on the first temporary storage bin; the second infrared sensor is configured to detect whether the battery to be charged is on the first temporary storage bin, and send the first detection result to the Control unit; and/or,
  • a third infrared sensor is disposed on the second temporary storage bin; the third infrared sensor is configured to detect whether the battery to be transferred is located on the second temporary storage bin, and send the second detection result to the second Control unit; and/or,
  • the transfer control system further includes a fourth infrared sensor disposed on the battery transfer device;
  • the fourth infrared sensor is configured to detect whether there is a battery in the position corresponding to the first preset height in the first temporary storage bin, and if so, the PLC
  • the controller controls the car to move in a vertical direction, and if not, carries the battery to be charged to the first temporary storage bin;
  • the fourth infrared sensor is further configured to detect whether the battery to be transferred is located at a position corresponding to the second preset height in the second temporary storage bin. If so, the battery to be transferred is carried to the extension mechanism, and if not, the PLC controller controls the car to move in the vertical direction.
  • the PLC controller is configured to preset a first originating height of the car to be higher than the first preset height; and the PLC controller is further configured to preset a second originating of the car The height is lower than the second predetermined height; wherein the first initial height is higher than the second initial height.
  • An electric vehicle power exchange control system characterized in that the electric vehicle power exchange control system comprises a transport control system of any of the above rechargeable batteries.
  • a method for controlling the transfer of a rechargeable battery characterized in that the transfer control method realizes the transfer of a rechargeable battery by using a battery transfer device including a control unit, a first moving mechanism, and a battery transfer mechanism, the transfer control The method includes the following steps:
  • the control unit controls the first moving mechanism to move to the first temporary storage bin, and the battery transfer mechanism places the battery to be charged in the first temporary storage bin;
  • the control unit controls the first moving mechanism to move to a second temporary storage bin, and the battery transport mechanism acquires a battery to be transferred from the second temporary storage bin.
  • the transport control method specifically includes the following steps:
  • the control unit controls the first moving mechanism to move to the peripheral device according to the battery replacement instruction, the battery transfer mechanism acquires the battery to be charged from the peripheral device, and controls the first moving mechanism to move to the a first temporary storage compartment, the battery transport mechanism placing the battery to be charged in the first temporary storage compartment;
  • the control unit controls the first moving mechanism to move to the second temporary storage bin, the battery transport mechanism acquires a battery to be transferred from the second temporary storage bin, and controls the first moving mechanism to move to the A peripheral device that places the battery to be transferred in the peripheral device.
  • the transport control method further comprises the following steps:
  • the control unit controls the first moving mechanism to move to the first temporary storage bin according to a battery charging instruction, and the battery transporting mechanism acquires the battery to be charged from the first temporary storage bin; and controls the first Moving the mechanism to the charging compartment, the battery transport mechanism placing the battery to be charged in the charging compartment, the charging compartment for charging the battery to be charged;
  • the charging bin sends charging completion information to the control unit when charging the battery to be charged to be greater than a battery power threshold;
  • the charging completion information includes location information of the charging bin;
  • the control unit controls the first moving mechanism to move to the charging bin according to the position information, and the battery transporting mechanism acquires, from the charging bin, a target battery whose electric quantity is greater than the battery power threshold;
  • the control unit controls the first moving mechanism to move to the second temporary storage bin, and the battery transport mechanism places the target battery in the second temporary storage bin.
  • the transport control method further implements transport of the rechargeable battery by using a background, and the transport control method further includes the following steps:
  • the background sends an instruction to the control unit, the instruction including the battery replacement instruction and the battery charging instruction.
  • the battery transfer device is provided with a visual sensor or a first infrared sensor or a locator, and the transfer control method further comprises the following steps:
  • the visual sensor or the first infrared sensor or the locator detects a first coordinate deviation between the battery transfer device and the first temporary storage bin, and sends the first coordinate deviation to the control unit;
  • the control unit controls the first moving mechanism to move toward the first temporary storage bin, and controls the first moving mechanism to stop moving when determining that the first coordinate deviation is within a preset range, and sends a battery transfer Directing to the battery transfer mechanism;
  • the visual sensor or the first infrared sensor or the locator detects a second coordinate deviation between the battery transfer device and the second temporary storage bin, and sends the second coordinate deviation to the control unit;
  • the control unit controls the first moving mechanism to move toward the second temporary storage bin, and controls the first moving mechanism to stop moving when determining that the second coordinate deviation is within a preset range, and sends a battery transfer Directing to the battery transfer mechanism;
  • the visual sensor or the first infrared sensor or the locator detects a third coordinate deviation between the battery transfer device and the peripheral device, and sends the third coordinate deviation to the control unit;
  • the control unit controls the first moving mechanism to move toward the peripheral device, and controls the first moving mechanism to stop moving when determining that the third coordinate deviation is within a preset range, and sends a battery transfer command to The battery transfer mechanism;
  • the visual sensor or the first infrared sensor or the locator detects a fourth coordinate deviation between the battery transfer device and the charging chamber, and sends the deviation to the control unit;
  • the control unit controls the first moving mechanism to move toward the charging bin, and controls the first moving mechanism to stop moving when determining that the fourth coordinate deviation is within a preset range, and sends a battery transfer instruction to the Battery transfer mechanism;
  • the battery transfer mechanism is configured to perform an operation of acquiring or placing a battery when receiving the battery transfer instruction
  • the first temporary storage bin is provided with a first reflector
  • the visual sensor or the first infrared sensor or the locator detects between the battery transfer device and the first temporary storage bin
  • the step of the first coordinate deviation specifically includes: the visual sensor or the first infrared sensor or the locator detecting the between the battery transfer device and the first temporary storage bin according to the first reflector First coordinate deviation; and/or,
  • a second reflector is disposed on the second temporary storage bin, and the visual sensor or the first infrared sensor or the locator detects a second between the battery transfer device and the second temporary storage bin
  • the step of the coordinate deviation specifically includes: the visual sensor or the first infrared sensor or the locator detects a second coordinate between the battery transfer device and the second temporary storage bin according to the second reflective plate Deviation; and/or,
  • the peripheral device is provided with a third reflector, and the step of detecting the third coordinate deviation between the battery transfer device and the peripheral device by the visual sensor or the first infrared sensor or the locator Specifically, the visual sensor or the first infrared sensor or the locator detects a third coordinate deviation between the battery transfer device and the peripheral device according to the third reflector; and/or,
  • a fourth reflector is disposed on the charging compartment, and the step of detecting, by the visual sensor or the first infrared sensor or the locator, a fourth coordinate deviation between the battery transporting device and the charging compartment comprises: The visual sensor or the first infrared sensor or the locator detects a fourth coordinate deviation between the battery transfer device and the charging bin according to the fourth reflector.
  • the battery transport mechanism comprises: a second moving mechanism, a car, an extension mechanism and a PLC controller, the extension mechanism is mounted on the car, and the car is mounted on the second movement Institutional
  • the step of the battery transport mechanism placing the battery to be charged in the first temporary storage bin includes: when the first moving mechanism moves to the first temporary storage bin, the PLC controller controls the extending Extending the mechanism and controlling the second moving mechanism to lower the car to a first preset height, carrying the battery to be charged on the extension mechanism to the first temporary storage bin, and retracting Representing the extension mechanism;
  • the step of the battery transport mechanism acquiring the battery to be transferred from the second temporary storage bin specifically includes: when the first moving mechanism moves to the second temporary storage bin, the PLC controller controls the protruding mechanism Extending and controlling the second moving mechanism to raise the car to a second preset height, carrying the battery to be transported in the second temporary storage bin to the extension mechanism, and retracting the Extend the body.
  • the PLC controller controls the car to be in a vertical direction Move.
  • the first temporary storage bin is further provided with a second infrared sensor
  • the transfer control method further comprises the following steps: the second infrared sensor detects whether the first temporary storage bin is to be charged a battery and transmitting the first detection result to the control unit;
  • the second temporary storage bin is further provided with a third infrared sensor, and the transfer control method further comprises the following steps: the third infrared sensor detects whether the second temporary storage bin has the waiting Transferring the battery and transmitting the second detection result to the control unit;
  • the battery transfer device is further provided with a fourth infrared sensor, and the transfer control method further comprises the following steps:
  • the fourth infrared sensor detects whether there is a battery in the position corresponding to the first preset height in the first temporary storage bin, and if so, the PLC controller Controlling the car to move in a vertical direction, and if not, carrying the battery to be charged to the first temporary storage bin;
  • the fourth infrared sensor detects whether the battery to be transferred is located at a position corresponding to the second preset height in the second temporary storage bin, and if so, The battery to be transferred is carried to the extension mechanism, and if not, the PLC controller controls the car to move in a vertical direction.
  • the PLC controller presets that the first initial height of the car is higher than the first pre-preparation Set the height
  • the PLC controller presets that the second initial height of the car is lower than the second preset height
  • first originating height is higher than the second originating height.
  • An electric vehicle power exchange control method characterized in that the electric vehicle power exchange control method comprises any of the above-described charging battery transportation control methods.
  • the positive progress of the invention is that the invention greatly reduces the error rate of battery replacement of the electric vehicle and improves the battery replacement efficiency.
  • FIG. 1 is a schematic view showing the layout of a transfer control system for a rechargeable battery according to Embodiment 2 of the present invention.
  • FIG. 2 is a schematic block diagram of a battery transfer device in a transfer control system for a rechargeable battery according to Embodiment 2 of the present invention.
  • FIG. 3 is a partial block diagram of a transfer control system for a rechargeable battery according to Embodiment 3 of the present invention.
  • Embodiment 4 is a first flowchart of a method for controlling transport of a rechargeable battery according to Embodiment 5 of the present invention.
  • FIG. 5 is a second flowchart of a method for controlling transport of a rechargeable battery according to Embodiment 5 of the present invention.
  • FIG. 6 is a flow chart of the battery transfer mechanism of FIG. 4 in which the battery transfer mechanism places the battery to be charged in the first temporary storage bin.
  • FIG. 7 is a flow chart of the battery transfer mechanism of FIG. 4 acquiring the battery to be charged from the peripheral device in step 101-a.
  • FIG. 8 is a flow chart of the battery transfer mechanism of FIG. 4 acquiring the battery to be transferred from the second temporary storage bin in step 102-a.
