WO2023023977A1 - 用于更换车辆的电池的方法、换电车及电子设备 - Google Patents

用于更换车辆的电池的方法、换电车及电子设备 Download PDF

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Publication number
WO2023023977A1
WO2023023977A1 PCT/CN2021/114543 CN2021114543W WO2023023977A1 WO 2023023977 A1 WO2023023977 A1 WO 2023023977A1 CN 2021114543 W CN2021114543 W CN 2021114543W WO 2023023977 A1 WO2023023977 A1 WO 2023023977A1
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WO
WIPO (PCT)
Prior art keywords
battery
vehicle
end effector
swapping
relative
Prior art date
Application number
PCT/CN2021/114543
Other languages
English (en)
French (fr)
Inventor
王金龙
Original Assignee
宁德时代新能源科技股份有限公司
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
Application filed by 宁德时代新能源科技股份有限公司 filed Critical 宁德时代新能源科技股份有限公司
Priority to EP21912342.9A priority Critical patent/EP4166384B1/en
Priority to CN202180082774.1A priority patent/CN116601044A/zh
Priority to PCT/CN2021/114543 priority patent/WO2023023977A1/zh
Priority to US17/831,355 priority patent/US20230065470A1/en
Publication of WO2023023977A1 publication Critical patent/WO2023023977A1/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
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working 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 technical field of vehicle charging, in particular to a method for replacing a battery of a vehicle, a battery replacement vehicle, electronic equipment and a storage medium.
  • the purpose of this application is to provide a method for replacing the battery of a vehicle and a battery replacement car, so as to realize the precise positioning of the battery replacement and improve the efficiency of the battery replacement.
  • the first aspect of the present application provides a method for replacing a battery of a vehicle, the method comprising:
  • the motion trajectory is used to provide the end effector of the hoisting device, and the end effector replaces the first battery of the vehicle to be replaced with the second battery according to the motion trajectory.
  • the positioning of the hoisting equipment relative to the vehicle to be swapped can be accurately determined, thereby determining the movement trajectory of the hoisting equipment and realizing automatic , Accurate and efficient battery replacement operation.
  • the method further includes: after determining the motion trajectory of the end effector of the hoisting device, removing the positioning line from the vehicle to be replaced. By removing the positioning line, it is possible to avoid changing the determined motion trajectory due to the movement of the reference point during the battery replacement process.
  • the method further comprises determining whether the end effector of the lifting device is moved into position relative to the first battery based on the position of the end effector of the lifting device relative to the first battery. The step of determining whether the end effector has moved into position relative to the first battery ensures that the end effector is able to accurately grasp the first battery.
  • the method includes: correcting the movement track of the end effector of the lifting device based on the installation position image, the installation position image is obtained by the imaging device and the second battery is relative to the vehicle to be replaced location image. Acquire the position image of the second battery relative to the vehicle to be replaced, compare the position image with the position image of the battery when it is installed in place relative to the vehicle to be replaced, and perform a motion trajectory of the end effector of the hoisting device according to the comparison result Feedback correction to more accurately install the second battery in the vehicle to be swapped.
  • the method further includes delivering the first battery to a storage location of the battery swap car, and delivering the second battery to a battery swap window of the battery swap car.
  • the second aspect of the present application provides a battery exchange vehicle for replacing a battery of a vehicle, the battery exchange vehicle comprising:
  • a lifting device comprising an end effector adapted to grip the first battery and the second battery;
  • a positioning line, one end of the positioning line is located at the coordinate origin of the lifting device
  • a positioning unit configured to measure the distance along the positioning line and the angle of the positioning line relative to the driving direction, longitudinal direction and vertical direction of the vehicle to be replaced;
  • the processor is configured to receive the distance and angle measured by the positioning unit, and determine the motion trajectory of the end effector of the lifting device based on the obtained distance and angle, so that the end effector according to the The motion track moves.
  • the battery swap vehicle according to the second aspect of the present application can realize accurate positioning of the coordinate origin of the hoisting equipment relative to the vehicle to be swapped, so that the operation of battery replacement can be performed automatically and accurately.
  • the end effector of the hoisting device is provided with an imaging device configured to obtain an image of the position of the second battery relative to the vehicle to be replaced.
  • the battery swap vehicle further includes a battery transfer unit, the battery transfer unit includes an actuation mechanism and a support element, the actuation mechanism is configured to move the support element to transfer the first battery Transfer to the storage location and transfer the second battery to the battery swap window.
  • the end effector of the hoisting device is provided with a position sensor configured to detect the position of the end effector of the hoisting device relative to the first battery in the vehicle to be replaced.
  • a third aspect of the present application provides an electronic device, including: a processor and a memory for storing processor-executable instructions, wherein the processor is configured to call the instructions stored in the memory to execute the In one aspect there is a method for replacing a battery of a vehicle.
  • a fourth aspect of the present application provides a computer-readable storage medium, on which computer instructions are stored, wherein when the computer instructions are executed by a processor, the processor is caused to execute the method described in the first aspect for A method of replacing a battery of a vehicle.
  • This application uses the positioning line to connect the origin of the coordinates of the hoisting equipment of the electric car to be replaced and the reference point of the vehicle to be replaced, which can avoid the problems of low visibility, signal interference, etc. that cause inaccurate positioning of GPS and image technology, so as to realize the replacement of the electric car and the electric car to be replaced Therefore, the operation of replacing the battery can be performed automatically, accurately and efficiently by means of the hoisting equipment.
  • FIG. 1 illustrates a flowchart of a method for replacing a battery of a vehicle according to an embodiment of the present application
  • Fig. 2 is a schematic structural diagram of a battery-swapping vehicle at a battery-swapping position and a vehicle to be battery-swapped according to an embodiment of the present application;
  • Fig. 3 is a partial enlarged view of the positioning line and the connection position of the vehicle to be replaced according to an embodiment of the present application;
  • FIG. 4 illustrates a schematic diagram of measurement of a positioning line according to an embodiment of the present application
  • FIG. 5 illustrates a flowchart of a method for replacing a battery of a vehicle according to some embodiments of the present application
  • FIG. 6 illustrates a schematic structural diagram of a battery swap vehicle for replacing a battery of a vehicle according to an embodiment of the present application
  • FIG. 7 illustrates a schematic diagram of an electronic device according to an embodiment of the present application.
