WO2023168666A1 - 电池安装状态检测方法、装置、控制器和换电站 - Google Patents

电池安装状态检测方法、装置、控制器和换电站 Download PDF

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Publication number
WO2023168666A1
WO2023168666A1 PCT/CN2022/080212 CN2022080212W WO2023168666A1 WO 2023168666 A1 WO2023168666 A1 WO 2023168666A1 CN 2022080212 W CN2022080212 W CN 2022080212W WO 2023168666 A1 WO2023168666 A1 WO 2023168666A1
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WIPO (PCT)
Prior art keywords
battery
target
sensor
tool
target vehicle
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PCT/CN2022/080212
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English (en)
French (fr)
Inventor
何乐为
王清明
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时代电服科技有限公司
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.)
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Publication date
Application filed by 时代电服科技有限公司 filed Critical 时代电服科技有限公司
Priority to PCT/CN2022/080212 priority Critical patent/WO2023168666A1/zh
Priority to CN202280035749.2A priority patent/CN117337252A/zh
Publication of WO2023168666A1 publication Critical patent/WO2023168666A1/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
    • 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

  • This application relates to the technical field of battery swapping in battery swapping stations. Specifically, it relates to a battery installation status detection method, device, controller and battery swapping station.
  • Electric vehicles are becoming more and more popular because they are more environmentally friendly. However, the charging time of electric vehicles is longer than the refueling time of vehicles using gasoline, so there are some inconveniences in the use of electric vehicles.
  • the battery life can be quickly increased by replacing the battery.
  • the purpose of the embodiments of the present application is to provide a battery installation status detection method, device, controller and battery swap station, so as to improve the safety hazards existing in the battery installation process.
  • embodiments of the present application provide a battery installation status detection method, which includes: after the first target battery is installed on the target vehicle, controlling the transport tool to move away from the target vehicle.
  • the transport tool is used for installation and transportation.
  • the tool for the first target battery when the transport tool is away from the target vehicle, object detection is performed through the sensor on the transport tool; if the sensor detects an abnormality in the installation of the first target battery, the The target vehicle performs exception handling.
  • performing abnormal processing on the target vehicle includes: controlling the transport tool to reinstall the first target battery.
  • performing abnormal processing on the target vehicle includes: selecting a second target battery from the battery compartment; and installing the second target battery on the target vehicle.
  • performing exception processing on the target vehicle includes:
  • the sensor detects that the number of times that the battery installation of the target vehicle is abnormal does not exceed the abnormal threshold, select a third target battery from the battery compartment and use the third target battery to replace the first target battery on the target vehicle. ;
  • an alarm prompt is output.
  • a first sensor and a second sensor are provided on the conveyor tool, and object detection through the sensors on the conveyor tool includes:
  • a second object is detected in a second area through the second sensor on the conveying tool, and the first area and the second area are partial areas of the battery storage position of the target vehicle.
  • the senor includes a proximity sensor
  • the object detection through the sensor on the conveyor includes:
  • the first target battery is detected within the distance threshold, it indicates that there is an abnormality in the installation of the first target battery.
  • the object detection through sensors on the conveying tool includes:
  • the image data is identified to determine whether there is an abnormality in the installation of the first target battery.
  • the senor includes a distance sensor
  • the object detection through the sensor on the conveyor includes:
  • the sensor detects an abnormality in the installation of the first target battery.
  • a battery installation status detection device including:
  • a control module configured to control a transport tool to move away from the target vehicle after the first target battery is installed on the target vehicle.
  • the transport tool is a tool for installing and transporting the first target battery;
  • a detection module configured to detect objects through sensors on the transportation tool while the transportation tool is moving away from the target vehicle;
  • a processing module configured to perform abnormal processing on the target vehicle if the sensor detects an abnormality in the installation of the first target battery.
  • embodiments of the present application provide a controller, including: a processor and a memory.
  • the memory stores machine-readable instructions executable by the processor.
  • the controller When the controller is running, the machine-readable instructions are stored in the memory.
  • the instructions when executed by the processor, perform the steps of the above method.
  • embodiments of the present application provide a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the above method when run by a processor.
  • embodiments of the present application provide a power swap station, including: a transportation system, a battery compartment and a control device;
  • the conveying system includes a conveying tool and the above-mentioned controller.
  • the battery installation status detection method, device, controller and battery swap station provided by the embodiments of the present application can be detected by the sensor on the transportation tool after the battery installation is completed, and further abnormality processing can be performed when there is an abnormality in the battery installation.
  • the success rate of battery installation can be improved, and the installed battery will be more reliable, furthermore, the safety of the vehicle in which the battery is installed can be better ensured.
  • Figure 1 is a schematic diagram of the operating environment of the battery installation status detection method provided by the embodiment of the present application.
  • Figure 2 is a schematic structural diagram of a power swap station provided by an embodiment of the present application.
