WO2022048628A1 - 换电站及其电池转运控制方法 - Google Patents

换电站及其电池转运控制方法 Download PDF

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Publication number
WO2022048628A1
WO2022048628A1 PCT/CN2021/116394 CN2021116394W WO2022048628A1 WO 2022048628 A1 WO2022048628 A1 WO 2022048628A1 CN 2021116394 W CN2021116394 W CN 2021116394W WO 2022048628 A1 WO2022048628 A1 WO 2022048628A1
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WIPO (PCT)
Prior art keywords
battery
pick
place mechanism
height
control method
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PCT/CN2021/116394
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English (en)
French (fr)
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张建平
陈志民
陆文成
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奥动新能源汽车科技有限公司
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Publication of WO2022048628A1 publication Critical patent/WO2022048628A1/zh

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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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present application relates to the field of power exchange, and in particular, to a power exchange station and a battery transfer control method thereof.
  • a power exchange station can be used to replace the depleted battery of the electric vehicle with a fully charged battery to realize fast power exchange.
  • the battery size of different electric vehicles may be different, for example, the battery sizes of electric vehicles produced by different manufacturers are different, and the battery sizes of different models of electric vehicles are different. Collision occurs, resulting in a decrease in power exchange efficiency.
  • the technical problem to be solved by the present application is to overcome the defect that collision may occur during battery transfer in the prior art, and to provide a power exchange station and a battery transfer control method that can avoid collision and improve power exchange efficiency.
  • a first aspect of the present application provides a battery transfer control method, which is applied to a swap station including a shuttle car and a palletizer, the shuttle car includes a liftable battery carrying platform, and the stacker includes a liftable battery pickup platform. release agency;
  • the battery transport control method includes the following steps:
  • the battery pick-and-place mechanism is controlled to exchange batteries with the shuttle according to a preset instruction.
  • the height of the battery pick-and-place mechanism in the palletizer in the battery exchange area is higher than the height of the battery carrying platform in the shuttle car, so that no matter the battery exchange of the palletizer taking the battery from the shuttle car
  • the process is also the battery exchange process in which the palletizer puts the battery on the shuttle. There will be no collision between the battery, the shuttle and the palletizer, thus improving the efficiency of battery transfer and thus the efficiency of battery swapping.
  • the preset command is:
  • the battery access mechanism is controlled to retract.
  • the stacker successfully takes the battery from the shuttle.
  • the preset command is:
  • the battery access mechanism is controlled to retract.
  • the stacker can successfully put the battery on the shuttle.
  • the battery pick-and-place height is lower than the height of the battery carrying platform.
  • the height range of the battery pick-and-place mechanism is 100-200mm.
  • the step further includes: controlling the battery carrying platform to rise to a first height.
  • the height of the drop of the battery pick-and-place mechanism during the battery exchange process is reduced, which saves the descending time of the battery pick-and-place mechanism, thereby improving battery transport. efficiency, further improving the power exchange efficiency.
  • the height range of the battery carrying platform is 0-100mm.
  • the step of controlling the palletizer to move to the battery exchange area it further includes:
  • vehicle information of the battery-swapped vehicle where the vehicle information includes battery thickness information
  • the step of controlling the palletizer to move to the battery exchange area is: controlling the battery pick-and-place mechanism to move to a corresponding height position in the battery exchange area according to the battery thickness information.
  • the battery pick-and-place mechanism is positioned to different heights according to different battery thickness information. Compared with positioning the battery pick-and-place mechanism to a uniform maximum height, the positioning time is saved and the drop of the battery pick-and-place mechanism is reduced. height, thereby improving the efficiency of battery transport and further improving the power exchange efficiency.
  • a sensor is provided on the palletizer, and a detection piece is provided at a position corresponding to the battery pick-and-place mechanism in the battery exchange area;
  • the battery pick-and-place mechanism is controlled to stop moving based on a signal triggered by the sensor and the detection element.