  • Power batteries are not only used in passenger cars, but also widely used in commercial vehicles, such as engineering vehicles and mining vehicles. With the widespread use of power batteries, more and more attention has been paid to how to quickly and accurately replace power batteries.
  • the power batteries equipped with them have small capacity and low weight, and the operating environment of passenger cars is relatively simple and fixed.
  • a charging station can be established to replace the power battery, or a charging pile can be established for charging, and even the driver can Manually replace the power battery.
  • the operating area covers a large area, the vehicle operating area is scattered, and there is no fixed operating route.
  • fixed charging piles and charging stations cannot be fully utilized, and mobile The replacement tram to replace the vehicle's battery.
  • the battery cannot be replaced manually. It is necessary to use a forklift to move the battery, and then further adjust the installation position of the battery manually. Such an operation is time-consuming and labor-intensive.
  • the method for replacing a battery of a vehicle disclosed in the embodiment of the present application may be used, but not limited to, for a commercial vehicle, a passenger car, and the like.
  • FIG. 1 Schematic diagram of the structure of the battery-swapping car and the vehicle to be swapped in the battery-swapping position according to an embodiment of the application.
  • FIG. 3 is a partial enlarged view of the positioning line and the connection position of the vehicle to be swapped according to an embodiment of the application.
  • FIG. 4 It is a schematic diagram of measuring a positioning line according to an embodiment of the present application.
  • the present application provides a method for replacing a battery of a vehicle. When the vehicle's battery is in a low battery state, a battery replacement request is issued. After the console receives the battery replacement request, it sends the battery replacement request to the tram 1, and the tram 1 moves to the battery swap position.
  • the console has a scheduling function for receiving signals and sending instructions.
  • the console can be a remote server, mobile device, dispatch room, etc.
  • the vehicle to be replaced 2 the vehicle whose battery needs to be replaced is referred to as the vehicle to be replaced 2
  • the battery to be replaced in the vehicle 2 to be replaced is referred to as the first battery 21 .
  • the battery replacement location is a location near the vehicle 2 to be replaced, for example, a location within a range of about 1 meter to 2 meters from the vehicle 2 to be replaced.
  • the console can first determine the position of the battery swap vehicle 1, and then send the battery swap request to the battery swap vehicle 1 closest to the vehicle 2 to be swapped.
  • step 110 connect the positioning line 11 of the battery-swapping vehicle 1 to a predetermined reference point of the vehicle 2 to be battery-swapped.
  • the positioning line 11 can be a physical connection line or a virtual connection line, one end of which is located at the coordinate origin of the hoisting device 12 of the battery swapping vehicle 1, and the other end is connected to a predetermined reference point of the vehicle 2 to be swapped.
  • the hoisting device 12 can be an industrial robot, and the coordinate origin of the hoisting device can be the origin of the base coordinate system of the industrial robot (the rectangular coordinate system used to describe the motion of the robot body with the base and the installation base as a reference);
  • the predetermined reference point of the electric vehicle 2 can be located on the positioning reference block of the battery pack frame of the first battery 21 (see FIG. 3 ), and all batteries have the same positioning reference point.
  • step 120 the distance between the coordinate origin of the hoisting device 12 of the battery swapping vehicle 1 and the reference point of the vehicle 2 to be swapped and the distance between the positioning line 11 relative to the traveling direction x, the longitudinal direction y, and the vertical direction of the vehicle 2 to be swapped 2 are obtained.
  • the positioning line 11 is a stretchable physical connection line
  • the force F on the positioning line 11 can be measured by a force sensor
  • the direction x of the positioning line 11 relative to the vehicle 2 to be replaced can be measured by an angle sensor.
  • the angle ⁇ of , the angle ⁇ relative to the longitudinal direction y and the angle ⁇ relative to the vertical direction z are shown in FIG. 4 .
  • the force F on the positioning line 11 can be converted into a stretching amount to determine the distance between the origin of the coordinates of the hoisting device 12 of the tram 1 and the reference point of the vehicle 2 to be swapped.
  • the positioning line 11 may be a virtual connection line.
  • the positioning line 11 is a laser ray
  • the distance between the origin of the coordinates of the hoisting device 12 of the battery swapping vehicle 1 and the reference point of the vehicle 2 to be swapped can be obtained, for example, by using a laser rangefinder. The distance between them is obtained by using a laser angle measuring instrument to obtain the angles of the positioning line 11 relative to the x direction, y direction and z direction respectively.
  • the obtained distance between the origin of the coordinates of the hoisting equipment 12 of the battery-swapping vehicle 1 and the reference point of the vehicle 2 to be battery-swapped will be decomposed into components in the x-direction, y-direction, and z-direction for subsequent calculation.
  • the trajectory P of the end effector 121 of the lifting device 12 is determined.
  • the lifting device 12 may be an industrial robot, and the end effector 121 may be the hand of the industrial robot, which is used to perform specific work tasks, such as directly grasping parts.
  • the end effector 121 is capable of holding a gripper of a battery.
  • the initial motion trajectory P 0 of the end effector 121 of the lifting device 12 is calculated first, and the initial motion trajectory P 0 is stored in the memory.
  • the positioning line 11 is a stretchable physical connecting line
  • the force F 0 on the positioning line 11 the angle ⁇ 0 of the positioning line 11 relative to the x direction, and the angle ⁇ 0 relative to the y direction of the positioning line 11 are known.