  • FIG. 9 is a partial flow chart of a method for controlling the transfer of a rechargeable battery according to Embodiment 6 of the present invention.
  • the embodiment provides a charging control system for a rechargeable battery, which includes a battery transfer device, and a battery transfer device includes a control unit, a first moving mechanism, and a battery transfer mechanism, and the control unit is configured to control the first moving mechanism to move to the first a temporary storage bin, the battery transfer mechanism places the battery to be charged in the first temporary storage bin; the control unit is further configured to control the first moving mechanism to move to the second temporary storage bin, and the battery transfer mechanism obtains the second temporary storage bin Transfer the battery.
  • the first temporary storage bin and the second temporary storage bin are placed on the charging rack, and the battery transfer device can realize the battery to be charged in the first temporary storage bin and the battery to be transferred from the second temporary storage bin.
  • the error rate during the battery transportation process can be reduced.
  • the transport control system of the rechargeable battery of the present embodiment is a further improvement of Embodiment 1, including a battery transfer device 1, which includes a control unit 11, a first moving mechanism 12, and a battery transporter. Agency 13. Among them, the battery transfer device 1 may be a palletizer.
  • the control unit 11 controls the first moving mechanism 12 to move to the peripheral device 3 (for example, an electric vehicle or a changeable trolley) according to the instruction, and controls the battery transfer mechanism. 13, the battery 4 to be charged is obtained from the peripheral device 3, and the control unit 11 controls the first moving mechanism 12 to move to the first temporary storage bin 21, and controls the battery transport mechanism 13 to place the battery 4 to be charged in the first temporary storage chamber 21.
  • the peripheral device 3 for example, an electric vehicle or a changeable trolley
  • control unit 11 controls the first moving mechanism 12 to move to the second temporary storage bin 22, and controls the battery transport mechanism 13 to obtain the battery 4' to be transferred from the second temporary storage bin 22, thereby controlling the first moving mechanism 12 to move to the outside.
  • the device 3 is arranged, and the battery transfer mechanism 13 is controlled to place and install the battery 4' to be transferred on the peripheral device 3 to complete the battery replacement.
  • the first temporary storage bin 21 (that is, the old warehouse) is used for temporarily storing the battery 4 to be charged
  • the second temporary storage bin 22 that is, the new warehouse
  • the amount of the battery to be charged 4 is less than the first threshold
  • the amount of the battery to be transferred 4' is greater than the second threshold.
  • the first threshold and the second threshold may be set according to actual needs. For example, the threshold is characterized by the percentage of cells, the first threshold is set to 10% and the second threshold is 100%.
  • a layout map of the first temporary storage compartment 21, the second temporary storage compartment 22, and the charging compartment 23 is stored in the battery transfer device 1.
  • control unit 11 is further configured to: when receiving the battery charging instruction, the control unit 11 is configured to control the first moving mechanism 12 to move to the first temporary storage bin 21 according to the instruction, and control the battery transport mechanism 13 from the first A temporary storage 21 obtains the battery 4 to be charged, thereby controlling the first moving mechanism 12 to move to the charging compartment 23, and controls the battery transporting mechanism 13 to place the battery 4 to be charged in the charging compartment 23, and the charging compartment 23 is used to charge the battery 4 Charge it.
  • the charging compartment 23 is placed on the charging rack together with the first temporary storage compartment 21 and the second temporary storage compartment 22, and when the charging compartment 23 charges the battery to be charged 4 to be greater than the battery power threshold, it indicates that the charging capacity is full, then the charging compartment 23 is charged.
  • the charging compartment 23 transmits charging completion information to the control unit 11.
  • the charging completion information includes location information of the charging bin 23.
  • the control unit 11 controls the first moving mechanism 12 to move to the charging bin 23 based on the position information, and controls the battery transport mechanism 13 to acquire the target battery whose electric quantity is greater than the battery power threshold from the charging bin 23. Thereafter, the control unit 11 controls the first moving mechanism 12 to move to the second temporary storage bin 22, and controls the battery transport mechanism 13 to place the target battery in the second temporary storage bin 22 for storage, and the target battery at this time is also the battery to be transferred. 4'.
  • the transport control system further includes a background (not shown) that is communicatively coupled to the control unit 11 and used to send commands to the control unit 11, including but not limited to the battery replacement commands and battery charging commands described above.
  • the transport control system further includes a visual sensor 5, and the visual sensor 5 is disposed on the battery transfer device 1.
  • the first temporary storage compartment 21, the second temporary storage compartment 22, the charging compartment 23 and the peripheral device are respectively provided with a reflector.
  • the visual sensor in this embodiment can also implement the corresponding function through the first infrared sensor or the locator.
  • the battery transfer device 1 places the battery 4 to be charged in the first temporary storage chamber 21, and the control unit 11 controls the first moving mechanism 12 to move toward the first temporary storage chamber 21, the visual sensor 5 (or the first infrared sensor or positioning)
  • the first coordinate deviation between the battery transfer device 1 and the first temporary storage bin 21 is detected in real time according to the first reflector and sent to the control unit 11, when the control unit 11 determines that the first coordinate deviation is within the preset range, It is indicated that the battery transfer device 1 has been facing the first temporary storage bin 21, and the control unit 11 controls the first moving mechanism 12 to stop moving, and sends a battery transfer command to the battery transfer mechanism 13.
  • the battery transfer mechanism 13 performs a battery placement action upon receiving a battery transfer command.
  • the action of the battery transfer device 1 to obtain the battery 4 to be charged from the first temporary storage 21 is similar to the "placement" action, and details are not described herein.
  • the control unit 11 controls the first moving mechanism 12 to move toward the second temporary storage bin 22, the visual sensor 5 (or the first infrared sensor or positioning)
  • the second coordinate deviation between the battery transfer device 1 and the second temporary storage bin 22 is detected in real time according to the second reflector and sent to the control unit 11.
  • the control unit 11 determines that the second coordinate deviation is within the preset range, it indicates that the battery transfer device 1 has been facing the second temporary storage bin 22, and the control unit 11 controls the first moving mechanism 12 to stop moving, and sends a battery transfer instruction.
  • the battery transfer mechanism 13 performs a battery take-up action upon receiving a battery transfer command.
  • the action of the battery transfer device 1 to place the battery in the second temporary storage bin 22 is similar to the "acquisition" action, and will not be described herein.
  • the control unit 11 controls the first moving mechanism 12 to move toward the peripheral device 3, and the visual sensor 5 (or the first infrared sensor or locator) according to the
  • the third reflector detects the third coordinate deviation between the battery transfer device 1 and the peripheral device 3 in real time and transmits it to the control unit 11.
  • the control unit 11 determines that the third coordinate deviation is within the preset range, it indicates that the battery transfer device 1 is facing the peripheral device 3, and the control unit 11 controls the first moving mechanism 12 to stop moving, and sends a battery transfer command to the battery.
  • Transfer mechanism 13 performs a battery take-up action upon receiving a battery transfer command.
  • the action of the battery transfer device 1 to place the battery on the external device is similar to the "acquisition" action, and will not be described again here.
  • the control unit 11 controls the first moving mechanism 12 to move toward the charging chamber 23, and the visual sensor 5 (or the first infrared sensor or locator) detects the real time according to the fourth reflecting plate.
  • the fourth coordinate deviation between the battery transfer device 1 and the charging compartment 23 is sent to the control unit 11.
  • the control unit 11 determines that the fourth coordinate deviation is within the preset range, it indicates that the battery transfer device 1 is facing the charging bin 23, and the control unit 11 controls the first moving mechanism 12 to stop moving, and sends a battery transfer command to the battery transporter.
  • Agency 13 The battery transfer mechanism 13 performs a battery take-up action upon receiving a battery transfer command.
  • the action of the battery transfer device 1 to place the battery in the charging compartment 23 is similar to the "acquisition" action, and will not be described again here.
  • the following measurement manner may be specifically adopted: taking the distance (coordinate deviation) between the battery transfer device 1 and the first temporary storage bin 21 as an example, according to the visual sensor 5 (or The optical element in an infrared sensor or locator emits the time to detect the light source and the time to receive the reflected light source to calculate the distance between the battery transfer device 1 and the first temporary storage compartment 21.
  • the reflector can also achieve the corresponding function through the signal reflector or measuring reference point.
  • the embodiment further provides an electric vehicle power exchange control system, which includes the transport control system in the embodiment.
  • the transport control system of the rechargeable battery provided in this embodiment is a further improvement of the embodiment 2.
  • the battery transport mechanism 13 includes: a second moving mechanism 131, a car 132, and an extension Mechanism 133 and PLC controller 134.
  • the extension mechanism 133 is mounted on the car 132, and the car 132 is mounted on the second movement mechanism 131.
  • the PLC controller 134 When the first moving mechanism 12 moves to the first temporary storage compartment 21, the PLC controller 134 is used to control the extension mechanism 133 to extend, and controls the second movement mechanism 131 to lower the car 132 to the first preset height, which will extend The battery 4 to be charged on the outlet mechanism 133 is carried to the first temporary storage compartment 21, and the extension mechanism 133 is retracted.
  • the PLC controller 134 can control the car 132 to move in the vertical direction to control the movement of the car 132 in real time, thereby improving the transport efficiency.
  • the first temporary storage bin 21 is provided with a second infrared sensor 6, and the second infrared sensor 6 is configured to detect whether the battery 4 to be charged is on the first temporary storage bin 21, and send the first detection result to Control unit 11.
  • the PLC controller 134 is further configured to preset the first initial height of the car 132 to be higher than the first preset height before receiving the battery transfer command.
  • the first initial height is the height in the vertical direction of the car 132 after the battery 4 to be charged, and the first preset height is used to represent the height of the battery 4 to be charged in the first temporary storage 21, combined with the first battery. The test results and actual conditions are set.
  • the battery transfer device 1 is further provided with a fourth infrared sensor 8 for detecting the first temporary storage bin 21 after the car 132 is lowered to the first preset height. Whether there is a battery at the position corresponding to the first preset height, and if so, the PLC controller 134 controls the car 132 to move in the vertical direction, and if not, carries the battery 4 to be charged to the first temporary storage bin 21. Further, it is determined that there is a space on the first temporary storage compartment 21 for storing the battery 4 to be charged.