  • the precise positioning of the battery pick-and-place mechanism is achieved through the cooperation of the sensor and the detection member.
  • a visual positioning device is provided on the palletizer, and a positioning point is provided at a position corresponding to the battery pick-and-place mechanism in the battery exchange area;
  • the visual positioning device collects a visual image of the corresponding area, obtains a position adjustment amount according to the visual image and the standard image, and controls the battery pick-and-place mechanism to move based on the position adjustment amount to the corresponding location.
  • the precise positioning of the battery pick-and-place mechanism is achieved through the cooperation of the visual positioning device and the positioning point.
  • a second aspect of the present application provides a power exchange station, including:
  • Palletizers including liftable battery pick-and-place mechanisms
  • FIG. 1 is a schematic diagram of a power exchange station provided in Embodiment 1 of the present application.
  • FIG. 2 is a flowchart of the battery transport control method provided in Embodiment 1 of the present application.
  • FIG. 3 is a flowchart of a method for a palletizer to take batteries from a shuttle according to Embodiment 1 of the present application.
  • FIG. 4 is a flowchart of a method for placing batteries on a shuttle car by a palletizer according to Embodiment 1 of the present application.
  • FIG. 5 is a structural block diagram of a power exchange station provided in Embodiment 2 of the present application.
  • the battery transfer control method provided in this embodiment is applied to a power exchange station including a shuttle car and a palletizer.
  • the shuttle car includes a liftable battery carrying platform
  • the stacker includes a liftable battery pick-and-place mechanism.
  • the shuttle car is used to transfer the battery removed from the battery-changing vehicle to the palletizer, and the palletizer is used to transfer the replaced battery to the battery rack in the charging room, so as to The battery is charged.
  • Palletizers are also used to remove fully charged batteries from the battery racks in the charging compartment and transfer fully charged batteries to shuttles, which are used to install fully charged batteries on swap vehicles.
  • the shuttle vehicle is a bottom power exchange device, which is used to move to the bottom of the power exchange vehicle, remove the battery from the power exchange vehicle, or install the battery in the power exchange vehicle.
  • the battery locking mechanism, power exchange equipment (shuttle car) and palletizer used in the battery transfer control method of this embodiment are described by taking Chinese patent application numbers 2016110412204, 2017112442213 and 2017100524087 as examples, but the control method of this application is not It is not limited to the specific structure in the above-mentioned prior art, and it can also be applied to the control of the mechanism of other bottom power exchange methods.
  • the battery transport control method provided in this embodiment includes the following steps:
  • Step S101 controlling the shuttle car and the palletizer to move to a battery exchange area; wherein, in the battery exchange area, the height of the battery pick-and-place mechanism is higher than the height of the battery carrying platform.
  • step S101 the shuttle car and the palletizer are respectively controlled to move to the battery exchange area based on the battery exchange instruction.
  • the battery exchange area refers to the area where the shuttle car and the palletizer actually perform battery exchange.
  • step S101 further includes step S100 , acquiring vehicle information of the battery-swapped vehicle, where the vehicle information includes battery thickness information.
  • Step S101 specifically includes: controlling the battery pick-and-place mechanism to move to a corresponding height position in the battery exchange area according to the battery thickness information.
  • different battery thickness information corresponds to different height positions.
  • the battery pick-and-place mechanism is positioned to different heights according to different battery thickness information. Compared with positioning the battery pick-and-place mechanism to a uniform maximum height, the positioning time is saved and the drop of the battery pick-and-place mechanism is reduced. height, thereby improving the efficiency of battery transport and improving the efficiency of power exchange.
  • Step S102 controlling the battery pick-and-place mechanism to exchange batteries with the shuttle according to a preset instruction.
  • the height of the battery pick-and-place mechanism in the palletizer in the battery exchange area is higher than the height of the battery carrying platform in the shuttle car, so that no matter whether the palletizer takes the battery from the shuttle car for battery exchange
  • the process is also the battery exchange process in which the palletizer puts the battery on the shuttle car. There will be no collision between the battery, the shuttle car and the palletizer, thus improving the efficiency of battery transfer and thus improving the power exchange efficiency.