  • the angle ⁇ 0 in the direction and the angle ⁇ 0 relative to the z direction that is, the terminal pose of the end effector 121 is known, and the initial trajectory P 0 of the end effector 121 (F 0 , ⁇ 0 , ⁇ 0 , ⁇ 0 ).
  • the motion trajectory P is provided to the end effector 121 of the hoisting device 12 , and the end effector 121 replaces the first battery 21 of the vehicle 2 to be replaced with the second battery 13 according to the motion trajectory P.
  • the motion trajectory P is provided to the controller of the lifting device 12 through the processor, and the controller controls the end effector 121 to move according to the motion trajectory P after receiving the motion trajectory P.
  • the end effector 121 first grabs the first battery 21, and removes the first battery from the vehicle 2 to be replaced, and then the end effector 121 grabs the second battery 13, and according to the trajectory P of the second battery 13 hoisting and installing to the vehicle 2 to be replaced.
  • the positioning line 11 By using the positioning line 11 to obtain the position of the coordinate origin of the hoisting equipment 12 of the battery swapping vehicle 1 relative to the reference point of the vehicle 2 to be swapped, the positioning of the hoisting equipment 12 relative to the vehicle 2 to be swapped can be accurately determined, thereby determining the hoisting equipment 12 motion tracks to realize automatic, accurate and efficient battery replacement operation.
  • FIG. 5 shows a flowchart of a method for replacing a battery of a vehicle according to some embodiments of the present application.
  • the positioning line 11 may be removed from the vehicle 2 to be replaced to prepare for performing the battery replacement operation.
  • Step 140 is executed in terms of the angles of the positioning line 11 relative to the traveling direction x, the longitudinal direction y, and the vertical direction z of the vehicle 2 to be replaced.
  • step 140 may further include the following steps: step 141, providing the motion trajectory P to the end effector 121; step 142, the end effector 121 grabbing the first battery according to the motion trajectory P 21; Step 143, determine whether the end effector 121 has moved in place relative to the first battery 21; Step 144, the end effector 121 installs the second battery 13 according to the motion track P.
  • step 143 it may be determined based on the position of the end effector 121 of the hoisting device 12 relative to the first battery 21 whether the end effector 121 has moved in place relative to the first battery 21, if it has moved in place, then perform step 144, if not If it is in place, return to step 120 to reacquire the distance between the origin of the coordinates of the hoisting equipment 12 of the battery-swapping vehicle 1 and the reference point of the vehicle 2 to be battery-swapped, and the positioning line 11 relative to the driving direction x and longitudinal direction of the vehicle 2 to be battery-swapped y and the angle of the vertical direction z to ensure that the end effector 121 grasps the first battery 21 accurately.
  • the step of determining whether the end effector 121 is in place relative to the first battery 21 ensures that the end effector can accurately grasp the first battery 21 , and at the same time ensures the accuracy of the trajectory P of the end effector 121 .
  • step 140 may further include the following step: step 145, acquiring a position image of the second battery 13 relative to the vehicle 2 to be replaced.
  • an image of the position of the second battery 13 relative to the vehicle 2 to be replaced that is, an installation position image
  • the motion trajectory P of the end effector 121 of the lifting device 12 is corrected based on the installation position image. For example, compare the acquired position image of the second battery 13 relative to the vehicle 2 to be replaced with the position image of the battery when it is installed in place relative to the vehicle 2 to be replaced, and if the comparison result is within the allowable range of deviation, continue to install the second battery 13. For the second battery 13, if the comparison result is not within the allowable range of deviation, then the trajectory P of the end effector 121 needs to be adjusted.
  • Using the acquired image of the position of the second battery 13 relative to the vehicle 2 to be replaced to perform feedback correction on the movement track of the end effector 121 of the lifting device 12 can ensure that the second battery is accurately installed in the vehicle to be replaced.
  • the method may further include transferring the first battery 21 to the storage location of the battery exchange vehicle 1 , and delivering the second battery 13 to the battery exchange window 15 of the battery exchange vehicle 1 .
  • the end effector 121 grabs the first battery 21, it lifts the first battery 21 onto the battery exchange vehicle 1, and after confirming that the first battery 21 is in place, the first battery 21 is transferred to the battery exchange vehicle 1 through the battery transfer unit 14. Storage location.
  • the second battery 13 is delivered to the battery exchange window 15 through the battery delivery unit 14 to be grabbed by the end effector 121 and installed on the vehicle 2 to be exchanged.
  • the present application also provides a battery swapping vehicle for replacing a vehicle battery.
  • Fig. 6 illustrates a battery swap vehicle for replacing a battery of a vehicle.
  • the tram 1 includes: a positioning line 11 (not shown in FIG. 6 ), a hoisting device 12 , a second battery 13 , a processor 101 (not shown in FIG. 6 ) and a positioning unit 16 .
  • the lifting device 12 includes an end effector 121 adapted to clamp the first battery 21 and the second battery 13 .
  • One end of the positioning line 11 is located at the coordinate origin of the hoisting device 12 , and the other end is used to connect to a preset reference point of the vehicle 2 to be replaced.
  • the positioning unit 16 is preferably arranged in the base of the hoisting device 12, and is configured to measure the distance along the positioning line 11 and the distance of the positioning line 11 relative to the driving direction x, the longitudinal direction y, and the vertical direction z of the vehicle 2 to be replaced. angle.
  • the positioning unit 16 includes, but is not limited to, a position sensor, a force sensor, and an angle sensor.
  • the processor 101 is configured to receive the distance and angle measured by the positioning unit 16, and determine the trajectory P of the end effector 121 of the hoisting device 12 based on the acquired distance and angle, so that the end effector 121 can move according to the trajectory P Move to replace the first battery 21 with the second battery 13 .
  • the hoisting device 12 may be a mechanical arm, and its end effector 121 may perform translational motions in the x-direction and y-direction, and may rotate around the z-direction.