  • the PLC controller 134 When the first moving mechanism 12 moves to the second temporary storage bin 22, the PLC controller 134 is configured to control the extension mechanism 133 to extend, and control the second moving mechanism 131 to raise the car 132 to the second preset height.
  • the battery 4' to be transferred in the two temporary storage bins 22 is carried to the extension mechanism 133, and the extension mechanism 133 is retracted.
  • the PLC controller 134 can control the car 132 to move in the vertical direction to control the movement of the car 132 in real time, thereby improving the transport efficiency.
  • the second temporary storage bin 22 is provided with a third infrared sensor 7 for detecting whether the battery 4 to be transported on the second temporary storage bin 22 and sending the second detection result to Control unit 11.
  • the PLC controller 134 before receiving the battery transfer command, is further configured to preset the second initial height of the car 132 to be lower than the first preset height, and the second initial height is the vertical position of the car 132.
  • the initial height in the straight direction can be set according to the actual situation, and the second preset height is used to represent the height of the battery 4' to be transferred in the second temporary storage bin 22, combined with the second battery detection result and the actual situation. Make settings.
  • the first initial height is higher than the second initial height. Of course, this can also be set according to actual conditions.
  • the fourth infrared sensor 8 is further configured to detect whether there is a battery 4' to be transported at a position corresponding to the second preset height in the second temporary storage bin 22, and if so, The battery to be transferred 4' is carried to the extension mechanism 133, and if not, the PLC controller controls the car 132 to move in the vertical direction. In turn, the battery 4 to be transported can be accurately obtained, and the accuracy in the process of battery acquisition or placement is improved, thereby improving the overall battery transport efficiency.
  • This embodiment specifically describes the operation process of placing the battery in the first temporary storage bin 21 and acquiring the battery from the second temporary storage bin 22. It should be understood that the battery is placed in the second temporary storage bin 22, the charging compartment 23, and the peripheral device. The device 3 and the operation of acquiring the battery from the first temporary storage 21, the charging chamber 23, and the peripheral device 3 are similar, and will not be described herein.
  • the embodiment further provides an electric vehicle power exchange control system, which includes the transport control system in the embodiment.
  • the embodiment provides a method for controlling the transfer of a rechargeable battery, wherein the battery transfer device includes a control unit, a first moving mechanism, and a battery transport mechanism.
  • the transport control method of the embodiment Includes the following steps:
  • the control unit controls the first moving mechanism to move to the first temporary storage bin, and the battery transfer mechanism places the battery to be charged in the first temporary storage bin;
  • the control unit controls the first moving mechanism to move to the second temporary storage bin, and the battery transfer mechanism acquires the battery to be transferred from the second temporary storage bin.
  • the first temporary storage bin and the second temporary storage bin are placed on the charging rack, and the battery transfer device can realize the battery to be charged in the first temporary storage bin and the battery to be transferred from the second temporary storage bin.
  • the error rate during the battery transportation process can be reduced.
  • the method for controlling the transport of the rechargeable battery provided in this embodiment is a further improvement of the embodiment 4.
  • the transport control method of the embodiment includes the following steps:
  • Step 101-a the control unit controls the first moving mechanism to move to the peripheral device according to the battery replacement instruction, the battery transfer mechanism acquires the battery to be charged from the peripheral device, and controls the first moving mechanism to move to the first temporary storage bin, and the battery is transported.
  • the institution places the battery to be charged in the first temporary storage bin;
  • Step 102-a the control unit controls the first moving mechanism to move to the second temporary storage bin, the battery transfer mechanism acquires the battery to be transferred from the second temporary storage bin, and controls the first mobile mechanism to move to the peripheral device, and the battery transfer mechanism will The battery to be transferred is placed in a peripheral device.
  • the first temporary storage bin (that is, the old warehouse) is used for temporarily storing the battery to be charged
  • the second temporary storage bin ie, the new warehouse
  • the power of the battery to be charged is less than the first threshold
  • the power of the battery to be transferred is greater than the second threshold.
  • the first threshold and the second threshold may be set according to actual needs. For example, the threshold is characterized by the percentage of cells, the first threshold is set to 10% and the second threshold is 100%.
  • a layout map of the first temporary storage bin, the second temporary storage bin, and the charging bin is stored in the battery transfer device.
  • the transport control method further includes:
  • the control unit controls the first moving mechanism to move to the first temporary storage bin according to the instruction, the battery transfer mechanism acquires the battery to be charged from the first temporary storage bin; and controls the first moving mechanism to move to the charging warehouse.
  • the battery transfer mechanism places the battery to be charged in a charging chamber, and the charging chamber is used to charge the battery to be charged.
  • the charging bin is placed on the charging stand together with the first temporary storage bin and the second temporary storage bin.
  • the transit control method further includes:
  • Step 101-b When the charging chamber charges the battery capacity of the battery to be charged to be greater than the battery power threshold, the charging completion information is sent to the control unit.
  • the charging completion information includes location information of the charging bin.
  • Step 102-b The control unit controls the first moving mechanism to move to the charging bin according to the location information, and the battery transporting mechanism acquires the target battery whose power is greater than the battery power threshold from the charging bin.
  • Step 103-b The control unit controls the first moving mechanism to move to the second temporary storage bin, and the battery transfer mechanism places the target battery in the second temporary storage bin.
  • the battery transfer device when the battery transfer device is idle, the action of placing the battery to be charged in the charging chamber and placing the target battery in the charging chamber in the second temporary storage bin is performed, so that the battery transfer device does not delay the replacement of the battery for the electric vehicle. Can improve the efficiency of battery replacement.
  • the transport control method further utilizes the background to realize the transport of the rechargeable battery, and the background is communicated with the control unit, and the transport control method of the embodiment further includes:
  • the instructions are sent to the control unit in the background, and the instructions include, but are not limited to, the battery replacement command and the battery charging command described above.
  • the battery transfer device is further provided with a visual sensor 5, and the first temporary storage compartment 21, the second temporary storage compartment 22, the charging compartment 23 and the peripheral device are respectively provided with a reflector.
  • the visual sensor in this embodiment can also implement the corresponding function through the first infrared sensor or the locator.
  • step 101-a the step of the battery transfer device placing the battery to be charged in the first temporary storage bin includes:
  • Step 101-1a the control unit controls the first moving mechanism to move toward the first temporary storage bin.
  • Step 101-2a the visual sensor (or the first infrared sensor or the locator) detects the first coordinate deviation between the battery transfer device and the first temporary storage bin according to the first reflector and sends the same to the control unit.
  • Step 101-3a the control unit determines whether the first coordinate deviation is within a preset range. When the determination is yes, indicating that the battery transfer device is facing the first temporary storage bin, step 101-4a is performed. When the determination is no, the process returns to step 101-1a.
  • Step 101-4a the first moving mechanism stops moving, and performs a battery placing action.
  • the step of obtaining the battery to be charged from the first temporary storage bin by the battery transfer device is similar to the battery placement step (the only difference is that after the battery transfer device stops moving, the operation of acquiring the battery is performed), and details are not described herein again.
  • step 101-a the step of the battery transfer device acquiring the battery to be charged from the peripheral device specifically includes:
  • Step 101-1a' the control unit controls the first moving mechanism to move toward the peripheral device.
  • Step 101-2a' the visual sensor (or the first infrared sensor or locator) detects a third coordinate deviation between the battery transfer device and the peripheral device based on the third reflector and sends it to the control unit.
  • Step 101-3a' the control unit determines whether the third coordinate deviation is within a preset range. When the determination is yes, indicating that the battery transfer device is facing the peripheral device, step 101-4a' is performed. When the determination is no, the process returns to step 101-1a'.
  • step 101-4a' the first moving mechanism stops moving and performs a battery acquisition operation.
  • step 102-a the step of placing the battery in the peripheral device by the battery transfer device is similar to the step of acquiring the battery (the only difference is that after the battery transfer device stops moving, the battery operation is performed), here is not Let me repeat.
  • step 102-a the step of the battery transfer device acquiring the battery to be transferred from the second temporary storage bin comprises:
  • Step 102-1a the control unit controls the first moving mechanism to move toward the second temporary storage bin.
  • Step 102-2a the visual sensor (or the first infrared sensor or the locator) detects the second coordinate deviation between the battery transfer device and the second temporary storage bin according to the second reflective plate and sends it to the control unit.
  • Step 102-3a the control unit determines whether the second coordinate deviation is within a preset range. When the determination is yes, it indicates that the battery transfer device is facing the second temporary storage bin, and then step 102-4a is performed. When the determination is no, the process returns to step 102-1a.
  • step 102-4a the electric first moving mechanism stops moving, and performs a battery taking operation.
  • the step of placing the battery in the second temporary storage compartment by the battery transfer device is similar to the battery acquisition step (the only difference is that after the battery transfer device stops moving, the battery placement operation is performed), and details are not described herein again.
  • the battery transfer device places the battery in the charging bin or the battery from the charging bin and the battery transfer device places the battery in the first temporary storage bin (second temporary storage bin) or from the first temporary storage bin ( The second temporary storage bin) is similar in steps to obtain the battery, and will not be described here.
  • the embodiment further provides an electric vehicle power exchange control method, which includes the transport control method in the embodiment.
  • the transport control method of the rechargeable battery provided by this embodiment is a further improvement of Embodiment 5.
  • the battery transport mechanism includes: a second moving mechanism, a car, an extension mechanism, and a PLC controller.
  • the extension mechanism is mounted on the car, and the car is mounted on the second moving mechanism.
  • Step 201 The first moving mechanism moves to the first temporary storage bin.
  • the first temporary storage bin is provided with a second infrared sensor, and the second infrared sensor detects whether there is a battery to be charged on the first temporary storage bin, and sends the first detection result to the control unit.
  • step 201 includes: the first initial height of the preset car is higher than the first preset height.
  • the first initial height is the height in the vertical direction of the car after carrying the battery to be charged, and the first preset height is used to represent the height of the battery to be charged in the first temporary storage bin, combined with the first battery detection result and the actual The situation is set.
  • Step 202 The PLC controller controls the extension mechanism to extend, and controls the second movement mechanism to lower the car to the first preset height, and the battery to be charged on the extension mechanism is carried to the first temporary storage compartment, and is retracted. Extend the body.
  • the PLC controller can control the car to move in the vertical direction to control the movement of the car in real time, thereby improving the transfer efficiency.