  • step S102 the shuttle car is placed with a battery removed from the battery swap vehicle.
  • the method for the palletizer to take the battery from the shuttle car includes the following steps:
  • Step S201 controlling the battery pick-and-place mechanism to descend to the battery pick-and-place height.
  • Step S202 controlling the battery pick-and-place mechanism to extend to acquire the battery on the battery carrying platform.
  • the battery pick-and-place mechanism is controlled to extend below the battery on the battery carrying platform, and the battery is obtained by holding it up.
  • the battery pick-and-place mechanism includes two telescopic arms, and the two telescopic arms are controlled to extend below the battery, and the battery is obtained by holding up the battery.
  • the battery pick-and-place mechanism is controlled to extend above the battery on the battery carrying platform, and the battery is obtained by grabbing.
  • the battery picking and placing mechanism includes a grasping mechanism, and the grasping mechanism is controlled to extend above the battery to obtain the battery in a grasping manner.
  • Step S203 controlling the battery pick-and-place mechanism to rise, so that the battery on the battery-carrying platform is transported to the battery pick-and-place mechanism.
  • Step S204 controlling the battery pick-and-place mechanism to retract.
  • the stacker by controlling the battery pick-and-place mechanism to extend, ascend and retract at the battery pick-and-place height, the stacker successfully realizes the pick-up of the battery from the shuttle.
  • step S102 a fully charged battery is placed on the palletizer.
  • the method for placing the battery on the shuttle car by the palletizer includes the following steps:
  • Step S301 controlling the battery pick-and-place mechanism to extend above the battery carrying platform.
  • Step S302 control the battery pick-and-place mechanism to descend to the battery pick-and-place height, so that the battery on the battery pick-and-place mechanism is transported to the battery carrying platform.
  • Step S303 controlling the battery pick-and-place mechanism to retract.
  • the stacker can successfully put the battery on the shuttle.
  • the above-mentioned height for taking and placing the battery is lower than the height of the battery carrying platform.
  • the above-mentioned height for taking and placing the battery is the same as the height of the battery carrying platform.
  • the height of the battery pick-and-place mechanism lowered is in the range of 100-200 mm. Specifically, the battery pick-and-place mechanism descends from the positioning height before the battery exchange to the battery pick-and-place height, and the descending height ranges from 100-200 mm.
  • the method further includes: controlling the battery carrying platform to rise to a first height. It should be noted that even if the battery carrying platform rises to the first height, it is still lower than the height of the battery pick-and-place mechanism. That is to say, in the process of battery exchange, the battery pick-and-place mechanism still needs to be lowered.
  • the height of the drop of the battery pick-and-place mechanism during the battery exchange process is reduced, which saves the descending time of the battery pick-and-place mechanism, thereby improving battery transport. efficiency, further improving the power exchange efficiency.
  • the lowest height to which the battery pick-and-place mechanism can descend is still higher than the height of the battery carrying platform, and the battery carrying platform needs to be controlled to rise to a first height, wherein the first height is higher than the battery pick-and-place mechanism can descend to The minimum height of the battery can be successfully transferred between the battery pick-and-place mechanism and the battery carrying platform.
  • the height of the battery carrying platform raised ranges from 0 to 100 mm.
  • the precise positioning of the battery pick-and-place mechanism is achieved through the cooperation of the sensor and the detection member.
  • a sensor is provided on the palletizer, and a detector is provided at a position corresponding to the battery pick-and-place mechanism in the battery exchange area;
  • the battery pick-and-place mechanism is controlled to stop moving based on a signal triggered by the sensor and the detection element.
  • the movement process in this embodiment refers to the up and down movement process, that is, the lifting process.