  • Figure 3 is a flow chart of a battery installation status detection method provided by an embodiment of the present application.
  • FIG. 4 is a detailed flow chart of step 330 of the battery installation status detection method provided by the embodiment of the present application.
  • Figure 5 is another detailed flow chart of step 330 of the battery installation status detection method provided by the embodiment of the present application.
  • Figure 6 is a schematic structural diagram of the battery storage location of the target vehicle provided by the embodiment of the present application.
  • FIG. 7 is a detailed flow chart of step 320 of the battery installation status detection method provided by the embodiment of the present application.
  • Figure 8 is another detailed flow chart of step 320 of the battery installation status detection method provided by the embodiment of the present application.
  • FIG. 9 is a schematic diagram of the functional modules of the battery installation status detection device provided by the embodiment of the present application.
  • a fully charged battery can be a battery with a charge of 100%, and a fully charged battery can represent a battery with a charge greater than a specified value.
  • the specified value can be 90%, 95%, etc.
  • this application provides a battery installation status detection method that can detect the battery installation status at an appropriate time to improve the stability of the battery installation results.
  • the battery installation status detection method provided by this application is described below through several embodiments.
  • the running environment of the battery installation status detection method may include a battery swap station 100 and a server 200 .
  • the server 200 communicates with one or more power swap stations 100 through the network for data communication or interaction.
  • the server can be a web server, database server, etc.
  • the battery swap station 100 is used to swap batteries for electric vehicles.
  • the power swap station 100 may include: a transportation system 110 , a battery compartment 120 , a control device 130 and a parking space 140 .
  • the transportation system 110 is used to transport batteries replaced from electric vehicles, and can also be used to transport batteries taken from the battery compartment 120 .
  • the conveying system 110 may include: conveying tools, conveying tracks, and a controller.
  • the conveying tool can travel on the conveying track to move the batteries that need to be processed.
  • the conveying tool can be controlled by a controller, and the conveying tool moves according to the control instructions of the controller.
  • the controller may control the delivery tool based on data provided by the control device 130 .
  • the controller may be a programmable logic controller (Programmable Logic Controller, referred to as PLC).
  • PLC Programmable Logic Controller
  • the transportation tool may include a Rail Guided Vehicle (RGV for short), a palletizer, and other tools.
  • RSV Rail Guided Vehicle
  • the palletizer is used to take batteries from the battery compartment and transfer the batteries to the rail-guided vehicle.
  • the palletizer is also used to remove batteries from rail-guided vehicles and return them to the battery compartment.
  • the power swap station 100 can communicate with the server through the control device 130 .
  • the control device 130 can also establish a communication connection with the electric vehicle whose battery is to be replaced, so as to obtain data transmitted by the electric vehicle whose battery is to be replaced.
  • the controller may include a memory and a processor.
  • the above-mentioned memory and processor components are directly or indirectly electrically connected to each other to realize data transmission or interaction.
  • these components may be electrically connected to each other through one or more communication buses or signal lines.
  • the above-mentioned processor is used to execute executable modules stored in the memory.
  • the memory can be, but is not limited to, random access memory (Random Access Memory, referred to as RAM), read-only memory (Read Only Memory, referred to as ROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM) , Erasable Programmable Read-Only Memory (EPROM for short), Electrically Erasable Programmable Read-Only Memory (EEPROM for short), etc.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • PROM programmable read-only memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • the above-mentioned processor may be an integrated circuit chip with signal processing capabilities.
  • the above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP) , Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • controller may also include more or fewer components, or be configured differently.
  • the controller may further include a display unit that provides an interactive interface (such as a user operation interface) between the controller and the user or is used to display image data for the user's reference.
  • the display unit may be a liquid crystal display or a touch display. If it is a touch display, it can be a capacitive touch screen or a resistive touch screen that supports single-point and multi-touch operations. Supporting single-point and multi-touch operations means that the touch display can sense touch operations that occur simultaneously from one or more locations on the touch display and transfer the sensed touch operations to the processor for processing Calculation and processing.
  • the controller in this embodiment can be used to execute each step in each method provided by the embodiment of this application.
  • the implementation process of the battery installation status detection method is described in detail below through several embodiments.
  • Figure 3 is a flow chart of a battery installation status detection method provided by an embodiment of the present application. The specific process shown in Figure 3 will be elaborated below.
  • Step 310 After the first target battery is installed on the target vehicle, control the transport tool to move away from the target vehicle.
  • the transport tool is used to install and transport the first target battery.
  • the delivery tool may be controlled by a controller.
  • the first target battery may be a power supply battery selected from a battery compartment in a battery swap station according to the requirements of the target vehicle.
  • Step 320 While the transport tool is moving away from the target vehicle, object detection is performed through the sensor on the transport tool.
  • the transport tool may start the detection action of the sensor of the transport tool after performing the installation action of the first target battery.