  • the fourth infrared sensor disposed on the battery transfer device detects whether there is a battery at a position corresponding to the first preset height in the first temporary storage bin, and if so, the PLC controller controls The car moves in the vertical direction, and if not, the battery to be charged is carried to the first temporary storage bin. Further, it is determined that there is space for storing the battery to be charged on the first temporary storage bin.
  • Step 203 The first moving mechanism moves to the second temporary storage bin.
  • the second temporary storage bin is provided with a third infrared sensor, and the third infrared sensor detects whether there is a battery to be transferred on the second temporary storage bin and sends the second detection result to the control unit.
  • step 202 includes: presetting the second origin height of the car to be lower than the first preset height.
  • the second initial height is the initial height in the vertical direction of the car 132, and can be set according to the actual situation.
  • the second preset height is used to represent the height of the battery to be transported in the second temporary storage bin, combined with the above The battery test results and actual conditions are set.
  • the first initial height is higher than the second initial height. Of course, this can also be set according to actual conditions.
  • Step 204 The PLC controller controls the extension mechanism to extend, and controls the second movement mechanism to raise the car to the second preset height, and carries the battery to be transferred in the second temporary storage bin to the extension mechanism, and retracts Extend the body.
  • the PLC controller can control the car to move in the vertical direction to control the movement of the car in real time, thereby improving the transfer efficiency.
  • the fourth infrared sensor further detects whether there is a battery to be transferred at a position corresponding to the second preset height in the second temporary storage bin, and if so, carries the battery to be transferred to the extension mechanism If not, control the car to move in the vertical direction.
  • the battery to be transferred can be accurately obtained, and the accuracy in the process of obtaining or placing the battery can be improved, thereby improving the efficiency of the entire battery.
  • This embodiment specifically describes the process of placing the battery in the first temporary storage bin and acquiring the battery from the second temporary storage bin. It should be understood that the battery is placed in the second temporary storage bin, the charging bin, the peripheral device, and the slave device. The actions of the first temporary storage, the charging compartment, and the peripheral device to obtain the battery are similar, and will not be described here.
  • the embodiment further provides an electric vehicle power exchange control method, which includes the transport control method in the embodiment.

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Abstract

本发明公开了一种充电电池的转运控制系统、电动汽车换电控制系统及方法。其中充电电池的转运控制系统包括电池转运装置，所述电池转运装置包括控制单元、第一移动机构和电池转运机构；所述控制单元用于控制所述第一移动机构移动至第一暂存仓，所述电池转运机构将待充电电池放置于所述第一暂存仓；所述控制单元还用于控制所述第一移动机构移动至第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池。本发明大大降低了电动车电池更换的出错率，提高了电池更换效率。

Description

充电电池的转运控制系统、电动汽车换电控制系统及方法
本申请要求申请日为2017年11月30日的中国专利申请CN201711242746.3的优先权，以及申请日为2017年11月30日的中国专利申请CN201711240282.2的优先权。本申请引用上述中国专利申请的全文。
技术领域
本发明涉及电动汽车的换电控制领域，特别涉及一种充电电池的转运控制系统、电动汽车换电控制系统及方法。
背景技术
电动车电池更换过程中，需要将待充电电池取下放到充电架上进行充电，同时将已充好电的电池更换到电动汽车上。目前的换电控制系统在取放电池过程中常出错，甚至将未充好电的电池更换到电动汽车上，导致电动汽车无法正常使用。可见，现有的换电控制系统出错率高、效率低。
发明内容
本发明要解决的技术问题是为了克服现有技术中电动车的电池更换出错率高、效率低的缺陷，提供一种充电电池的转运控制系统、电动汽车换电控制系统及方法。
本发明是通过下述技术方案来解决上述技术问题：
一种充电电池的转运控制系统，其特点在于，所述转运控制系统包括电池转运装置，所述电池转运装置包括控制单元、第一移动机构和电池转运机构；
所述控制单元用于控制所述第一移动机构移动至第一暂存仓，所述电池转运机构将待充电电池放置于所述第一暂存仓；
所述控制单元还用于控制所述第一移动机构移动至第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池。
优选地，所述控制单元用于根据电池更换指令控制所述第一移动机构移动至外设装置，所述电池转运机构从所述外设装置获取所述待充电电池，并控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构将所述待充电电池放置于所述第一暂存仓；
所述控制单元还用于控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池，并控制所述第一移动机构移动至所述外设装置， 所述电池转运机构将所述待转运电池放置于所述外设装置。
优选地，所述控制单元用于根据电池充电指令控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构从所述第一暂存仓获取所述待充电电池；并控制所述第一移动机构移动至充电仓，所述电池转运机构将所述待充电电池放置于所述充电仓，所述充电仓用于对所述待充电电池进行充电；
和/或，所述充电仓还用于将所述待充电电池的电量充电至大于电池电量阈值时，发送充电完成信息至所述控制单元；所述充电完成信息包括所述充电仓的位置信息；
所述控制单元还用于根据所述位置信息控制所述第一移动机构移动至所述充电仓，所述电池转运机构从所述充电仓获取电量大于所述电池电量阈值的目标电池；
所述控制单元还用于控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构将所述目标电池放置于所述第二暂存仓。
优选地，所述转运控制系统还包括后台，所述后台用于发送指令至所述控制单元，所述指令包括所述电池更换指令和所述电池充电指令。
优选地，所述转运控制系统还包括设于所述电池转运装置上的视觉传感器或第一红外传感器或定位仪；
所述视觉传感器或所述第一红外传感器或所述定位仪用于检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差，并发送至所述控制单元；
所述控制单元用于控制所述第一移动机构朝所述第一暂存仓移动，并在判断所述第一坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
所述视觉传感器或所述第一红外传感器或所述定位仪还用于检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差，并发送至所述控制单元；
所述控制单元还用于控制所述第一移动机构朝所述第二暂存仓移动，并在判断所述第二坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