  • the battery pick-and-place mechanism is provided with a plurality of detectors, which are triggered by the sensors to generate multiple signals to achieve positioning at multiple heights.
  • the precise positioning of the battery pick-and-place mechanism is achieved through the cooperation of the visual positioning device and the positioning point.
  • a visual positioning device is provided on the palletizer, and a positioning point is provided at a position corresponding to the battery pick-and-place mechanism in the battery exchange area;
  • the visual positioning device collects a visual image of the corresponding area, obtains a position adjustment amount according to the visual image and the standard image, and controls the battery pick-and-place mechanism to move based on the position adjustment amount to the corresponding location.
  • the visual positioning device is a camera, which is used to capture a visual image of the corresponding area. By comparing the captured visual image with the internally stored standard image, the position adjustment amount is calculated, and the battery pick-and-place mechanism is controlled to move to an accurate position based on the position adjustment amount.
  • this embodiment provides a power exchange station 40 , which includes a shuttle 41 , a palletizer 42 and a controller 43 .
  • the shuttle 41 includes a liftable battery carrying platform
  • the palletizer 42 includes a liftable battery pick-and-place mechanism
  • the controller 43 is configured to execute the battery transport control method described in Embodiment 1.
  • the height of the battery pick-and-place mechanism in the palletizer in the battery exchange area is higher than the height of the battery carrying platform in the shuttle car, so that no matter whether the palletizer takes the battery from the shuttle car for battery exchange