  • the sensor on the conveying tool may also be in a continuously working state. When the conveying tool moves away from the target vehicle, the detection data of the sensor on the conveying tool may determine the installation status of the first target battery.
  • the target vehicle can be raised to a specified height before installing the battery.
  • the conveying tool is controlled to descend first to move away from the target vehicle, to further control the conveying tool to move out of the bottom of the target vehicle, and then lower the target vehicle.
  • the object is detected through the sensor on the conveyor tool while the conveyor tool is descending.
  • the senor can be used to detect whether the target battery on the target vehicle is installed. For example, a sensor can be used to detect whether the target battery has fallen. For another example, a sensor can be used to detect whether the target battery is in a horizontal state. For another example, a sensor can be used to detect whether the target battery is parallel to the conveying tool. For another example, a sensor can be used to detect whether the target battery is neatly arranged.
  • the battery installation tool can lower the battery from the top of the vehicle to install the battery between the front of the car and the cargo box.
  • the conveying tool is first controlled to rise to move away from the target vehicle to further control the conveying tool to move out of the top of the target vehicle.
  • the object is detected through the sensor on the conveyor tool while the conveyor tool is rising.
  • the senor can be used to detect whether the target battery on the target vehicle is installed.
  • a sensor can be used to detect whether the target battery's display status meets the set standards.
  • the sensor can be used to detect the distance to the first target battery to determine whether the arrangement of the first target battery in the battery storage position of the target vehicle is qualified.
  • the distance between the transport tool and the target vehicle gradually becomes larger, and the distance between the sensor of the transport tool and the target vehicle also gradually becomes larger, and then the sensor can detect the distance between the transport tool and the target vehicle.
  • the distance between the sensor and the first target battery and the theoretical distance between the sensor and the first target battery are used to determine whether the placement of the first target battery in the battery storage position of the target vehicle is qualified. For example, if the distance is smaller than the theoretical distance, it may indicate that the first target battery configuration is unqualified. For example, if the distance is equal to the theoretical distance, it may indicate that the first target battery configuration is qualified.
  • the theoretical distance between the sensor and the first target battery can represent the distance between the current position of the sensor and the first target battery if the first target battery is successfully installed in the battery storage position of the target vehicle.
  • multiple sensors may be installed on the conveying tool, and it may also be determined based on multiple distances to the first target battery detected by the multiple sensors whether the first target battery is qualified for display.
  • the multiple sensors on the conveying tool detecting the distance to the first target battery can characterize whether the first target battery is in a horizontal state. For example, if multiple sensors detect that the distance to the first target battery is equal, or if the difference between any two sensors detecting the distance to the first target battery is less than a preset value, the first target battery arrangement can be characterized. qualified. For example, if the two sensors detect that the difference in distance from the first target battery is greater than a preset value, it may indicate that the first target battery is not in a horizontal state compared to the ground, and the first target battery display is unqualified.
  • Step 330 perform exception processing on the target vehicle.
  • the exception handling may include outputting a prompt message.
  • the prompt message may include abnormal content.
  • the controller that controls the transportation tool can transmit an abnormal signal to the control device of the power swap station, and the control device can output a prompt message according to the abnormal signal.
  • the way of outputting the prompt message may include: displaying the prompt message on a display of the control device of the power swap station.
  • the method of outputting the prompt message may also include: playing the prompt message on a speaker provided in the power swap station.
  • the exception processing may include re-fixing and installing the first target battery through a transport tool.
  • the conveying tool may repeatedly perform the installation operation on the first target battery through the conveying tool.
  • the sensor on the transportation tool can be detected, and when there is an abnormality in the battery installation, further abnormality processing can be performed.
  • the success rate of battery installation can be improved, and the installed battery will be more reliable, furthermore, the safety of the vehicle in which the battery is installed can be better ensured.
  • step 330 may include: controlling the transport tool to perform a reinstallation operation on the first target battery.
  • the transport tool installs the first target battery
  • multiple actions may be included, and during exception processing, only the last action may be executed.
  • the actions involved in the process of installing the first target battery may include: positioning the target vehicle and the transport tool pushing the first target battery toward the target vehicle.
  • the conveying tool can be controlled to perform again: pushing the first target battery toward the target vehicle to place the first target battery into the battery storage position of the target vehicle.
  • the abnormality processing may include: controlling the transport tool to move upward to lift the first target battery so that the first target battery is engaged with the target vehicle.
  • the last action of the transport tool to install the battery for the target vehicle is to lower the first target battery from a high place and drop it into the battery storage position of the target vehicle.
  • the exception handling may be: grabbing the first target battery through the transport tool, and then reinstalling the first target battery on the target vehicle.
  • the process of installing the first target battery by the transport tool may include multiple actions, and all actions may be performed during exception processing.
  • the actions involved in the process of installing the first target battery may include: positioning the target vehicle and the transport tool pushing the first target battery toward the target vehicle.