所述视觉传感器或所述第一红外传感器或所述定位仪还用于检测所述电池转运装置与所述外设装置之间的第三坐标偏差，并发送至所述控制单元；
所述控制单元还用于控制所述第一移动机构朝所述外设装置移动，并在判断所述第三坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
所述视觉传感器或所述第一红外传感器或所述定位仪还用于检测所述电池转运装置 与所述充电仓之间的第四坐标偏差，并发送至所述控制单元；
所述控制单元还用于控制所述第一移动机构朝所述充电仓移动，并在判断所述第四坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
其中，所述电池转运机构用于在接收到所述电池转运指令时执行获取或放置电池动作；
优选地，所述第一暂存仓上设有第一反光板，所述视觉传感器或所述第一红外传感器或所述定位仪用于根据所述第一反光板检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差；和/或，
所述第二暂存仓上设有第二反光板，所述视觉传感器或所述第一红外传感器或所述定位仪还用于根据所述第二反光板检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差；和/或，
所述外设装置上设有第三反光板，所述视觉传感器或所述第一红外传感器或所述定位仪还用于根据所述第三反光板检测所述电池转运装置与所述外设装置之间的第三坐标偏差；和/或，
所述充电仓上设有第四反光板，所述视觉传感器或所述第一红外传感器或所述定位仪还用于根据所述第四反光板检测所述电池转运装置与所述充电仓之间的第四坐标偏差。
优选地，所述电池转运机构包括：第二移动机构、轿厢、伸出机构和PLC控制器，所述伸出机构安装在所述轿厢上，所述轿厢安装在所述第二移动机构上；
所述第一移动机构移动至所述第一暂存仓时，所述PLC控制器用于控制所述伸出机构伸出，并控制第二移动机构将所述轿厢下降至第一预设高度，将所述伸出机构上的所述待充电电池承载至所述第一暂存仓，并且回缩所述伸出机构；
所述第一移动机构移动至所述第二暂存仓时，所述PLC控制器用于控制所述伸出机构伸出，并控制第二移动机构将所述轿厢上升至第二预设高度，将所述第二暂存仓中的所述待转运电池承载至所述伸出机构，并回缩所述伸出机构。
优选地，所述PLC控制器用于控制所述轿厢沿着竖直方向进行移动。
优选地，所述转运控制系统还包括：
第二红外传感器，设于所述第一暂存仓上；所述第二红外传感器用于检测所述第一暂存仓上是否有所述待充电电池，并将第一检测结果发送至所述控制单元；和/或，
第三红外传感器，设于所述第二暂存仓上；所述第三红外传感器用于检测所述第二暂存仓上是否有所述待转运电池，并将第二检测结果发送至所述控制单元；和/或，
所述转运控制系统还包括第四红外传感器，设于所述电池转运装置上；
所述轿厢下降至第一预设高度后，所述第四红外传感器用于检测所述第一暂存仓中所述第一预设高度对应的位置上是否有电池，若是，所述PLC控制器控制所述轿厢沿着竖直方向进行移动，若否，将所述待充电电池承载至所述第一暂存仓；
所述轿厢上升至第二预设高度后，所述第四红外传感器还用于检测所述第二暂存仓中所述第二预设高度对应的位置上是否有所述待转运电池，若是，将所述待转运电池承载至所述伸出机构，若否，所述PLC控制器控制所述轿厢沿着竖直方向进行移动。
优选地，所述PLC控制器用于预设所述轿厢的第一始发高度高于所述第一预设高度；所述PLC控制器还用于预设所述轿厢的第二始发高度低于所述第二预设高度；其中，所述第一始发高度高于所述第二始发高度。
一种电动汽车换电控制系统，其特点在于，所述电动汽车换电控制系统包括上述任意一种充电电池的转运控制系统。
一种充电电池的转运控制方法，其特点在于，所述转运控制方法利用电池转运装置实现充电电池的转运，所述电池转运装置包括控制单元、第一移动机构以及电池转运机构，所述转运控制方法包括以下步骤：
所述控制单元控制所述第一移动机构移动至第一暂存仓，所述电池转运机构将待充电电池放置于所述第一暂存仓；
所述控制单元控制所述第一移动机构移动至第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池。
优选地，所述转运控制方法具体包括以下步骤：
所述控制单元根据电池更换指令控制所述第一移动机构移动至外设装置，所述电池转运机构从所述外设装置获取所述待充电电池，并控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构将所述待充电电池放置于所述第一暂存仓；
所述控制单元控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池，并控制所述第一移动机构移动至所述外设装置，所述电池转运机构将所述待转运电池放置于所述外设装置。
优选地，所述转运控制方法还包括以下步骤：
所述控制单元根据电池充电指令控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构从所述第一暂存仓获取所述待充电电池；并控制所述第一移动机构移动至充电仓，所述电池转运机构将所述待充电电池放置于所述充电仓，所述充电仓用于对所述待充电电池进行充电；
和/或，所述充电仓将所述待充电电池的电量充电至大于电池电量阈值时，发送充电完成信息至所述控制单元；所述充电完成信息包括所述充电仓的位置信息；
所述控制单元根据所述位置信息控制所述第一移动机构移动至所述充电仓，所述电池转运机构从所述充电仓获取电量大于所述电池电量阈值的目标电池；
所述控制单元控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构将所述目标电池放置于所述第二暂存仓。
优选地，所述转运控制方法还利用后台实现所述充电电池的转运，所述转运控制方法还包括以下步骤：
所述后台发送指令至所述控制单元，所述指令包括所述电池更换指令和所述电池充电指令。
优选地，所述电池转运装置上设有视觉传感器或第一红外传感器或定位仪，所述转运控制方法还包括以下步骤：
所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差，并发送至所述控制单元；
所述控制单元控制所述第一移动机构朝所述第一暂存仓移动，并在判断所述第一坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差，并发送至所述控制单元；
所述控制单元控制所述第一移动机构朝所述第二暂存仓移动，并在判断所述第二坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述外设装置之间的第三坐标偏差，并发送至所述控制单元；
所述控制单元控制所述第一移动机构朝所述外设装置移动，并在判断所述第三坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述充电仓之间的第四坐标偏差，并发送至所述控制单元；
所述控制单元控制所述第一移动机构朝所述充电仓移动，并在判断所述第四坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转 运机构；
其中，所述电池转运机构用于在接收到所述电池转运指令时执行获取或放置电池动作；
优选地，所述第一暂存仓上设有第一反光板，所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第一反光板检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差；和/或，
所述第二暂存仓上设有第二反光板，所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第二反光板检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差；和/或，
所述外设装置上设有第三反光板，所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述外设装置之间的第三坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第三反光板检测所述电池转运装置与所述外设装置之间的第三坐标偏差；和/或，
所述充电仓上设有第四反光板，所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述充电仓之间的第四坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第四反光板检测所述电池转运装置与所述充电仓之间的第四坐标偏差。
优选地，所述电池转运机构包括：第二移动机构、轿厢、伸出机构和PLC控制器，所述伸出机构安装在所述轿厢上，所述轿厢安装在所述第二移动机构上；
所述电池转运机构将待充电电池放置于所述第一暂存仓的步骤具体包括：所述第一移动机构移动至所述第一暂存仓时，所述PLC控制器控制所述伸出机构伸出，并控制第二移动机构将所述轿厢下降至第一预设高度，将所述伸出机构上的所述待充电电池承载至所述第一暂存仓，并且回缩所述伸出机构；
所述电池转运机构从所述第二暂存仓获取待转运电池的步骤具体包括：所述第一移动机构移动至所述第二暂存仓时，所述PLC控制器控制所述伸出机构伸出，并控制第二移动机构将所述轿厢上升至第二预设高度，将所述第二暂存仓中的所述待转运电池承载至所述伸出机构，并回缩所述伸出机构。
优选地，在将所述轿厢下降至第一预设高度的步骤以及将所述轿厢上升至第二预设高度的步骤中，所述PLC控制器控制所述轿厢沿着竖直方向进行移动。
优选地，所述第一暂存仓上还设有第二红外传感器，所述转运控制方法还包括以下步骤：所述第二红外传感器检测所述第一暂存仓上是否有所述待充电电池，并将第一检测结果发送至所述控制单元；
和/或，所述第二暂存仓上还设有第三红外传感器，所述转运控制方法还包括以下步骤：所述第三红外传感器检测所述第二暂存仓上是否有所述待转运电池，并将第二检测结果发送至所述控制单元；
和/或，所述电池转运装置上还设有第四红外传感器，所述转运控制方法还包括以下步骤：
所述轿厢下降至第一预设高度后，所述第四红外传感器检测所述第一暂存仓中所述第一预设高度对应的位置上是否有电池，若是，所述PLC控制器控制所述轿厢沿着竖直方向进行移动，若否，将所述待充电电池承载至所述第一暂存仓；
所述轿厢上升至第二预设高度后，所述第四红外传感器检测所述第二暂存仓中所述第二预设高度对应的位置上是否有所述待转运电池，若是，将所述待转运电池承载至所述伸出机构，若否，所述PLC控制器控制所述轿厢沿着竖直方向进行移动。
优选地，在所述电池转运机构将待充电电池放置于所述第一暂存仓的步骤中，所述PLC控制器预设所述轿厢的第一始发高度高于所述第一预设高度；
在所述电池转运机构从所述第二暂存仓获取待转运电池的步骤中，所述PLC控制器预设所述轿厢的第二始发高度低于所述第二预设高度；
其中所述第一始发高度高于所述第二始发高度。
一种电动汽车换电控制方法，其特点在于，所述电动汽车换电控制方法包括上述任意一种充电电池的转运控制方法。
本发明的积极进步效果在于：本发明大大降低了电动车电池更换的出错率，提高了电池更换效率。
附图说明
图1为本发明实施例2的充电电池的转运控制系统的布局示意图。
图2为本发明实施例2的充电电池的转运控制系统中电池转运装置的模块示意图。
图3为本发明实施例3的充电电池的转运控制系统的部分模块示意图。
图4为本发明实施例5的充电电池的转运控制方法的第一流程图。
图5为本发明实施例5的充电电池的转运控制方法的第二流程图。
图6为图4中步骤101-a中电池转运机构将待充电电池放置在第一暂存仓的流程图。
图7为图4中步骤101-a中电池转运机构从外设装置获取待充电电池的流程图。
图8为图4中步骤102-a中电池转运机构从第二暂存仓获取待转运电池的流程图。