  • the position of the coordinate origin of the hoisting equipment 12 of the battery swapping vehicle 1 relative to the reference point of the vehicle 2 to be swapped can be accurately obtained through the positioning line 11 of the battery swapping vehicle 1, and the hoisting equipment 12 can perform battery replacement operations accurately, automatically and efficiently.
  • an imaging device may be provided at the end effector 121 of the hoisting device 12, and the imaging device is configured to acquire an image of the position of the second battery 13 relative to the vehicle 2 to be replaced, and convert the acquired position
  • the image is sent to the processor 101, and the processor 101 compares the acquired position image with the installed position image, and determines whether the position of the second battery 13 relative to the vehicle 2 to be replaced is within the allowable deviation range.
  • the data about the position image of the second battery 13 relative to the vehicle 2 to be replaced can be obtained during the battery replacement operation, and the data is fed back to the processor 101 to correct the motion track P, thereby forming Closed-loop control of the end effector.
  • the battery exchange vehicle 1 can also include a battery transfer unit 14, and the battery transfer unit 14 can include an actuating mechanism and a supporting element, wherein the actuating mechanism can be a motor, and the supporting element can be a roller, and the roller moves along the transportation track.
  • the actuating mechanism can be a motor
  • the supporting element can be a roller
  • the roller moves along the transportation track.
  • the motor drives the roller to rotate
  • the first battery 21 can be transferred to the storage position
  • the second battery 13 can be transferred to the battery replacement window 15 .
  • the battery transfer unit 14 may be configured to communicate with the processor 101 to automatically transfer the battery.
  • the end effector 121 of the hoisting device 12 may be provided with a position sensor configured to detect that the end effector 121 of the hoisting device 12 is relative to the first battery in the vehicle 2 to be replaced. 21 to determine whether the end effector 121 is moving in place relative to the first battery 21.
  • the position sensor By setting the position sensor, it can be ensured that the end effector 121 can grasp the first battery 21 accurately, and at the same time, the accuracy of the movement trajectory can be ensured.
  • the electronic device 100 includes: a processor 101; and a memory 102 communicatively connected to the processor 101; wherein, the memory 102 stores instructions executable by the processor 101, when the instructions are executed by the processor 101 , the instructions cause the processor 101 to execute the method for replacing a battery of a vehicle provided by the embodiments of the present application.
  • the processor 101 and the memory 102 are directly or indirectly electrically connected to realize data transmission or interaction.
  • these components can be electrically connected through one or more communication buses or signal buses.