  • the process is also the battery exchange process in which the stacker puts batteries on the shuttle car. There will be no collision between the battery, the shuttle car and the stacker, thus improving the efficiency of battery transfer at the power exchange station, thereby improving the power exchange efficiency.

Abstract

本申请公开了一种换电站及其电池转运控制方法。电池转运控制方法应用于包括穿梭车和码垛机的换电站，所述穿梭车包括可升降的电池承载平台，所述码垛机包括可升降的电池取放机构；所述电池转运控制方法包括以下步骤：控制所述穿梭车和所述码垛机移动至电池交换区域；其中，在所述电池交换区域内，所述电池取放机构的高度高于所述电池承载平台的高度；控制所述电池取放机构根据预设指令与所述穿梭车进行电池交换。本申请中，在电池交换之前，电池交换区域内码垛机中电池取放机构的高度高于穿梭车中电池承载平台的高度，使得在电池交换过程中电池、穿梭车以及码垛机之间不会产生碰撞，从而提高了电池转运的效率，进而提高了换电效率。

Description

换电站及其电池转运控制方法
本申请要求申请日为2020/9/3的中国专利申请202010917613.7的优先权。本申请引用上述中国专利申请的全文。
技术领域
本申请涉及换电领域，特别涉及一种换电站及其电池转运控制方法。
背景技术
随着电动汽车的逐步发展和普及，各个汽车厂商相继推出了不同型号的电动汽车。现有的电动汽车可以通过换电的方式实现补电，具体地，通过换电站将电动汽车的亏电电池更换为充满电的电池来实现快速换电。
不同电动汽车的电池尺寸可能会有所不同，例如不同厂商生产的电动汽车的电池尺寸不同、不同型号的电动汽车的电池尺寸不同等，换电站在对大尺寸的电池进行转运的过程中可能会发生碰撞，从而导致换电效率下降。
发明内容
本申请要解决的技术问题是为了克服现有技术中电池转运过程中可能会发生碰撞的缺陷，提供一种能够避免发生碰撞并提高换电效率的换电站及其电池转运控制方法。
本申请是通过下述技术方案来解决上述技术问题：
本申请的第一方面提供一种电池转运控制方法，应用于包括穿梭车和码垛机的换电站，所述穿梭车包括可升降的电池承载平台，所述码垛机包括可升降的电池取放机构；
所述电池转运控制方法包括以下步骤：
控制所述穿梭车和所述码垛机移动至电池交换区域；其中，在所述电池 交换区域内，所述电池取放机构的高度高于所述电池承载平台的高度；
控制所述电池取放机构根据预设指令与所述穿梭车进行电池交换。
本实施方式中，在电池交换之前，电池交换区域内码垛机中电池取放机构的高度高于穿梭车中电池承载平台的高度，使得无论是码垛机从穿梭车上取电池的电池交换过程，还是码垛机向穿梭车上放电池的电池交换过程，电池、穿梭车以及码垛机之间都不会产生碰撞，从而提高了电池转运的效率，进而提高了换电效率。
较佳地，当所述电池交换为所述码垛机从所述穿梭车上取电池时，所述预设指令为：
控制所述电池取放机构下降至电池取放高度；
控制所述电池取放机构伸出以获取所述电池承载平台上的电池；
控制所述电池取放机构上升，以使所述电池承载平台上的电池转运至所述电池取放机构；
控制所述电池取放机构缩回。
本实施方式中，通过控制电池取放机构在电池取放高度伸出、上升并缩回，成功实现了码垛机从穿梭车上取电池。
较佳地，当所述电池交换为所述码垛机向所述穿梭车上放电池时，所述预设指令为：
控制所述电池取放机构伸出至所述电池承载平台的上方；
控制所述电池取放机构下降至电池取放高度，以使所述电池取放机构上的电池转运至所述电池承载平台；
控制所述电池取放机构缩回。
本实施方式中，通过控制电池取放机构伸出并下降至电池取放高度后缩回，成功实现了码垛机向穿梭车上放电池。
较佳地，所述电池取放高度低于所述电池承载平台的高度。
较佳地，在电池交换的过程中，所述电池取放机构下降的高度范围为 100-200mm。