  • the conveying tool can be controlled to disassemble the first target battery; then, the target vehicle is positioned; finally, the conveying tool is controlled to push the first target battery toward the target vehicle to remove the first target battery. Place it into the battery storage space of the target vehicle.
  • the actions of the transport tool to install the first target battery on the target vehicle include: positioning the target vehicle and pushing the first target battery upward so that the first target battery is installed on the target vehicle. on the vehicle.
  • the exception processing may include: the transport tool removes the first target battery from the target vehicle, the transport tool performs a positioning operation on the target vehicle, and then the transport tool moves upward to lift the first target battery so that the third target battery is lifted. A target battery is snapped onto the target vehicle.
  • the first target battery can be simply reinstalled, which can reduce the time required for battery reinstallation. operate.
  • this step 330 may include: step 331 and step 332.
  • Step 331 Select the second target battery from the battery compartment.
  • the criteria for screening the second target battery may be the same as the above-mentioned criteria for the first target battery.
  • the filtering criterion of the first target battery is to filter batteries with a specified electric capacity or more
  • the filtering criterion of the second target battery may also be to filter batteries with a specified electric capacity or more.
  • the filtering criterion of the first target battery is to filter batteries of a specified model
  • the filtering criterion of the second target battery may also be to filter batteries of a specified model.
  • the criteria for screening the second target battery may also be different from the criteria for the first target battery.
  • the second target battery may be a screening criterion that distinguishes it from the first target battery.
  • the filtering criterion of the first target battery is to filter batteries with a first specified battery capacity or above
  • the filtering criterion of the second target battery may also be to filter batteries with a second specified battery capacity or above.
  • the criteria for screening the second target battery may also be irrelevant to the criteria for the first target battery.
  • the second target battery can be selected based on the battery required by the target vehicle. For example, the second target battery may be filtered based on the type parameter of the target vehicle.
  • Step 332 Install the second target battery on the target vehicle.
  • the second target battery may be installed in the same manner as the first target battery.
  • the installation method of the second target battery can also be other methods, as long as the second target battery can be placed in the target vehicle. This embodiment does not limit the installation method of the second target battery.
  • step 330 may include:
  • Step 333 Determine whether the number of times the sensor detects abnormalities in the battery installation of the target vehicle exceeds the abnormality threshold.
  • step 334 is executed.
  • An exception count variable can be preset, which is used to store the number of abnormal battery installations in the vehicle currently being replaced.
  • the abnormality count variable may only be used to record the number of abnormal battery installations each time the vehicle drives into the battery swap station.
  • the abnormality count variable is cleared to zero.
  • the abnormality count variable is incremented by one; when the transportation tool The detection result of the sensor indicates that the battery of the target vehicle is installed normally, then the abnormal count variable is cleared to zero.
  • Step 334 Select a third target battery from the battery compartment, and use the third target battery to replace the first target battery on the target vehicle.
  • step 335 is executed.
  • step 334 is similar to the implementation process of step 331 and step 332.
  • step 334 please refer to the description in step 331 and step 332, which will not be described again here.
  • Step 335 Output an alarm prompt.
  • the controller can send an abnormal signal to the control device of the power swap station, and the control device outputs an alarm prompt.
  • the controller can also be connected to an alarm through which an alarm prompt is output.
  • the alarm may be an audible and visual alarm.
  • the success rate of battery replacement can be improved without too long waiting time, relevant personnel can be notified in time for abnormal handling, and the safety of the vehicle can also be improved.
  • the conveying tool may be provided with multiple sensors.
  • two sensors may be provided on the conveying tool, namely a first sensor and a second sensor.
  • Step 320 may include: performing first object detection on the first area through the first sensor on the conveying tool; performing second object detection on the second area through the second sensor on the conveying tool.
  • the first area and the second area are partial areas of the battery storage space of the target vehicle.
  • Whether there is an abnormality in the battery installation of the target vehicle is determined based on the first detection result of the first object detection and the first detection result of the second object detection.
  • the first sensor may be a proximity sensor
  • the second sensor may also be a proximity sensor.
  • the distance to the first target battery can be detected by the proximity sensor.
  • the first target battery is a rectangular battery
  • the battery storage location of the target vehicle is also a rectangular storage location
  • the first area may be located near one of the long sides of the rectangular storage location.
  • area P1 and the second area is located in area P2 near the other long side of the rectangular storage location.
  • the line connecting the center of the area P1 and the center of the area P2 may not be parallel to the long side of the rectangular storage location, and the line connecting the center of the area P1 and the center of the area P2 may not be parallel to the short side of the rectangular storage location.
  • the sides are parallel.
  • the line connecting the center of the area P1 and the center of the area P2 is not parallel to the short side of the rectangular storage location.
  • the center of the area P1 is not parallel to the center of the area P2.
  • the connecting lines are also not parallel to the long sides of the rectangular storage locations.
  • the two sensors can respectively perform object detection on the first target battery and determine the detection results respectively.