  • the methods for correcting the state of charge of the battery each comprise at least one software function module which can be stored in the memory 102 in the form of software or firmware.
  • the processor 101 may be an integrated circuit chip with signal processing capabilities.
  • Processor 501 can be a general-purpose processor, including CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can realize or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory 102 can store various software programs and modules, such as program instructions/modules corresponding to the method and device for replacing a battery of a vehicle provided in the embodiments of the present application.
  • the processor 101 executes various functional applications and data processing by running software programs and modules stored in the memory 102 , that is, implements the methods in the embodiments of the present application.
  • Memory 102 can include but not limited to RAM (Random Access Memory, random access memory), ROM (Read Only Memory, read-only memory), PROM (Programmable Read-Only Memory, programmable read-only memory), EPROM (Erasable Programmable Read -Only Memory, erasable read-only memory), EEPROM (Electric Erasable Programmable Read-Only Memory, electrically erasable read-only memory), etc.
  • RAM Random Access Memory, random access memory
  • ROM Read Only Memory, read-only memory
  • PROM Programmable Read-Only Memory, programmable read-only memory
  • EPROM Erasable Programmable Read -Only Memory, erasable read-only memory
  • EEPROM Electrical Erasable Programmable Read-Only Memory, electrically erasable read-only memory

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种用于更换车辆的电池的方法,包括：将所述换电车（1）的定位线（11）连接至待换电车辆的（2）预先确定的基准点（步骤110）；获取所述换电车（1）的吊装设备（12）的坐标原点与待换电车辆（2）的基准点之间的距离以及定位线（11）相对于待换电车辆（2）行驶方向、纵向方向以及竖直方向的角度（步骤120）；基于获取的距离和角度，确定吊装设备（12）的末端执行器（121）的运动轨迹（步骤130）；以及所述运动轨迹用于提供给所述吊装设备（12）的末端执行器（121），所述末端执行器（121）根据所述运动轨迹将待换电车辆（2）的第一电池（21）更换为第二电池（13）。还公开了用于一种更换车辆的电池的换电车、电子设备、以及计算机可读存储介质。本申请利用定位线连接换电车的吊装设备的坐标原点和待换电车辆的基准点，可以避免能见度低、信号干扰等导致GPS、图像技术定位不准的问题，从而实现换电车与待换电车的精确定位。

Description

用于更换车辆的电池的方法、换电车及电子设备 技术领域
本申请涉及车辆充电技术领域，特别涉及一种用于更换车辆的电池的方法、换电车、电子设备及存储介质。
背景技术
随着电池技术的日益成熟，已经开始在工程运输车辆中中广泛应用纯电动车辆进行运载，例如在矿区中采用纯电动车辆进行运输。为保证车辆的运载效率，需要在车辆的电池处于低电量时对其进行更换。
由于工程运输车辆的作业区域占地面积大、车辆作业区域分散，建立充电桩和充电站成本较大，因此通常利用可移动的换电车来更换车辆的电池。目前，在更换电池时，需要利用叉车将车辆中的低电量电池换下，然后将换电车中的电池搬运到该车辆上。采用叉车更换电池的方式需要借助于人工搬运，同时存在安装不到位的问题，需要人为地进一步调整电池的位置，因此耗时耗力。
此外，由于作业区域内环境复杂且粉尘大，会存在信号干扰和能见度低等问题，因此采用现有的全球定位系统(GPS)或图像技术无法实现两个车的准确定位，这导致自动搬运及安装装置无法准确地确定电池的安装位置，从而限制了自动搬运及安装装置在换电车上的使用。
发明内容
针对现有技术中存在的上述不足，本申请的目的在于提供一种用于更 换车辆的电池的方法及换电车，以实现换电的精确定位，并提高换电效率。
为了达到上述目的，本申请的第一方面提供了一种用于更换车辆的电池的方法，所述方法包括：
将所述换电车的定位线连接至待换电车辆的预先确定的基准点；
获取所述换电车的吊装设备的坐标原点与待换电车辆的基准点之间的距离以及定位线相对于待换电车辆行驶方向、纵向方向以及竖直方向的角度；
基于获取的距离和角度，确定吊装设备的末端执行器的运动轨迹；以及
所述运动轨迹用于提供给所述吊装设备的末端执行器，所述末端执行器根据所述运动轨迹将待换电车辆的第一电池更换为第二电池。
通过使用定位线获取换电车的吊装设备的坐标原点相对于待换电车辆的基准点的定位，能够准确地确定吊装设备相对于待换电车辆的定位，从而确定吊装设备的运动轨迹，实现自动、准确、高效的电池更换操作。
在一些优选实施例中，所述方法还包括：在确定吊装设备的末端执行器的运动轨迹后，将所述定位线从待换电车辆移除。通过移除定位线，可以避免在换电过程中由于基准点的移动而改变已确定的运动轨迹。
在另一优选的实施例中，所述方法还包括基于所述吊装设备的末端执行器相对于所述第一电池的位置确定所述末端执行器相对于所述第一电池是否移动到位。确定所述末端执行器相对于所述第一电池是否移动到位的步骤确保了末端执行器能够准确地抓取第一电池。