较佳地，所述控制所述穿梭车移动至电池交换区域的步骤之后，还包括：控制所述电池承载平台上升至第一高度。
本实施方式中，通过控制电池承载平台上升与电池取放机构下降的配合，使得在电池交换过程中电池取放机构下降的高度减少，节约了电池取放机构下降的时间，从而提高了电池转运的效率，进一步提高了换电效率。
较佳地，在电池交换的过程中，所述电池承载平台上升的高度范围为0-100mm。
较佳地，在所述控制所述码垛机移动至电池交换区域的步骤之前还包括：
获取换电车辆的车辆信息，所述车辆信息包括电池厚度信息；
所述控制所述码垛机移动至电池交换区域的步骤为：根据所述电池厚度信息控制所述电池取放机构移动至所述电池交换区域内对应的高度位置上。
本实施方式中，根据不同的电池厚度信息将电池取放机构定位至不同的高度，与将电池取放机构定位至统一的最高高度相比，节约了定位时间，减少了电池取放机构的下降高度，从而提高了电池转运的效率，进一步提高了换电效率。
较佳地，所述码垛机上设置有传感器，在所述电池交换区域中与所述电池取放机构对应位置上设有检测件；
在所述电池取放机构移动过程中，基于所述传感器与所述检测件触发产生的信号控制所述电池取放机构停止移动。
本实施方式中，通过传感器与检测件的配合，实现了电池取放机构的精准定位。
较佳地，所述码垛机上设置有视觉定位装置，在所述电池交换区域中与所述电池取放机构对应位置上设有定位点；
在所述电池取放机构移动完成后，所述视觉定位装置采集对应区域的视觉图像，根据所述视觉图像与标准图像获取位置调整量，基于所述位置调整 量控制所述电池取放机构移动至对应位置。
本实施方式中，通过视觉定位装置与定位点的配合，实现了电池取放机构的精准定位。
本申请的第二方面提供一种换电站，包括：
穿梭车，包括可升降的电池承载平台；
码垛机，包括可升降的电池取放机构；
以及控制器，被配置为执行如上所述的电池转运控制方法。
附图说明
图1为本申请实施例1提供的一种换电站的示意图。
图2为本申请实施例1提供的电池转运控制方法的流程图。
图3为本申请实施例1提供的码垛机从穿梭车上取电池的方法流程图。
图4为本申请实施例1提供的码垛机向穿梭车上放电池的方法流程图。
图5为本申请实施例2提供的换电站的结构框图。
具体实施方式
下面通过实施例的方式进一步说明本申请，但并不因此将本申请限制在所述的实施例范围之中。
实施例1
本实施例提供的电池转运控制方法应用于包括穿梭车和码垛机的换电站。其中，所述穿梭车包括可升降的电池承载平台，所述码垛机包括可升降的电池取放机构。
需要说明的是，如图1所示，穿梭车用于将从换电车辆拆卸的电池转运至码垛机上，码垛机用于将换下的电池转运至充电室的电池架上，以对电池进行充电。码垛机还用于从充电室的电池架取下充满电的电池，并将充满电的电池转运至穿梭车上，穿梭车用于将充满电的电池安装至换电车辆上。
其中，穿梭车是一种底部换电设备，用于移动至换电车辆的底部，从换电车辆中拆卸电池，或者将电池安装至换电车辆中。
本实施例的电池转运控制方法中所用的电池锁止机构、换电设备(穿梭车)和码垛机分别以中国专利申请号2016110412204、2017112442213、2017100524087为例进行说明，但本申请的控制方法并不以上述现有技术中的具体结构为限，还可适用于其他底部换电方式的机构的控制。
如图2所示，本实施例提供的电池转运控制方法包括以下步骤：
步骤S101、控制所述穿梭车和所述码垛机移动至电池交换区域；其中，在所述电池交换区域内，所述电池取放机构的高度高于所述电池承载平台的高度。
步骤S101中，基于电池交换指令分别控制穿梭车和码垛机移动至电池交换区域。其中，电池交换区域是指穿梭车和码垛机实际进行电池交换的区域。
在可选的一种实施方式中，步骤S101之前还包括步骤S100、获取换电车辆的车辆信息，所述车辆信息包括电池厚度信息。
步骤S101具体包括：根据所述电池厚度信息控制所述电池取放机构移动至所述电池交换区域内对应的高度位置。其中，不同的电池厚度信息对应不同的高度位置。在一个具体的例子中，电池的厚度越大，对应的高度越高，电池的厚度越小，对应的高度越低。
本实施方式中，根据不同的电池厚度信息将电池取放机构定位至不同的高度，与将电池取放机构定位至统一的最高高度相比，节约了定位时间，减少了电池取放机构的下降高度，从而提高了电池转运的效率，提高了换电效率。
步骤S102、控制所述电池取放机构根据预设指令与所述穿梭车进行电池交换。