  • the distance between the first sensor and the first target battery detected in the first area and the theoretical distance between the sensor and the first target battery it can be determined that the first target battery is in the target at the first area.
  • Check whether there are any abnormalities in the furnishings in the vehicle's battery storage space For example, if the distance detected by the first sensor is smaller than the theoretical distance, it may indicate that there is an abnormality in the first target battery arrangement. For example, if the distance detected by the first sensor is equal to the theoretical distance, it may indicate that the first target battery is qualified for display in the first area.
  • the distance between the first target battery and the first target battery in the second area is determined based on the distance between the second sensor and the first target battery detected in the second area and the theoretical distance between the sensor and the first target battery.
  • Check whether there are any abnormalities in the furnishings in the vehicle's battery storage space For example, if the distance detected by the second sensor is smaller than the theoretical distance, it may indicate that there is an abnormality in the first target battery arrangement. For example, if the distance detected by the second sensor is equal to the theoretical distance, it may indicate that the first target battery is qualified for display in the second area.
  • the detection result of any one of the first sensor or the second sensor indicates that the arrangement of the first target battery in the battery storage location of the target vehicle is abnormal, then the arrangement of the first target battery in the battery storage location of the target vehicle exists. Abnormal; if the detection results of two of the first sensor or the second sensor indicate that the placement of the first target battery in the battery storage location of the target vehicle is qualified, then the placement of the first target battery in the battery storage location of the target vehicle qualified.
  • two sensors can perform object detection on the first target battery, and the detection result is determined based on the detection data of the two sensors.
  • the first sensor may be used to detect the distance to the first target battery
  • the second sensor may be used to detect the distance to the first target battery. Based on the distance detected by the first sensor and the distance detected by the second sensor, it is determined whether there is an abnormality in the installation of the first target battery. For example, if the distance detected by the first sensor is the same as the distance detected by the second sensor, it can be determined whether there is an abnormality in the installation of the first target battery.
  • a larger number of sensors can be provided on the conveying tool to detect multiple areas of the battery storage location.
  • the sensor installed on the conveying tool may be a proximity sensor, and step 320 may include: using the proximity sensor on the conveying tool to detect whether the first target battery is detected within a distance threshold.
  • the first target battery is detected within the distance threshold, it indicates that there is an abnormality in the installation of the first target battery.
  • the distance threshold can be set as required.
  • the distance threshold can be determined based on the real-time location of the transport tool.
  • the corresponding distance thresholds may also be different depending on the location of the transport tool.
  • the distance between the upper surface of the transportation tool and the bottom of the target vehicle can be determined based on the real-time position of the transportation tool and the location of the bottom of the target vehicle.
  • the distance threshold can be smaller than the upper surface of the transportation tool. A value that is the distance from the bottom of the target vehicle.
  • the proximity sensor it is possible to determine whether there is an abnormality in the installation of the first target battery through simple distance data.
  • the requirements for the equipment required for detection are relatively low, so the detection cost can also be relatively low.
  • the proximity sensor detection data is relatively simple, the anomaly detection efficiency is relatively high.
  • step 320 may include step 321 and step 322.
  • Step 321 Collect image data of the target vehicle through the sensor on the transport tool.
  • the image data may be image data of the side where the battery storage position of the target vehicle is located.
  • the transport tool may include multiple image acquisition sensors, and images of the side of the target vehicle close to the transport tool are collected through the multiple image capture sensors.
  • the image data collected by the sensor may be an image of the bottom of the target vehicle.
  • the image data collected by the sensor may be an image of the top of the target vehicle.
  • Step 322 Recognize the image data to determine whether there is an abnormality in the installation of the first target battery.
  • the image data can be compared with a standard image to determine whether there is an abnormality in the installation of the first target battery.
  • the standard image may be an image taken when the target vehicle is equipped with a battery and the battery installation is qualified.
  • the standard image may be an image taken when a battery is installed in a vehicle of the same model as the target vehicle and the battery installation is qualified.
  • the distance between the transport tool and each position point on the first target battery can also be determined through image recognition.
  • the distance between the transport tool and each position point on the first target battery can be determined. Is there any abnormality in the target battery installation?
  • each position point on the first target battery may be multiple position points located on the same plane.
  • the distance between the transport tool and each position point on the first target battery can be compared with the theoretical distance between the sensor and the first target battery to determine whether there is an abnormality in the installation of the first target battery.
  • the distance between the transport tool and each location point on the first target battery can be compared to determine whether there is an abnormality in the installation of the first target battery. For example, if the distance difference between the transportation tool and each position point on the first target battery is greater than a preset value, it may indicate that there is an abnormality in the installation of the first target battery.
  • the preset value can be set as required, for example, the preset value can be 1cm, 2cm, etc.
  • the image data can be subsequently processed by the controller to determine whether there is an abnormality in the installation of the first target battery.