在一些优选实施例中，所述方法包括：基于安装位置图像校正所述吊装设备的末端执行器的运动轨迹，所述安装位置图像是由成像设备获取的第二电池相对于待换电车辆的位置图像。获取第二电池相对于待换电车辆 的位置图像，并将该位置图像与电池相对于待换电车辆安装到位时的位置图像进行比较，根据比较结果对吊装设备的末端执行器的运动轨迹进行反馈校正，以将第二电池更准确地安装在待换电车辆中。
在另一优选的实施例中，所述方法还包括将所述第一电池传送至换电车的存放位置，并将第二电池传送至换电车的换电窗口。通过传送第一电池和第二电池，能够实现对第一电池和第二电池自动管理和调用，提高了换电效率。
本申请的第二方面提供了一种用于更换车辆的电池的换电车，所述换电车包括：
吊装设备，所述吊装设备包括适于夹持第一电池和第二电池的末端执行器；
定位线，所述定位线的一端位于所述吊装设备的坐标原点；
定位单元，所述定位单元被配置为测量沿定位线的距离以及定位线相对于待换电车辆行驶方向、纵向方向以及竖直方向的角度；
处理器，所述处理器被配置为接收由定位单元测得的距离和角度，并基于获取的距离和角度确定所述吊装设备的末端执行器的运动轨迹，使所述末端执行器根据所述运动轨迹移动。
根据本申请的第二方面的换电车能够实现吊装设备的坐标原点相对于待换电车辆的准确定位，从而能够自动、准确地执行更换电池的操作。
在一些优选实施例中，所述吊装设备的末端执行器设置有成像设备，所述成像设备被配置为获取第二电池相对于待换电车辆的位置图像。
在一些优选实施例中，所述换电车还包括电池传送单元，所述电池传送单元包括致动机构和支承元件，所述致动机构被配置为使支承元件移动，以将所述第一电池传送至存放位置，并将第二电池传送至换电窗口。
在一些优选实施例中，所述吊装设备的末端执行器设置有位置传感 器，所述位置传感器被配置为检测所述吊装设备的末端执行器相对于待换电车辆中的第一电池的位置。
本申请的第三方面提供了一种电子设备，包括：处理器和用于存储处理器可执行指令的存储器，其中，所述处理器被配置为调用所述存储器存储的指令，以执行如第一方面所述的用于更换车辆的电池的方法。
本申请的第四方面提供了一种计算机可读存储介质，其上存储有计算机指令，其中当由处理器执行所述计算机指令时，导致所述处理器执行如第一方面所述的用于更换车辆的电池的方法。
针对现有技术，本申请具备如下优点：
本申请利用定位线连接换电车的吊装设备的坐标原点和待换电车辆的基准点，可以避免能见度低、信号干扰等导致GPS、图像技术定位不准的问题，从而实现换电车与待换电车的精确定位，因此，可以利用吊装设备执行自动、准确且高效地更换电池的操作。
附图说明
为了更清楚地说明本申请的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据附图获得其他的附图。
图1例示了根据本申请的一个实施例的用于更换车辆的电池的方法的流程图；
图2是根据本申请的一个实施例的处于换电位置的换电车和待换电车辆的结构示意图；
图3是根据本申请的一个实施例的定位线和待换电车辆的连接位置的局部放大图；
图4例示了根据本申请的一个实施例的定位线的测量示意图；
图5例示了根据本申请的一些实施例的用于更换车辆的电池的方法的流程图；
图6例示了根据本申请的一个实施例的用于更换车辆的电池的换电车的结构示意图；
图7例示了根据本申请的一个实施例的电子设备的示意图。
具体实施方式
下面结合附图和实施例对本申请的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本申请的原理，但不能用来限制本申请的范围，即本申请不限于所描述的实施例。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。
在本申请实施例的描述中，技术术语“第一”“第二”等仅用于区别不同对象，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量、特定顺序或主次关系。在本申请实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本申请实施例的描述中，除非另有明确的规定和限定，技术术语“安装”“相连”“连接”“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，还可以是物理连接或是虚拟连接。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
目前，从市场形势的发展来看，动力电池的应用越加广泛。动力电池不仅被应用于乘用车，而且还被广泛应用于商用车，例如工程车辆、矿用车。随着动力电池的广泛使用，如何快速、准确地更换动力电池也越来越多地受到关注。
对于乘用车，其装备的动力电池容量小、重量低并且乘用车的运行环境相对简单且固定，通常可以建立充电站来更换动力电池，或者建立充电桩来进行充电，甚至可以由驾驶员手动地更换动力电池。然而，对于商用车，尤其是工程车辆和矿用车，其作业区域占地面积大、车辆作业区域分散、没有固定的运行路线，通常无法充分利用固定的充电桩和充电站，需要利用可移动的换电车来更换车辆的电池。鉴于电池的容量及重量，无法通过人工更换电池，需要利用叉车搬运电池，然后需要人为地进一步调整电池的安装位置，这样的操作耗时耗力。此外，由于作业区域内环境复杂且粉尘大，会存在信号干扰和能见度低等问题，因此采用现有的GPS或图像技术无法实现两个车的准确定位，这导致自动搬运及安装装置无法准确地确定电池的安装位置，从而限制了自动搬运及安装装置在换电车上的使用。
为了快速、准确地更换车辆的电池，期望能够借助于定位线实现车辆的准确定位，并利用吊装设备自动地进行更换电池的操作。
本申请实施例公开的用于更换车辆的电池的方法可以但不限于用于商用车、乘用车等。
根据本申请的一些实施例，参照图1，并请进一步参照图2至图4，图1为根据本申请的一个实施例的用于更换车辆的电池的方法的流程图，图2是根据本申请的一个实施例的处于换电位置的换电车和待换电车辆的结构示意图，图3是根据本申请的一个实施例的定位线和待换电车辆的连接位置的局部放大图，图4为根据本申请的一个实施例的定位线的测量示意图。本申请提供了一种用于更换车辆的电池的方法。当车辆的电池处于低电量状态时，发出换电请求。控制台在接收到换电请求之后，将换电请求发送给换电车1，换电车1移动至换电位置。控制台具有调度功能，用于接收信号和发送指令。通常来说，控制台可以是远程服务器、移动设备、调度室等。为方便描述，将需要更换电池的车辆称为待换电车辆2，待换电车辆2中需要更换的电池称为第一电池21。应理解，换电位置为待换电车辆2附近的位置，例如距离待换电车辆2约1米至2米范围内的位置。另外，控制台在接收到换电请求后，可以首先确定换电车1的位置，然后将换电请求发送至距离待换电车辆2最近的换电车1。
如图1所示，在步骤110中，将换电车1的定位线11连接至待换电车辆2的预先确定的基准点。定位线11可以是一条实体连接线，也可以是虚拟连接线，其一端位于换电车1的吊装设备12的坐标原点，另一端连接至待换电车辆2的预先确定的基准点。例如，吊装设备12可以是工业机器人，吊装设备的坐标原点可以是工业机器人的基坐标系(以基座以安装基座为基准、用来描述机器人本体运动的直角坐标系)的原点；待换电车辆2的预先确定的基准点可以位于第一电池21的电池包框架的定位基准块上(见图3)，且所有的电池都具有相同定位的基准点。