图9为本发明实施例6的充电电池的转运控制方法的部分流程图。
具体实施方式
实施例1
本实施例提供一种充电电池的转运控制系统，其包括电池转运装置，又有电池转运装置包括控制单元、第一移动机构和电池转运机构，控制单元用于控制第一移动机构移动至第一暂存仓，电池转运机构将待充电电池放置于所述第一暂存仓；控制单元还用于控制第一移动机构移动至第二暂存仓，电池转运机构从第二暂存仓获取待转运电池。
在本实施例中，第一暂存仓和第二暂存仓置于充电架上，电池转运装置能够实现将待充电电池放置于第一暂存仓以及从第二暂存仓获取待转运电池，从而实现对电池放置与获取的分仓操作，能减小电池转运过程中的出错率。
实施例2
如图1-2所示，本实施例的充电电池的转运控制系统是对实施例1的进一步改进，包括电池转运装置1，电池转运装置1包括控制单元11、第一移动机构12和电池转运机构13。其中，电池转运装置1可以是码垛机。进行电池更换时，控制单元11在接收到电池更换指令时，控制单元11根据该指令控制第一移动机构12移动至外设装置3(例如电动车、或换电小车)，并控制电池转运机构13从外设装置3获取待充电电池4，进而控制单元11控制第一移动机构12移动至第一暂存仓21，并控制电池转运机构13将待充电电池4放置于第一暂存仓21。接着控制单元11控制第一移动机构12移动到第二暂存仓22处，并控制电池转运机构13从第二暂存仓22获取待转运电池4’，进而控制第一移动机构12移动至外设装置3处，并控制电池转运机构13将待转运电池4’放置、安装在外设装置3上，完成电池更换。
在本实施例中，第一暂存仓21(也即旧仓)用于暂存待充电电池4，第二暂存仓22(也即新仓)用于存储电量符合要求的待转运电池4’。其中，待充电电池4的电量小于第一阈值，待转运电池4’的电量大于第二阈值。需要说明的是，第一阈值和第二阈值可根据实际需求自行设置。例如，用电池百分比表征阈值，设置第一阈值为10％，第二阈值为100％。也即当电动汽车的电池的电量仅剩10％，说明电池需要充电，该电池为待充电电池4；充电后，当电池的电量为100％，说明电池电量已充满，该电池可供给电动 汽车使用。电池转运装置1中存储有第一暂存仓21、第二暂存仓22和充电仓23的布局地图。
本实施例中，由于待充电电池4和待转运电池4’分开存储，因此大大降低了电动车电池更换的出错率，提高了电池更换效率。
本实施例中，控制单元11还用于在接收到电池充电指令时，控制单元11用于根据该指令控制第一移动机构12移动至第一暂存仓21，并控制电池转运机构13从第一暂存仓21获取待充电电池4，进而控制第一移动机构12移动至充电仓23，并控制电池转运机构13将待充电电池4放置于充电仓23，充电仓23用于对待充电电池4进行充电。
充电仓23同第一暂存仓21和第二暂存仓22一起置于充电架上，当充电仓23为待充电电池4充电后使其电量大于电池电量阈值时，说明电量已充满，则充电仓23发送充电完成信息至控制单元11。其中，充电完成信息包括充电仓23的位置信息。控制单元11在接收到充电完成信息时，根据位置信息控制第一移动机构12移动至充电仓23，并控制电池转运机构13从充电仓23获取电量大于电池电量阈值的目标电池。之后，控制单元11控制第一移动机构12移动至第二暂存仓22，并控制电池转运机构13将目标电池放置在第二暂存仓22进行存储，此时的目标电池也即待转运电池4’。
在本实施例中，转运控制系统还包括后台(图中未示出)，后台与控制单元11通信连接并用于发送指令至控制单元11，指令包括但不限于上述电池更换指令和电池充电指令。
本实施例中，转运控制系统还包括视觉传感器5，视觉传感器5设于电池转运装置1上。第一暂存仓21、第二暂存仓22、充电仓23和外设装置上分别设有反光板。需要说明的是，本实施例中的视觉传感器也可通过第一红外传感器或定位仪实现相应的功能。
电池转运装置1将待充电电池4放置在第一暂存仓21的过程中，控制单元11控制第一移动机构12朝第一暂存仓21移动，视觉传感器5(或第一红外传感器或定位仪)根据第一反光板实时检测电池转运装置1与第一暂存仓21之间的第一坐标偏差并发送至控制单元11，当控制单元11判断第一坐标偏差在预设范围内时，说明电池转运装置1已正对着第一暂存仓21，控制单元11则控制第一移动机构12停止移动，并发送电池转运指令至电池转运机构13。电池转运机构13则在接收到电池转运指令时执行放置电池动作。电池转运装置1从第一暂存仓21获取待充电电池4的动作与“放置”动作类似，此处不再赘述。
电池转运装置1从第二暂存仓22获取待转运电池4’的过程中，控制单元11控制第一移动机构12朝第二暂存仓22移动，视觉传感器5(或第一红外传感器或定位仪)根据 第二反光板实时检测电池转运装置1与第二暂存仓22之间的第二坐标偏差并发送至控制单元11。当控制单元11判断第二坐标偏差在预设范围内时，说明电池转运装置1已正对着第二暂存仓22，控制单元11则控制第一移动机构12停止移动，并发送电池转运指令至电池转运机构13。电池转运机构13则在接收到电池转运指令时执行获取电池动作。电池转运装置1将电池放置在第二暂存仓22的动作与“获取”动作类似，此处不再赘述。
电池转运装置1从外设装置3获取待转运电池4’的过程中，控制单元11控制第一移动机构12朝外设装置3移动，视觉传感器5(或第一红外传感器或定位仪)根据第三反光板实时检测电池转运装置1与外设装置3之间的第三坐标偏差并发送至控制单元11。当控制单元11判断第三坐标偏差在预设范围内时，说明电池转运装置1已正对着外设装置3，控制单元11则控制第一移动机构12停止移动，并发送电池转运指令至电池转运机构13。电池转运机构13则在接收到电池转运指令时执行获取电池动作。电池转运装置1将电池放置在外置装置的动作与“获取”动作类似，此处不再赘述。
电池转运装置1从充电仓23获取目标电池的过程中，控制单元11控制第一移动机构12朝充电仓23移动，视觉传感器5(或第一红外传感器或定位仪)根据第四反光板实时检测电池转运装置1与充电仓23之间的第四坐标偏差并发送至控制单元11。当控制单元11判断第四坐标偏差在预设范围内时，说明电池转运装置1已正对着充电仓23，控制单元11则控制第一移动机构12停止移动，并发送电池转运指令至电池转运机构13。电池转运机构13则在接收到电池转运指令时执行获取电池动作。电池转运装置1将电池放置在充电仓23的动作与“获取”动作类似，此处不再赘述。
本实施例中，测量上述各个坐标偏差时具体可采用如下的测量方式：以测量电池转运装置1与第一暂存仓21之间的距离(坐标偏差)为例，根据视觉传感器5(或第一红外传感器或定位仪)中的光学元件发出检测光源的时间以及接受到反射光源的时间来计算电池转运装置1与第一暂存仓21之间的距离。其中，反光板也可通过信号反射器或者测量参考点实现相应功能。
本实施例还提供一种电动汽车换电控制系统，其包括本实施例中的转运控制系统。
实施例3
本实施例提供的充电电池的转运控制系统是对实施例2的进一步改进，如图3所示，在本实施例中，电池转运机构13包括：第二移动机构131、轿厢132、伸出机构133和PLC控制器134。伸出机构133安装在轿厢132上，轿厢132安装在第二移动机构131上。当电池转运机构13接收到电池转运指令时，执行放置电池的动作的过程如下：
第一移动机构12移动至第一暂存仓21时，PLC控制器134用于控制伸出机构133 伸出，并控制第二移动机构131将轿厢132下降至第一预设高度，将伸出机构133上的待充电电池4承载至第一暂存仓21，并且回缩伸出机构133。其中PLC控制器134可控制轿厢132沿着竖直方向进行移动，实时控制轿厢132的移动，从而提高转运效率。
在本实施例中，第一暂存仓21上设有第二红外传感器6，第二红外传感器6用于检测第一暂存仓21上是否有待充电电池4，并将第一检测结果发送至控制单元11。
在本实施例中，PLC控制器134在接收电池转运指令之前，还用于预设轿厢132的第一始发高度高于第一预设高度。第一始发高度即为承载待充电电池4后轿厢132竖直方向上的高度，第一预设高度用于表征第一暂存仓21中待充电电池4放置高度，结合上述第一电池检测结果及实际情况来进行设定。
具体地，在本实施例中，电池转运装置1上还设有第四红外传感器8，轿厢132下降至第一预设高度后，第四红外传感器8用于检测第一暂存仓21中第一预设高度对应的位置上是否有电池，若是，PLC控制器134控制轿厢132沿着竖直方向进行移动，若否，将待充电电池4承载至第一暂存仓21。进而确定第一暂存仓21上有存放待充电电池4的空间。
当电池转运机构13接收到电池转运指令时，执行获取电池的动作的过程如下：
第一移动机构12移动至第二暂存仓22时，PLC控制器134用于控制伸出机构133伸出，并控制第二移动机构131将轿厢132上升至第二预设高度，将第二暂存仓22中的待转运电池4’承载至伸出机构133，并回缩伸出机构133。其中PLC控制器134可控制轿厢132沿着竖直方向进行移动，实时控制轿厢132的移动，从而提高转运效率。
在本实施例中，第二暂存仓22上设有第三红外传感器7，第三红外传感器7用于检测第二暂存仓22上是否有待转运电池4’并将第二检测结果发送至控制单元11。
在本实施例中，PLC控制器134在接收电池转运指令之前，还用于预设轿厢132的第二始发高度低于第一预设高度，第二始发高度即为轿厢132竖直方向上的初始高度，可根据实际情况来进行设定，第二预设高度用于表征第二暂存仓22中待转运电池4’所在高度，结合上述第二电池检测结果及实际情况来进行设定。在本实施例中，第一始发高度高于第二始发高度，当然，这也可以根据实际情况来进行设定。
具体地，轿厢132上升至第二预设高度后，第四红外传感器8还用于检测第二暂存仓22中第二预设高度对应的位置上是否有待转运电池4’，若是，将待转运电池4’承载至伸出机构133，若否，PLC控制器控制轿厢132沿着竖直方向进行移动。进而能够精准获取待转运电池4’，提高电池获取或放置过程中的准确性，从而提高整个电池转运效率。
本实施例具体描述了将电池放置于第一暂存仓21以及从第二暂存仓22获取电池的 动作过程，应当理解，将电池放置于第二暂存仓22、充电仓23、外设装置3，以及从第一暂存仓21、充电仓23、外设装置3获取电池的动作与之类似，此处不再赘述。
本实施例还提供一种电动汽车换电控制系统，其包括本实施例中的转运控制系统。
实施例4
本实施例提供一种充电电池的转运控制方法，利用电池转运装置实现充电电池的转运，其中电池转运装置包括控制单元、第一移动机构以及电池转运机构，具体地，本实施例的转运控制方法包括以下步骤：
控制单元控制所述第一移动机构移动至第一暂存仓，电池转运机构将待充电电池放置于所述第一暂存仓；
控制单元控制所述第一移动机构移动至第二暂存仓，电池转运机构从所述第二暂存仓获取待转运电池。
在本实施例中，第一暂存仓和第二暂存仓置于充电架上，电池转运装置能够实现将待充电电池放置于第一暂存仓以及从第二暂存仓获取待转运电池，从而实现对电池放置与获取的分仓操作，能减小电池转运过程中的出错率。
实施例5
本实施例提供的充电电池的转运控制方法是对实施例4的进一步改进，如图4所示，本实施例的转运控制方法包括以下步骤：
步骤101-a、控制单元根据电池更换指令控制第一移动机构移动至外设装置，电池转运机构从外设装置获取待充电电池，并控制第一移动机构移动至第一暂存仓，电池转运机构将待充电电池放置于第一暂存仓；
步骤102-a、控制单元控制第一移动机构移动至第二暂存仓，电池转运机构从第二暂存仓获取待转运电池，并控制第一移动机构移动至外设装置，电池转运机构将待转运电池放置于外设装置。
在本实施例中，第一暂存仓(也即旧仓)用于暂存待充电电池，第二暂存仓(也即新仓)用于存储电量符合要求的待转运电池。其中，待充电电池的电量小于第一阈值，待转运电池的电量大于第二阈值。需要说明的是，第一阈值和第二阈值可根据实际需求自行设置。例如，用电池百分比表征阈值，设置第一阈值为10％，第二阈值为100％。也即当电动汽车的电池的电量仅剩10％，说明电池需要充电，该电池为待充电电池；充电后，当电池的电量为100％，说明电池电量已充满，该电池可供给电动汽车使用。电池转运装置中存储有第一暂存仓、第二暂存仓和充电仓的布局地图。