  • the image acquisition sensor may also be provided with a processor, which processes the image data collected by the image acquisition sensor to determine whether there is an abnormality in the installation of the first target battery.
  • the battery installation situation on the target vehicle can be intuitively presented through the image, and the image data can more comprehensively present the image of the battery storage location of the target vehicle; through visual recognition or comparison with standard images, the battery installation situation can be more intuitively and comprehensively represented.
  • the state of a target battery can also further improve the accuracy of state detection of the first target battery.
  • the senor includes a distance sensor. As shown in FIG. 8 , step 320 may include: step 323 to step 325.
  • Step 323 Perform distance detection through the sensor on the transport tool to determine the first distance between the sensor and the first target battery.
  • the senor can output a light pulse.
  • the time when the light pulse encounters the first target battery and is reflected back by the first target battery is calculated based on the time from when the light pulse is emitted to when it is reflected back. distance.
  • Step 324 Determine the second distance between the sensor and the target vehicle based on the movement data of the transportation tool.
  • the movement data may include the movement duration, movement speed, etc. of the transport tool.
  • the transportation tool after the transportation tool installs the first target battery, it can move away from the target vehicle. Then, the second distance between the transportation tool and the target vehicle can be determined based on the moving speed and movement time of the transportation tool. .
  • the battery can be successfully installed in the target vehicle and the first target battery is successfully installed in the battery storage position of the target vehicle, the surface of the first target battery and the bottom of the target vehicle will be on the same plane. , then the second distance between the sensor and the target vehicle is equal to the first distance between the sensor and the first target battery.
  • the battery can be successfully installed in the target vehicle, and the first target battery is successfully installed in the battery storage position of the target vehicle, there is a gap between the surface of the first target battery and the bottom of the target vehicle. If there is a height difference, the sum of the second distance between the sensor and the target vehicle and the height difference is equal to the first distance between the sensor and the first target battery.
  • Step 325 Compare the first distance with the second distance.
  • the sensor detects an abnormality in the installation of the first target battery.
  • the two sensors By detecting the first distance and the second distance from the first target battery by the two sensors, it can be determined whether the arrangement of the first target battery is flat compared with the arrangement of the conveying tool. Furthermore, detection of multiple sensors and multiple locations can make the detection results more accurate.
  • the embodiments of this application also provide a battery installation status detection device corresponding to the battery installation status detection method, because the principle of solving the problem of the device in the embodiments of this application is similar to the aforementioned battery installation status detection method embodiment. , therefore, the implementation of the device in this embodiment can refer to the description in the embodiment of the above method, and repeated details will not be repeated.
  • FIG. 9 is a schematic diagram of the functional modules of the battery installation status detection device provided by the embodiment of the present application.
  • Each module in the battery installation status detection device in this embodiment is used to perform each step in the above method embodiment.
  • the battery installation status detection device includes: a control module 410, a detection module 420 and a processing module 430; the contents of each module are as follows:
  • the control module 410 is used to control the transport tool to move away from the target vehicle after the first target battery is installed on the target vehicle.
  • the transport tool is a tool for installing and transporting the first target battery;
  • the detection module 420 is used to detect objects through the sensors on the transportation tool when the transportation tool is away from the target vehicle;
  • the processing module 430 is configured to perform abnormal processing on the target vehicle if the sensor detects an abnormality in the installation of the first target battery.
  • the processing module 430 is used to:
  • the conveying tool is controlled to perform the reinstallation operation on the first target battery.
  • the processing module 430 is configured to select a second target battery from the battery compartment; and install the second target battery on the target vehicle.
  • the processing module 430 is configured to: if the sensor detects that the number of abnormal battery installations in the target vehicle does not exceed the abnormal threshold, select a third target battery from the battery compartment, and use the third target battery. The battery replaces the first target battery on the target vehicle; if the sensor detects that the number of abnormal battery installations in the target vehicle exceeds the abnormal threshold, an alarm prompt is output.
  • a first sensor and a second sensor are provided on the conveying tool, and the detection module 420 is used to detect the first object in the first area through the first sensor on the conveying tool;
  • the second sensor on the conveyor implements a second object detection in a second area, and the first area and the second area are part of the battery storage area of the target vehicle.
  • the sensor includes a proximity sensor
  • the detection module 420 is configured to detect whether the first target battery is detected within a distance threshold through the proximity sensor on the transportation tool; wherein, the detection module 420 detects whether the first target battery is detected within the distance threshold.
  • the first target battery indicates that there is an abnormality in the installation of the first target battery.
  • the detection module 420 is configured to collect image data of the target vehicle through a sensor on the transportation tool; and identify the image data to determine whether there is an abnormality in the installation of the first target battery.
  • the senor includes a distance sensor and a detection module 420, used for:
  • the sensor detects an abnormality in the installation of the first target battery.
  • embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program. When the computer program is run by a processor, it executes the battery installation status detection method described in the above method embodiment. A step of.