本实施方式中，在电池交换之前，电池交换区域内码垛机中电池取放机 构的高度高于穿梭车中电池承载平台的高度，使得无论是码垛机从穿梭车上取电池的电池交换过程，还是码垛机向穿梭车上放电池的电池交换过程，电池、穿梭车以及码垛机之间都不会产生碰撞，从而提高了电池转运的效率，进而提高了换电效率。
在步骤S102可选的一种实施方式中，穿梭车上放置有从换电车辆上取下的电池，如图3所示，码垛机从穿梭车上取电池的方法包括以下步骤：
步骤S201、控制所述电池取放机构下降至电池取放高度。
步骤S202、控制所述电池取放机构伸出以获取所述电池承载平台上的电池。
在步骤S202可选的一种实施方式中，控制电池取放机构伸出至电池承载平台上电池的下方，以托起的方式获取电池。在一个具体的例子中，电池取放机构包括两个伸缩臂，控制两个伸缩臂伸出至电池下方，以托起的方式获取电池。
在步骤S202可选的另一种实施方式中，控制电池取放机构伸出至电池承载平台上电池的上方，以抓取的方式获取电池。在一个具体的例子中，电池取放机构包括抓取机构，控制抓取机构伸出至电池的上方，以抓取的方式获取电池。
步骤S203、控制所述电池取放机构上升，以使所述电池承载平台上的电池转运至所述电池取放机构。
步骤S204、控制所述电池取放机构缩回。
本实施方式中，通过控制电池取放机构在电池取放高度伸出、上升并缩回，成功实现了码垛机从穿梭车上取电池。
在步骤S102可选的另一种实施方式中，码垛机上放置有充满电的电池，如图4所示，码垛机向穿梭车上放电池的方法包括以下步骤：
步骤S301、控制所述电池取放机构伸出至所述电池承载平台的上方。
步骤S302、控制所述电池取放机构下降至电池取放高度，以使所述电池 取放机构上的电池转运至所述电池承载平台。
步骤S303、控制所述电池取放机构缩回。
本实施方式中，通过控制电池取放机构伸出并下降至电池取放高度后缩回，成功实现了码垛机向穿梭车上放电池。
在可选的一种实施方式中，上述电池取放高度低于所述电池承载平台的高度。
在可选的另一种实施方式中，上述电池取放高度与所述电池承载平台的高度相同。
在具体实施的一些例子中，在电池交换的过程中，所述电池取放机构下降的高度范围为100-200mm。具体地，电池取放机构从电池交换之前的定位高度下降至电池取放高度，下降的高度范围为100-200mm。
在可选的一种实施方式中，步骤S101之后还包括：控制所述电池承载平台上升至第一高度。需要说明的是，即使电池承载平台上升至第一高度，也仍然低于电池取放机构的高度。也就是说，在进行电池交换的过程中，电池取放机构仍然需要下降高度。
本实施方式中，通过控制电池承载平台上升与电池取放机构下降的配合，使得在电池交换过程中电池取放机构下降的高度减少，节约了电池取放机构下降的时间，从而提高了电池转运的效率，进一步提高了换电效率。
在一个例子中，电池取放机构可下降到的最低高度仍然高于电池承载平台所在的高度，需要控制电池承载平台上升至第一高度，其中，第一高度高于电池取放机构可下降到的最低高度，以顺利实现在电池取放机构与电池承载平台之间转运电池。
在具体实施的一些例子中，在电池交换的过程中，所述电池承载平台上升的高度范围为0-100mm。
在可选的一种实施方式中，通过传感器与检测件的配合，实现了电池取放机构的精准定位。具体地，所述码垛机上设置有传感器，在所述电池交换 区域中与所述电池取放机构对应位置上设有检测件；
在所述电池取放机构移动过程中，基于所述传感器与所述检测件触发产生的信号控制所述电池取放机构停止移动。
本实施方式的移动过程是指上下移动过程，也即升降过程，电池取放机构中设有多个检测件，通过与传感器配合触发产生多个信号实现多个高度的定位。
在可选的另一种实施方式中，通过视觉定位装置与定位点的配合，实现了电池取放机构的精准定位。具体地，所述码垛机上设置有视觉定位装置，在所述电池交换区域中与所述电池取放机构对应位置上设有定位点；
在所述电池取放机构移动完成后，所述视觉定位装置采集对应区域的视觉图像，根据所述视觉图像与标准图像获取位置调整量，基于所述位置调整量控制所述电池取放机构移动至对应位置。
在具体实施的一个例子中，视觉定位装置为摄像机，用于拍摄对应区域的视觉图像。通过比较拍摄的视觉图像与内部存储的标准图像，计算得到位置调整量，基于位置调整量控制电池取放机构移动到准确的位置。
实施例2