本实施例中，由于待充电电池和待转运电池分开存储，因此大大降低了电动车电池 更换的出错率，提高了电池更换效率。
本实施例中，转运控制方法还包括：
控制单元在接收到电池充电指令时，根据该指令控制第一移动机构移动至第一暂存仓，电池转运机构从第一暂存仓获取待充电电池；并控制第一移动机构移动至充电仓，电池转运机构将待充电电池放置于充电仓，充电仓用于对待充电电池进行充电。其中，充电仓同第一暂存仓和第二暂存仓一起置于充电架上。
本实施例中，如图5所示，转运控制方法还包括：
步骤101-b、当充电仓将待充电电池的电量充电至大于电池电量阈值时，发送充电完成信息至控制单元。
其中，充电完成信息包括充电仓的位置信息。
步骤102-b、控制单元根据位置信息控制第一移动机构移动至充电仓，电池转运机构从充电仓获取电量大于电池电量阈值的目标电池。
步骤103-b、控制单元控制第一移动机构移动至第二暂存仓，电池转运机构将目标电池放置于第二暂存仓。
需要说明的是，电池转运装置在空闲时执行将待充电电池放置在充电仓以及将充电仓中的目标电池放置在第二暂存仓的动作，因此不会耽误电池转运装置给电动汽车换电池，可提高电池更换的效率。
本实施例中，转运控制方法还利用后台实现所述充电电池的转运，后台与控制单元通信连接，进而本实施例的转运控制方法还包括：
后台发送指令至控制单元，指令包括但不限于上述电池更换指令和电池充电指令。
本实施例中，电池转运装置上还设有视觉传感器5，第一暂存仓21、第二暂存仓22、充电仓23和外设装置上分别设有反光板。需要说明的是，本实施例中的视觉传感器也可通过第一红外传感器或定位仪实现相应的功能。
进而如图6所示，步骤101-a中，电池转运装置将待充电电池放置在第一暂存仓的步骤具体包括：
步骤101-1a、控制单元控制第一移动机构朝第一暂存仓移动。
步骤101-2a、视觉传感器(或第一红外传感器或定位仪)根据第一反光板检测电池转运装置与第一暂存仓之间的第一坐标偏差并发送至控制单元。
步骤101-3a、控制单元判断第一坐标偏差是否在预设范围内。在判断为是时，说明电池转运装置已正对着第一暂存仓，则执行步骤101-4a。在判断为否时，返回步骤101-1a。
步骤101-4a、第一移动机构停止移动，并执行放置电池动作。
本实施例中，电池转运装置从第一暂存仓获取待充电电池的步骤与电池放置步骤相似(区别仅在于：电池转运装置停止移动后，执行获取电池动作)，此处不再赘述。
如图7所示，步骤101-a中，电池转运装置从外设装置获取待充电电池的步骤具体包括：
步骤101-1a’、控制单元控制第一移动机构朝外设装置移动。
步骤101-2a’、视觉传感器(或第一红外传感器或定位仪)根据第三反光板检测电池转运装置与外设装置之间的第三坐标偏差并发送至控制单元。
步骤101-3a’、控制单元判断第三坐标偏差是否在预设范围内。在判断为是时，说明电池转运装置已正对着外设装置，则执行步骤101-4a’。在判断为否时，返回步骤101-1a’。
步骤101-4a’、第一移动机构停止移动，并执行获取电池动作。
本实施例中，步骤102-a中，电池转运装置将电池的放置在外设装置的步骤与电池获取的步骤相似(区别仅在于：电池转运装置停止移动后，执行放置电池动作)，此处不再赘述。
如图8所示，在步骤102-a中，电池转运装置从第二暂存仓获取待转运电池的步骤具体包括：
步骤102-1a、控制单元控制第一移动机构朝第二暂存仓移动。
步骤102-2a、视觉传感器(或第一红外传感器或定位仪)根据第二反光板检测电池转运装置与第二暂存仓之间的第二坐标偏差并发送至控制单元。
步骤102-3a、控制单元判断第二坐标偏差是否在预设范围内。在判断为是时，说明电池转运装置已正对着第二暂存仓，则执行步骤102-4a。在判断为否时，返回步骤102-1a。
步骤102-4a、电第一移动机构停止移动，并执行获取电池动作。
本实施例中，电池转运装置将电池放置在第二暂存仓的步骤与电池获取步骤相似(区别仅在于：电池转运装置停止移动后，执行放置电池动作)，此处不再赘述。本实施例中，电池转运装置将电池放置在充电仓或从充电仓获取电池的步骤与电池转运装置将电池放置在第一暂存仓(第二暂存仓)或从第一暂存仓(第二暂存仓)获取电池的步骤类似，此处不再赘述。
本实施例还提供一种电动汽车换电控制方法，其包括本实施例中的转运控制方法。
实施例6
本实施例提供的充电电池的转运控制方法是对实施例5的进一步改进，在本实施例 中，电池转运机构包括：第二移动机构、轿厢、伸出机构和PLC控制器。伸出机构安装在轿厢上，轿厢安装在第二移动机构上。当电池转运机构接收到电池转运指令时，执行转运电池的动作步骤的过程如图9所示。
步骤201、第一移动机构移动至第一暂存仓。
在该步骤中，第一暂存仓上设有第二红外传感器，第二红外传感器检测第一暂存仓上是否有待充电电池，并将第一检测结果发送至控制单元。
具体地，PLC控制器在接收电池转运指令之前，步骤201包括：预设轿厢的第一始发高度高于第一预设高度。第一始发高度即为承载待充电电池后轿厢竖直方向上的高度，第一预设高度用于表征第一暂存仓中待充电电池放置高度，结合上述第一电池检测结果及实际情况来进行设定。
步骤202、PLC控制器控制伸出机构伸出，并控制第二移动机构将轿厢下降至第一预设高度，将伸出机构上的待充电电池承载至第一暂存仓，并且回缩伸出机构。
在该步骤中，PLC控制器可控制轿厢沿着竖直方向进行移动，实时控制轿厢的移动，从而提高转运效率。并且在轿厢下降至第一预设高度后，设置在电池转运装置上的第四红外传感器检测第一暂存仓中第一预设高度对应的位置上是否有电池，若是，PLC控制器控制轿厢沿着竖直方向进行移动，若否，将待充电电池承载至第一暂存仓。进而确定第一暂存仓上有存放待充电电池的空间。
步骤203、第一移动机构移动至第二暂存仓。
在该步骤中，第二暂存仓上设有第三红外传感器，第三红外传感器检测第二暂存仓上是否有待转运电池并将第二检测结果发送至控制单元。
具体地，PLC控制器在接收电池转运指令之前，步骤202包括：预设轿厢的第二始发高度低于第一预设高度。第二始发高度即为轿厢132竖直方向上的初始高度，可根据实际情况来进行设定，第二预设高度用于表征第二暂存仓中待转运电池所在高度，结合上述第二电池检测结果及实际情况来进行设定。在本实施例中，第一始发高度高于第二始发高度，当然，这也可以根据实际情况来进行设定。
步骤204、PLC控制器控制伸出机构伸出，并控制第二移动机构将轿厢上升至第二预设高度，将第二暂存仓中的待转运电池承载至伸出机构，并回缩伸出机构。
在该步骤中，PLC控制器可控制轿厢沿着竖直方向进行移动，实时控制轿厢的移动，从而提高转运效率。并且在轿厢上升至第二预设高度后，第四红外传感器还检测第二暂存仓中第二预设高度对应的位置上是否有待转运电池，若是，将待转运电池承载至伸出机构，若否，控制轿厢沿着竖直方向进行移动。进而能够精准获取待转运电池，提高电池 获取或放置过程中的准确性，从而提高整个电池转运效率。
本实施例具体描述了将电池放置于第一暂存仓以及从第二暂存仓获取电池的动作过程，应当理解，将电池放置于第二暂存仓、充电仓、外设装置，以及从第一暂存仓、充电仓、外设装置获取电池的动作与之类似，此处不再赘述。
本实施例还提供一种电动汽车换电控制方法，其包括本实施例中的转运控制方法。
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这些仅是举例说明，在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改。因此，本发明的保护范围由所附权利要求书限定。

Claims (20)

  1. 一种充电电池的转运控制系统，其特征在于，所述转运控制系统包括电池转运装置，所述电池转运装置包括控制单元、第一移动机构和电池转运机构；
    所述控制单元用于控制所述第一移动机构移动至第一暂存仓，所述电池转运机构将待充电电池放置于所述第一暂存仓；
    所述控制单元还用于控制所述第一移动机构移动至第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池。
  2. 如权利要求1所述的充电电池的转运控制系统，其特征在于，所述控制单元用于根据电池更换指令控制所述第一移动机构移动至外设装置，所述电池转运机构从所述外设装置获取所述待充电电池，并控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构将所述待充电电池放置于所述第一暂存仓；
    所述控制单元还用于控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池，并控制所述第一移动机构移动至所述外设装置，所述电池转运机构将所述待转运电池放置于所述外设装置。
  3. 如权利要求2所述的充电电池的转运控制系统，其特征在于，所述控制单元用于根据电池充电指令控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构从所述第一暂存仓获取所述待充电电池；并控制所述第一移动机构移动至充电仓，所述电池转运机构将所述待充电电池放置于所述充电仓，所述充电仓用于对所述待充电电池进行充电；
    和/或，所述充电仓还用于将所述待充电电池的电量充电至大于电池电量阈值时，发送充电完成信息至所述控制单元；所述充电完成信息包括所述充电仓的位置信息；
    所述控制单元还用于根据所述位置信息控制所述第一移动机构移动至所述充电仓，所述电池转运机构从所述充电仓获取电量大于所述电池电量阈值的目标电池；
    所述控制单元还用于控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构将所述目标电池放置于所述第二暂存仓。
  4. 如权利要求3所述的充电电池的转运控制系统，其特征在于，所述转运控制系统还包括后台，所述后台用于发送指令至所述控制单元，所述指令包括所述电池更换指令和所述电池充电指令。
  5. 如权利要求3-4中至少一项所述的充电电池的转运控制系统，其特征在于，所述转运控制系统还包括设于所述电池转运装置上的视觉传感器或第一红外传感器或定位仪；
    所述视觉传感器或所述第一红外传感器或所述定位仪用于检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差，并发送至所述控制单元；
    所述控制单元用于控制所述第一移动机构朝所述第一暂存仓移动，并在判断所述第一坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    所述视觉传感器或所述第一红外传感器或所述定位仪还用于检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差，并发送至所述控制单元；
    所述控制单元还用于控制所述第一移动机构朝所述第二暂存仓移动，并在判断所述第二坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    所述视觉传感器或所述第一红外传感器或所述定位仪还用于检测所述电池转运装置与所述外设装置之间的第三坐标偏差，并发送至所述控制单元；
    所述控制单元还用于控制所述第一移动机构朝所述外设装置移动，并在判断所述第三坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    所述视觉传感器或所述第一红外传感器或所述定位仪还用于检测所述电池转运装置与所述充电仓之间的第四坐标偏差，并发送至所述控制单元；
    所述控制单元还用于控制所述第一移动机构朝所述充电仓移动，并在判断所述第四坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    其中，所述电池转运机构用于在接收到所述电池转运指令时执行获取或放置电池动作；