  • the computer program product of the battery installation status detection method includes a computer-readable storage medium storing program code.
  • the instructions included in the program code can be used to execute the battery installation status described in the above method embodiment.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more components for implementing the specified logical function(s). Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
  • each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration can be implemented by special purpose hardware-based systems that perform the specified functions or acts. , or can be implemented using a combination of specialized hardware and computer instructions.
  • each functional module in each embodiment of the present application can be integrated together to form an independent part, each module can exist alone, or two or more modules can be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or optical disk and other media that can store program code.
  • relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them.
  • the terms “comprises,” “comprises,” or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.
  • an element defined by the statement "comprising" does not exclude the presence of additional identical elements in a process, method, article, or device that includes the stated element.

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Abstract

本申请提供了一种电池安装状态检测方法、装置、控制器和换电站，其中，该方法包括：在第一目标电池安装至目标车辆上后，控制输送工具远离该目标车辆，该输送工具为安装和运输该第一目标电池的工具；在该输送工具远离该目标车辆过程中，通过该输送工具上的传感器进行物体检测；若该传感器检测到该第一目标电池安装存在异常，对该目标车辆进行异常处理。

Description

电池安装状态检测方法、装置、控制器和换电站 技术领域
本申请涉及换电站的换电技术领域，具体而言，涉及一种电池安装状态检测方法、装置、控制器和换电站。
背景技术
由于电动车辆比较环保，因此电动车辆的普及度越来越高。但是电动车辆的充电时长相较于使用汽油的车辆加油时长更长，因此电动车辆的使用存在一些不便
为了解决上述不便，可以通过换电池的方式，实现快速增加电动车辆的续航。但是不可避免电池的更换可能会存在一些安全隐患。
发明内容
有鉴于此，本申请实施例的目的在于提供一种电池安装状态检测方法、装置、控制器和换电站，以为改善电池安装过程中存在的安全隐患。
第一方面，本申请实施例提供了一种电池安装状态检测方法，包括：在第一目标电池安装至目标车辆上后，控制输送工具远离所述目标车辆，所述输送工具为安装和运输所述第一目标电池的工具；在所述输送工具远离所述目标车辆过程中，通过所述输送工具上的传感器进行物体检测；若所述传感器检测到所述第一目标电池安装存在异常，对所述目标车辆进行异常处理。
可选地，所述对所述目标车辆进行异常处理，包括：控制所述输送工具，对所述第一目标电池进行再次安装操作。
可选地，所述对所述目标车辆进行异常处理，包括：从电池仓中选取第二目标电池；将所述第二目标电池安装在所述目标车辆上。
可选地，所述对所述目标车辆进行异常处理，包括：
若所述传感器检测到所述目标车辆的电池安装存在异常的次数未超过异常阈值，从电池仓中选取第三目标电池，使用所述第三目标电池替换所述目标车辆上的第一目标电池；
若所述传感器检测到所述目标车辆的电池安装存在异常的次数超过异常阈值，输出报警提示。
可选地，所述输送工具上设置第一传感器和第二传感器，所述通过所述输送工具上的传感器进行物体检测，包括：
通过所述输送工具上的所述第一传感器，对第一区域进行第一物体检测；
通过所述输送工具上的所述第二传感器，对第二区域进行第二物体检测，所述第一区域和所述第二区域为所述目标车辆的电池存放位的部分区域。
可选地，所述传感器包括接近传感器，所述通过所述输送工具上的传感器进行物体检测，包括：
通过所述输送工具上的接近传感器，检测距离阈值内是否检测到所述第一目标电池；
其中，所述距离阈值内检测到所述第一目标电池，则表示所述第一目标电池安装存在异常。
可选地，所述通过所述输送工具上的传感器进行物体检测，包括：
通过输送工具上的传感器，采集所述目标车辆的图像数据；
对所述图像数据进行识别，以确定所述第一目标电池安装是否存在异常。
可选地，所述传感器包括距离传感器，所述通过所述输送工具上的传感器进行物体检测，包括：
通过所述输送工具上的传感器进行距离检测，确定所述传感器与所述第一目标电池的第一距离；
根据所述输送工具的移动数据，确定出所述传感器与所述目标车辆的第二距离；
将所述第一距离与所述第二距离进行对比；