在步骤120中，获取换电车1的吊装设备12的坐标原点与待换电车辆 2的基准点之间的距离以及定位线11相对于待换电车辆2行驶方向x、纵向方向y以及竖直方向z的角度。在一个实施例中，定位线11为可拉伸的实体连接线，可以通过力传感器测量定位线11上的受力F，并且通过角度传感器测量定位线11相对于待换电车辆2行驶方向x的角度α、相对于纵向方向y的角度β以及相对于竖直方向z的角度γ，如图4所示。定位线11上的受力F可以转换为拉伸量，以确定取换电车1的吊装设备12的坐标原点与待换电车辆2的基准点之间的距离。替代地，定位线11可以是虚拟连接线，例如定位线11为激光射线，则可以例如通过激光测距仪来获取换电车1的吊装设备12的坐标原点与待换电车辆2的基准点之间的距离，通过激光角度测量仪来获取定位线11分别相对于x方向、y方向和z方向的角度。此外，所获取的换电车1的吊装设备12的坐标原点与待换电车辆2的基准点之间的距离将被分解为在x方向、y方向和z方向上的分量，以便于后续计算。
在步骤130中，基于获取的距离和角度，确定吊装设备12的末端执行器121的运动轨迹P。例如，吊装设备12可以是工业机器人，末端执行器121可以是工业机器人的手部,用于执行特定工作任务，如直接抓握零部件。在示出的实施例中，末端执行器121能够夹持电池的夹持器。具体地，首先计算吊装设备12的末端执行器121的初始运动轨迹P 0，并将该初始运动轨迹P 0储存在存储器中。例如，在定位线11为可拉伸的实体连接线的情况下，在初始位置处，已知定位线11上的受力F 0、定位线11相对于x方向的角度α 0、相对于y方向的角度β 0以及相对于z方向的角度γ 0，即，已知末端执行器121的终端位姿，通过机器人运动学逆解可以计算末端执行器121的初始运动轨迹P 0(F 0，α 0，β 0，γ 0)。应理解的是，在已知末端执行器的终端位姿的情况下，利用机器人运动学逆解求解末端执行器的运动轨迹在现有技术中是公知的，在此不再赘述。在换电位 置处，获取定位线11上的受力F 1、定位线11相对于x方向的角度α 1、相对于y方向的角度β 1以及相对于z方向的角度γ 1，则P(F 1，α 1，β 1，γ 1)＝P(F 0+ΔF，α 0+Δα，β 0+Δβ，γ 0+Δγ)，其中ΔF＝F 1-F 0，Δα＝α 1-α 0，Δβ＝F 1-β 0，Δγ＝γ 1-γ 0。因此，在换电位置处，通过获取定位线11的受力F 1、定位线11相对于x方向的角度α 1、相对于y方向的角度β 1以及相对于z方向的角度γ 1，计算F 1、α 1、β 1、γ 1分别相对于F 0、α 0、β 0、γ 0的增量，则可以基于初始运动轨迹P 0确定换电位置处的运动轨迹P。至此，换电车1相对于待换电车辆2的定位已经确定，即，末端执行器121的运动轨迹P已经确定。
在步骤140中，将运动轨迹P提供给吊装设备12的末端执行器121，末端执行器121根据所述运动轨迹P将待换电车辆2的第一电池21更换为第二电池13。在一个实施例中，通过处理器将运动轨迹P提供给吊装设备12的控制器，控制器在接收运动轨迹P之后控制末端执行器121根据运动轨迹P移动。具体地，末端执行器121首先抓取第一电池21，并从待换电车辆2中取下第一电池，随后末端执行器121抓取第二电池13，并根据运动轨迹P将第二电池13吊装并安装至待换电车辆2。
通过使用定位线11获取换电车1的吊装设备12的坐标原点相对于待换电车辆2的基准点的定位，能够准确地确定吊装设备12相对于待换电车辆2的定位，从而确定吊装设备12的运动轨迹，实现自动、准确、高效的电池更换操作。
参照图5，图5示出了根据本申请的一些实施例的用于更换车辆的电池的方法的流程图。根据本申请的一些实施例，可选地，在步骤130之后，可以在步骤150中，将定位线11从待换电车辆2中移除，准备执行换电操作。替代地，可以在未将定位线11从待换电车辆2中移除的情况下，通过停止获取换电车1的吊装设备12的坐标原点与待换电车辆2的基 准点之间的距离以及定位线11相对于待换电车辆2行驶方向x、纵向方向y以及竖直方向z的角度的方式，执行步骤140。
在已经确定末端执行器121的运动轨迹P之后，即在步骤130之后，通过移除定位线11，可以避免对已确定的运动轨迹造成干扰。
根据本申请的一些实施例，可选地，步骤140还可以包括以下步骤：步骤141，将运动轨迹P提供给末端执行器121；步骤142，末端执行器121根据运动轨迹P抓取第一电池21；步骤143，确定末端执行器121相对于第一电池21是否移动到位；步骤144，末端执行器121根据运动轨迹P安装第二电池13。
在步骤143中，可以基于吊装设备12的末端执行器121相对于第一电池21的位置确定末端执行器121相对于第一电池21是否移动到位，若移动到位，则执行步骤144，若没有移动到位，则返回至步骤120，重新获取换电车1的吊装设备12的坐标原点与待换电车辆2的基准点之间的距离以及定位线11相对于待换电车辆2行驶方向x、纵向方向y以及竖直方向z的角度，以确保末端执行器121准确抓取第一电池21。
通过确定末端执行器121相对于第一电池21是否移动到位的步骤确保了末端执行器能够准确地抓取第一电池21，同时确保了末端执行器121的运动轨迹P的准确性。
根据本申请的一些实施例，可选地，步骤140还可以包括以下步骤：步骤145，获取第二电池13相对于待更换车辆2的位置图像。具体地，可以通过成像设备获取第二电池13相对于待更换车辆2的位置图像，即安装位置图像，基于该安装位置图像校正吊装设备12的末端执行器121的运动轨迹P。例如，将获取的第二电池13相对于待换电车辆2的位置图像与电池相对于待换电车辆2安装到位时的位置图像进行比较，若比较结果在偏差允许范围内，则继续安装第二电池13，若比较结果不在偏差允许范 围内，则需要调整末端执行器121的运动轨迹P。
利用获取的第二电池13相对于待更换车辆2的位置图像对吊装设备12的末端执行器121的运动轨迹进行反馈校正，能够确保将第二电池准确地安装在待换电车辆中。
在本申请的一些实施例中，所述方法还可以包括将第一电池21传送至换电车1的存放位置，并将第二电池13传送至换电车1的换电窗口15。末端执行器121抓取第一电池21后，将第一电池21吊装到换电车1上，确认第一电池21放置到位后，通过换电车1中的电池传送单元14将第一电池21传送到存放位置。随后，第二电池13通过电池传送单元14传送到换电窗口15，以供末端执行器121抓取，并安装至待换电车辆2。
通过传送第一电池和第二电池，能够实现对第一电池和第二电池自动管理和调用，提高了换电效率。
根据本申请的另一方面，本申请还提供了一种用于更换车辆电池的换电车。
图6例示了一种用于更换车辆的电池的换电车。如图6所示，换电车1包括：定位线11(图6中未示出)、吊装设备12、第二电池13、处理器101(图6中未示出)和定位单元16。具体地，吊装设备12包括适于夹持第一电池21和第二电池13的末端执行器121。定位线11的一端位于吊装设备12的坐标原点，另一端用于连接至待换电车辆2的预先设定的基准点。定位单元16优选地被布置在吊装设备12的底座内，被配置为测量沿定位线11的距离以及定位线11相对于待换电车辆2的行驶方向x、纵向方向y以及竖直方向z的角度。定位单元16包括但不限于，位置传感器、力传感器、角度传感器。处理器101被配置为接收由定位单元16测得的距离和角度，并基于获取的距离和角度确定吊装设备12的末端执行器121的运动轨迹P，使末端执行器121根据所述运动轨迹P移动，以用 于将第一电池21更换为第二电池13。吊装设备12可以是机械手臂，其末端执行器121可以在x方向、y方向上执行平移运动，并且可以绕z方向旋转。