    优选地，所述第一暂存仓上设有第一反光板，所述视觉传感器或所述第一红外传感器或所述定位仪用于根据所述第一反光板检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差；和/或，
    所述第二暂存仓上设有第二反光板，所述视觉传感器或所述第一红外传感器或所述定位仪还用于根据所述第二反光板检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差；和/或，
    所述外设装置上设有第三反光板，所述视觉传感器或所述第一红外传感器或所述定位仪还用于根据所述第三反光板检测所述电池转运装置与所述外设装置之间的第三坐标偏差；和/或，
    所述充电仓上设有第四反光板，所述视觉传感器或所述第一红外传感器或所述定位仪还用于根据所述第四反光板检测所述电池转运装置与所述充电仓之间的第四坐标偏差。
  6. 如权利要求1-5中至少一项所述的充电电池的转运控制系统，其特征在于，所述电池转运机构包括：第二移动机构、轿厢、伸出机构和PLC控制器，所述伸出机构安装在所述轿厢上，所述轿厢安装在所述第二移动机构上；
    所述第一移动机构移动至所述第一暂存仓时，所述PLC控制器用于控制所述伸出机构伸出，并控制第二移动机构将所述轿厢下降至第一预设高度，将所述伸出机构上的所述待充电电池承载至所述第一暂存仓，并且回缩所述伸出机构；
    所述第一移动机构移动至所述第二暂存仓时，所述PLC控制器用于控制所述伸出机构伸出，并控制第二移动机构将所述轿厢上升至第二预设高度，将所述第二暂存仓中的所述待转运电池承载至所述伸出机构，并回缩所述伸出机构。
  7. 如权利要求6所述的充电电池的转运控制系统，其特征在于，所述PLC控制器用于控制所述轿厢沿着竖直方向进行移动。
  8. 如权利要求6-7中至少一项所述的充电电池的转运控制系统，其特征在于，所述转运控制系统还包括：
    第二红外传感器，设于所述第一暂存仓上；所述第二红外传感器用于检测所述第一暂存仓上是否有所述待充电电池，并将第一检测结果发送至所述控制单元；和/或，
    第三红外传感器，设于所述第二暂存仓上；所述第三红外传感器用于检测所述第二暂存仓上是否有所述待转运电池，并将第二检测结果发送至所述控制单元；和/或，
    所述转运控制系统还包括第四红外传感器，设于所述电池转运装置上；
    所述轿厢下降至第一预设高度后，所述第四红外传感器用于检测所述第一暂存仓中所述第一预设高度对应的位置上是否有电池，若是，所述PLC控制器控制所述轿厢沿着竖直方向进行移动，若否，将所述待充电电池承载至所述第一暂存仓；
    所述轿厢上升至第二预设高度后，所述第四红外传感器还用于检测所述第二暂存仓中所述第二预设高度对应的位置上是否有所述待转运电池，若是，将所述待转运电池承载至所述伸出机构，若否，所述PLC控制器控制所述轿厢沿着竖直方向进行移动。
  9. 如权利要求6-8中至少一项所述的充电电池的转运控制系统，其特征在于，所述PLC控制器用于预设所述轿厢的第一始发高度高于所述第一预设高度；所述PLC控制器还用于预设所述轿厢的第二始发高度低于所述第二预设高度；其中，所述第一始发高度高于所述第二始发高度。
  10. 一种电动汽车换电控制系统，其特征在于，所述电动汽车换电控制系统包括如 权利要求1-9中至少一项所述的充电电池的转运控制系统。
  11. 一种充电电池的转运控制方法，其特征在于，所述转运控制方法利用电池转运装置实现充电电池的转运，所述电池转运装置包括控制单元、第一移动机构以及电池转运机构，所述转运控制方法包括以下步骤：
    所述控制单元控制所述第一移动机构移动至第一暂存仓，所述电池转运机构将待充电电池放置于所述第一暂存仓；
    所述控制单元控制所述第一移动机构移动至第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池。
  12. 如权利要求11所述的充电电池的转运控制方法，其特征在于，所述转运控制方法具体包括以下步骤：
    所述控制单元根据电池更换指令控制所述第一移动机构移动至外设装置，所述电池转运机构从所述外设装置获取所述待充电电池，并控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构将所述待充电电池放置于所述第一暂存仓；
    所述控制单元控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构从所述第二暂存仓获取待转运电池，并控制所述第一移动机构移动至所述外设装置，所述电池转运机构将所述待转运电池放置于所述外设装置。
  13. 如权利要求12所述的充电电池的转运控制方法，其特征在于，所述转运控制方法还包括以下步骤：
    所述控制单元根据电池充电指令控制所述第一移动机构移动至所述第一暂存仓，所述电池转运机构从所述第一暂存仓获取所述待充电电池；并控制所述第一移动机构移动至充电仓，所述电池转运机构将所述待充电电池放置于所述充电仓，所述充电仓用于对所述待充电电池进行充电；
    和/或，所述充电仓将所述待充电电池的电量充电至大于电池电量阈值时，发送充电完成信息至所述控制单元；所述充电完成信息包括所述充电仓的位置信息；
    所述控制单元根据所述位置信息控制所述第一移动机构移动至所述充电仓，所述电池转运机构从所述充电仓获取电量大于所述电池电量阈值的目标电池；
    所述控制单元控制所述第一移动机构移动至所述第二暂存仓，所述电池转运机构将所述目标电池放置于所述第二暂存仓。
  14. 如权利要求13所述的充电电池的转运控制方法，其特征在于，所述转运控制方法还利用后台实现所述充电电池的转运，所述转运控制方法还包括以下步骤：
    所述后台发送指令至所述控制单元，所述指令包括所述电池更换指令和所述电池充 电指令。
  15. 如权利要求13-14中至少一项所述的充电电池的转运控制方法，其特征在于，所述电池转运装置上设有视觉传感器或第一红外传感器或定位仪，所述转运控制方法还包括以下步骤：
    所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差，并发送至所述控制单元；
    所述控制单元控制所述第一移动机构朝所述第一暂存仓移动，并在判断所述第一坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差，并发送至所述控制单元；
    所述控制单元控制所述第一移动机构朝所述第二暂存仓移动，并在判断所述第二坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述外设装置之间的第三坐标偏差，并发送至所述控制单元；
    所述控制单元控制所述第一移动机构朝所述外设装置移动，并在判断所述第三坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述充电仓之间的第四坐标偏差，并发送至所述控制单元；
    所述控制单元控制所述第一移动机构朝所述充电仓移动，并在判断所述第四坐标偏差在预设范围内时控制所述第一移动机构停止移动，并发送电池转运指令至所述电池转运机构；
    其中，所述电池转运机构用于在接收到所述电池转运指令时执行获取或放置电池动作；
    优选地，所述第一暂存仓上设有第一反光板，所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第一反光板检测所述电池转运装置与所述第一暂存仓之间的第一坐标偏差；和/或，
    所述第二暂存仓上设有第二反光板，所述视觉传感器或所述第一红外传感器或所述 定位仪检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第二反光板检测所述电池转运装置与所述第二暂存仓之间的第二坐标偏差；和/或，
    所述外设装置上设有第三反光板，所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述外设装置之间的第三坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第三反光板检测所述电池转运装置与所述外设装置之间的第三坐标偏差；和/或，
    所述充电仓上设有第四反光板，所述视觉传感器或所述第一红外传感器或所述定位仪检测所述电池转运装置与所述充电仓之间的第四坐标偏差的步骤具体包括：所述视觉传感器或所述第一红外传感器或所述定位仪根据所述第四反光板检测所述电池转运装置与所述充电仓之间的第四坐标偏差。
  16. 如权利要求11-15中至少一项所述的充电电池的转运控制方法，其特征在于，所述电池转运机构包括：第二移动机构、轿厢、伸出机构和PLC控制器，所述伸出机构安装在所述轿厢上，所述轿厢安装在所述第二移动机构上；
    所述电池转运机构将待充电电池放置于所述第一暂存仓的步骤具体包括：所述第一移动机构移动至所述第一暂存仓时，所述PLC控制器控制所述伸出机构伸出，并控制第二移动机构将所述轿厢下降至第一预设高度，将所述伸出机构上的所述待充电电池承载至所述第一暂存仓，并且回缩所述伸出机构；
    所述电池转运机构从所述第二暂存仓获取待转运电池的步骤具体包括：所述第一移动机构移动至所述第二暂存仓时，所述PLC控制器控制所述伸出机构伸出，并控制第二移动机构将所述轿厢上升至第二预设高度，将所述第二暂存仓中的所述待转运电池承载至所述伸出机构，并回缩所述伸出机构。
  17. 如权利要求16所述的充电电池的转运控制方法，其特征在于，在将所述轿厢下降至第一预设高度的步骤以及将所述轿厢上升至第二预设高度的步骤中，所述PLC控制器控制所述轿厢沿着竖直方向进行移动。
  18. 如权利要求16-17中至少一项所述的充电电池的转运控制方法，其特征在于，所述第一暂存仓上还设有第二红外传感器，所述转运控制方法还包括以下步骤：所述第二红外传感器检测所述第一暂存仓上是否有所述待充电电池，并将第一检测结果发送至所述控制单元；
    和/或，所述第二暂存仓上还设有第三红外传感器，所述转运控制方法还包括以下步骤：所述第三红外传感器检测所述第二暂存仓上是否有所述待转运电池，并将第二检测 结果发送至所述控制单元；
    和/或，所述电池转运装置上还设有第四红外传感器，所述转运控制方法还包括以下步骤：
    所述轿厢下降至第一预设高度后，所述第四红外传感器检测所述第一暂存仓中所述第一预设高度对应的位置上是否有电池，若是，所述PLC控制器控制所述轿厢沿着竖直方向进行移动，若否，将所述待充电电池承载至所述第一暂存仓；
    所述轿厢上升至第二预设高度后，所述第四红外传感器检测所述第二暂存仓中所述第二预设高度对应的位置上是否有所述待转运电池，若是，将所述待转运电池承载至所述伸出机构，若否，所述PLC控制器控制所述轿厢沿着竖直方向进行移动。
  19. 如权利要求16-18中至少一项所述的充电电池的转运控制方法，其特征在于，在所述电池转运机构将待充电电池放置于所述第一暂存仓的步骤中，所述PLC控制器预设所述轿厢的第一始发高度高于所述第一预设高度；
    在所述电池转运机构从所述第二暂存仓获取待转运电池的步骤中，所述PLC控制器预设所述轿厢的第二始发高度低于所述第二预设高度；
    其中所述第一始发高度高于所述第二始发高度。
  20. 一种电动汽车换电控制方法，其特征在于，所述电动汽车换电控制方法包括如权利要求11-19中至少一项所述的充电电池的转运控制方法。
PCT/CN2018/076367 2017-11-30 2018-02-12 充电电池的转运控制系统、电动汽车换电控制系统及方法 WO2019104882A1 (zh)

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