如图5所示，本实施例提供一种换电站40，包括穿梭车41、码垛机42以及控制器43。
穿梭车41包括可升降的电池承载平台，码垛机42包括可升降的电池取放机构，控制器43被配置为执行如实施例1所述的电池转运控制方法。
本实施方式中，在电池交换之前，电池交换区域内码垛机中电池取放机构的高度高于穿梭车中电池承载平台的高度，使得无论是码垛机从穿梭车上取电池的电池交换过程，还是码垛机向穿梭车上放电池的电池交换过程，电池、穿梭车以及码垛机之间都不会产生碰撞，从而提高了换电站转运电池的效率，进而提高了换电效率。
虽然以上描述了本申请的具体实施方式，但是本领域的技术人员应当理 解，这仅是举例说明，本申请的保护范围是由所附权利要求书限定的。本领域的技术人员在不背离本申请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，但这些变更和修改均落入本申请的保护范围。

Claims (11)

  1. 一种电池转运控制方法，应用于包括穿梭车和码垛机的换电站，其特征在于，所述穿梭车包括可升降的电池承载平台，所述码垛机包括可升降的电池取放机构；
    所述电池转运控制方法包括以下步骤：
    控制所述穿梭车和所述码垛机移动至电池交换区域；其中，在所述电池交换区域内，所述电池取放机构的高度高于所述电池承载平台的高度；
    控制所述电池取放机构根据预设指令与所述穿梭车进行电池交换。
  2. 如权利要求1所述的电池转运控制方法，其特征在于，当所述电池交换为所述码垛机从所述穿梭车上取电池时，所述预设指令为：
    控制所述电池取放机构下降至电池取放高度；
    控制所述电池取放机构伸出以获取所述电池承载平台上的电池；
    控制所述电池取放机构上升，以使所述电池承载平台上的电池转运至所述电池取放机构；
    控制所述电池取放机构缩回。
  3. 如权利要求1或2所述的电池转运控制方法，其特征在于，当所述电池交换为所述码垛机向所述穿梭车上放电池时，所述预设指令为：
    控制所述电池取放机构伸出至所述电池承载平台的上方；
    控制所述电池取放机构下降至电池取放高度，以使所述电池取放机构上的电池转运至所述电池承载平台；
    控制所述电池取放机构缩回。
  4. 如权利要求2或3所述的电池转运控制方法，其特征在于，所述电池取放高度低于所述电池承载平台的高度。
  5. 如权利要求2或3所述的电池转运控制方法，其特征在于，在电池交换的过程中，所述电池取放机构下降的高度范围为100-200mm。
  6. 如权利要求1-5中任一项所述的电池转运控制方法，其特征在于，所述控制所述穿梭车移动至电池交换区域的步骤之后，还包括：控制所述电池承载平台上升至第一高度。
  7. 如权利要求6所述的电池转运控制方法，其特征在于，在电池交换的过程中，所述电池承载平台上升的高度范围为0-100mm。
  8. 如权利要求1-7中任一项所述的电池转运控制方法，其特征在于，在所述控制所述码垛机移动至电池交换区域的步骤之前还包括：
    获取换电车辆的车辆信息，所述车辆信息包括电池厚度信息；
    所述控制所述码垛机移动至电池交换区域的步骤为：根据所述电池厚度信息控制所述电池取放机构移动至所述电池交换区域内对应的高度位置。
  9. 如权利要求1-8中任一项所述的电池转运控制方法，其特征在于，所述码垛机上设置有传感器，在所述电池交换区域中与所述电池取放机构对应位置上设有检测件；
    在所述电池取放机构移动过程中，基于所述传感器与所述检测件触发产生的信号控制所述电池取放机构停止移动。
  10. 如权利要求1-9中任一项所述的电池转运控制方法，其特征在于，所述码垛机上设置有视觉定位装置，在所述电池交换区域中与所述电池取放机构对应位置上设有定位点；
    在所述电池取放机构移动完成后，所述视觉定位装置采集对应区域的视觉图像，根据所述视觉图像与标准图像获取位置调整量，基于所述位置调整量控制所述电池取放机构移动至对应位置。
  11. 一种换电站，其特征在于，包括：
    穿梭车，包括可升降的电池承载平台；
    码垛机，包括可升降的电池取放机构；
    以及控制器，被配置为执行如权利要求1-10中任一项所述的电池转运控制方法。
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