通过换电车1的定位线11能够准确获取换电车1的吊装设备12的坐标原点相对于待换电车辆2的基准点的定位，并且吊装设备12能够准确、自动、高效地执行电池更换操作。
根据本申请的一些实施例，吊装设备12的末端执行器121处可以设置有成像设备，成像设备被配置为获取第二电池13相对于待换电车辆2的位置图像，并将所获取的位置图像发送至处理器101，处理器101将所获取的位置图像与安装到位时的位置图像就行比较，并确定第二电池13相对于待换电车辆2的位置是否在可允许偏差范围内。
通过设置成像设备可以在执行更换电池操作过程中获取关于第二电池13相对于待换电车辆2的位置图像的数据，并将该数据反馈至处理器101，对运动轨迹P进行校正，从而形成对末端执行器的闭环控制。
根据本申请的一些实施例，换电车1还可以包括电池传送单元14，电池传送单元14可以包括致动机构和支承元件，其中致动机构可以是电机，支承元件可以是滚轮，滚轮沿运输轨道布置，当电机驱动滚轮旋转时可以将第一电池21传送至存放位置，并将第二电池13传送至换电窗口15。电池传送单元14可以配置成与处理器101通信，以自动地传送电池。
通过提供电池传送单元14，能够实现对第一电池和第二电池自动管理和调用，提高了换电效率。
根据本申请的一些实施例，吊装设备12的末端执行器121可以设置有位置传感器，所述位置传感器被配置为检测吊装设备12的末端执行器121相对于待换电车辆2中的第一电池21的位置，以确定末端执行器121 相对于第一电池21是否移动到位。
通过设置位置传感器可以确保末端执行器121准确地抓取第一电池21，同时确保运动轨迹的准确性。
另外，本申请的实施例中还提供一种电子设备。如图7所示，电子设备100包括：处理器101；以及，与处理器101通信连接的存储器102；其中，存储器102存储有可被处理器101执行的指令，当指令被处理器101执行时，指令导致处理器101能够执行本申请的实施例所提供的用于更换车辆的电池的方法。
其中，处理器101和存储器102之间直接或间接地电连接，以实现数据的传输或交互。例如，这些元件之间可以通过一条或多条通讯总线或信号总线实现电连接。用于修正电池的荷电状态的方法分别包括至少一个可以以软件或固件的形式存储于存储器102中的软件功能模块。
处理器101可以是一种集成电路芯片，具有信号处理能力。处理器501可以是通用处理器，包括CPU(Central Processing Unit，中央处理器)、NP(Network Processor，网络处理器)等；还可以是数字信号处理器、专用集成电路、现成可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。其可以实现或者执行本申请的实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器102可以存储各种软件程序以及模块，如本申请的实施例提供的用于更换车辆的电池的方法及装置对应的程序指令/模块。处理器101通过运行存储在存储器102中的软件程序以及模块，从而执行各种功能应用以及数据处理，即实现本申请的实施例中的方法。
存储器102可以包括但不限于RAM(Random Access Memory，随机存取存储器)，ROM(Read Only Memory，只读存储器)，PROM (Programmable Read-Only Memory，可编程只读存储器)，EPROM(Erasable Programmable Read-Only Memory，可擦除只读存储器)，EEPROM(Electric Erasable Programmable Read-Only Memory，电可擦除只读存储器)等。
虽然已经参考优选实施例对本申请进行了描述，但在不脱离本申请的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (11)

  1. 一种用于更换车辆的电池的方法，所述方法包括：
    将所述换电车的定位线连接至待换电车辆的预先确定的基准点；
    获取所述换电车的吊装设备的坐标原点与待换电车辆的基准点之间的距离以及定位线相对于待换电车辆行驶方向、纵向方向以及竖直方向的角度；
    基于获取的距离和角度，确定吊装设备的末端执行器的运动轨迹；
    所述运动轨迹用于提供给所述吊装设备的末端执行器，所述末端执行器根据所述运动轨迹将待换电车辆的第一电池更换为第二电池。
  2. 根据权利要求1所述的方法，其中所述方法还包括：在确定吊装设备的末端执行器的运动轨迹后，将所述定位线从待换电车辆移除。
  3. 根据权利要求1或2所述的方法，其中所述方法还包括基于所述吊装设备的末端执行器相对于所述第一电池的位置确定所述末端执行器相对于所述第一电池是否移动到位。
  4. 根据权利要求1或2所述的方法，其中所述方法还包括：基于安装位置图像校正所述吊装设备的末端执行器的运动轨迹，所述安装位置图像是由成像设备获取的第二电池相对于待换电车辆的位置图像。
  5. 根据权利要求1或2所述的方法，其中所述方法还包括将所述第一电池传送至换电车的存放位置，并将第二电池传送至换电车的换电窗口。
  6. 一种用于更换车辆的电池的换电车，所述换电车包括：
    吊装设备，所述吊装设备包括适于夹持第一电池和第二电池的末端执行器；
    定位线，所述定位线的一端位于所述吊装设备的坐标原点；
    定位单元，所述定位单元被配置为测量沿定位线的距离以及定位线相 对于待换电车辆行驶方向、纵向方向以及竖直方向的角度；
    处理器，所述处理器被配置为接收由定位单元测得的距离和角度，并基于获取的距离和角度确定所述吊装设备的末端执行器的运动轨迹，使所述末端执行器根据所述运动轨迹移动。
  7. 根据权利要求6所述的换电车，其中所述吊装设备的末端执行器设置有成像设备，所述成像设备被配置为获取第二电池相对于待换电车辆的位置图像。
  8. 根据权利要求6或7所述的换电车，其中所述换电车还包括电池传送单元，所述电池传送单元包括致动机构和支承元件，所述致动机构被配置为使支承元件移动，以将所述第一电池传送至存放位置，并将第二电池传送至换电窗口。
  9. 根据权利要求6或7所述的换电车，其中所述吊装设备的末端执行器设置有位置传感器，所述位置传感器被配置为检测所述吊装设备的末端执行器相对于待换电车辆中的第一电池的位置。
  10. 一种电子设备，包括：
    处理器；
    用于存储处理器可执行指令的存储器；其中，所述处理器被配置为调用所述存储器存储的指令，以执行权利要求1至5中任一项所述的方法。
  11. 一种计算机可读存储介质，其上存储有计算机指令，其中当由处理器执行所述计算机指令时，导致所述处理器执行权利要求1至5中任一项所述的方法。
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CN113291193A (zh) * 2021-04-06 2021-08-24 浙江吉利控股集团有限公司 一种车辆定位换电方法、装置、系统及存储介质

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