若所述第一距离小于所述第二距离，则表示所述传感器检测到所述第一目标电池安装存在异常。
第二方面，本申请实施例提供了一种电池安装状态检测装置，包括：
控制模块，用于在第一目标电池安装至目标车辆上后，控制输送工具远离所述目标车辆，所述输送工具为安装和运输所述第一目标电池的工具；
检测模块，用于在所述输送工具远离所述目标车辆过程中，通过所述输送工具上的传感器进行物体检测；
处理模块，用于若所述传感器检测到所述第一目标电池安装存在异常，对所述目标车辆进行异常处理。
第三方面，本申请实施例提供了一种控制器，包括：处理器、存储器，所述存储器存储有所述处理器可执行的机器可读指令，当控制器运行时，所述机器可读指令被所述处理器执行时执行上述的方法的步骤。
第四方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述的方法的步骤。
第五方面，本申请实施例提供了一种换电站，包括：输送系统、电池仓和控制设备；
其中，所述输送系统包括输送工具和上述的控制器。
本申请实施例提供的电池安装状态检测方法、装置、控制器和换电站，在电池安装完成之后可以通过输送工具上的传感器的检测，在电池的安装存在异常时可以进一步地进行异常处理。可以提高电池安装的成功率，以及安装的电池也更加可靠，进一步地也能够更好地保障安装电池的车辆的安全性。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，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，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的电池安装状态检测方法的运行环境示意图；
图2为本申请实施例提供的换电站的结构示意图；
图3为本申请实施例提供的电池安装状态检测方法的流程图；
图4为本申请实施例提供的电池安装状态检测方法的步骤330的详细流程图；
图5为本申请实施例提供的电池安装状态检测方法的步骤330的另一详细流程图；
图6为本申请实施例提供的目标车辆的电池存放位置的结构示意图；
图7为本申请实施例提供的电池安装状态检测方法的步骤320的详细流程图；
图8为本申请实施例提供的电池安装状态检测方法的步骤320的另一详细流程图；
图9为本申请实施例提供的电池安装状态检测装置的功能模块示意图。
具体实施方式
需要下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行描述。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
随着对环境保护的重视，更加环保的新能源电动车也得到了较为快速的发展。然而电动车充电速度较慢，如果在用车过程中，电动车电量不足，驾驶员需要等待较长时间，这无疑会影响驾驶员的使用体验。
基于此现状，现出现了一种新的技术，可以直接将电动车上的电池更换为满电电池或足电电池，而换电池所需时间远小于为电池充满电所需时间。满电电池可以是电量为100％的电池，该足电电池可以表示电量为大于指定数值的电池。该指定数值可以是90％、95％等值。
经发明人研究了解到，不可避免电池在安装的过程中可能存在未安装成功，因此，对电池的安装状态的检测是必须的。基于此，本申请提供的一种电池安装状态检测方法，可以在适当时机对电池的安装情况进行检测，以提高电池的安装结果的稳定性。下面通过几个实施例来描述本申请提供的电池安装状态检测方法。
为便于对本实施例进行理解，首先对执行本申请实施例所公开的一种电池安装状态检测方法的运行环境进行介绍。
如图1所示，是本申请实施例提供的电池安装状态检测方法的运行环境示意图。该电池安装状态检测方法的运行环境中可以包括换电站100和服务器200。该服务器200通过网络与一个或多个换电站100进行通信连接，以进行数据通信或交互。该服务器可以是网络服务器、数据库服务器等。
该换电站100用于为电动车辆换电池。
如图2所示，该换电站100中可以包括：输送系统110、电池仓120、控制设备130以及停车位140。
该输送系统110用于运输从电动车辆换下来的电池，也可以用于运输从电池仓120中拿取的电池。
示例性地，该输送系统110可以包括：输送工具、输送轨道和控制器。
其中，该输送工具可以在该输送轨道上行驶，以移动需要处理的电池。该输送工具可以受控制器的控制，该输送工具根据该控制器的控制指令移动。该控制器可以基于控制设备130提供的数据控制输送工具。
示例性地，该控制器可以是可编程逻辑控制器(Programmable Logic Controller，简称：PLC)。
示例性地，该输送工具可以包括有轨制导车辆(Rail Guided Vehicle，简称：RGV)、码垛机等工具。
其中，该码垛机用于从电池仓上拿取电池，以及并将电池转移给有轨制导车辆。该码垛机还用于从有轨制导车辆拿取电池，并将电池放回电池仓内。
该换电站100可以通过控制设备130与服务器实现通信。该控制设备130还可以与待换电池的电动车辆建立通信连接，以获取该待换电池的电动车辆传输的数据。
本实施例中，该控制器可以包括存储器和处理器。
上述的存储器和处理器各元件相互之间直接或间接地电性连接，以实现数据的传输或交互。例如，这些元件相互之间可通过一条或多条通讯总线或信号线实现电性连接。上述的处理器用于执行存储器中存储的可执行模块。
其中，存储器可以是，但不限于，随机存取存储器(Random Access Memory，简称RAM)，只读存储器(Read Only Memory，简称ROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，简称EEPROM)等。其中，存储器用于存储计算机程序，该处理器在接收到执行指令后，执行所述程序，本申请实施例任一实施例揭示的过程定义的控制器所执行的方法可以应用于处理器中，或者由处理器实现。
上述的处理器可能是一种集成电路芯片，具有信号的处理能力。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(digital signal processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)、现场可编程门阵列(FPGA)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。可以实现或者执行本申请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。
本领域普通技术人员可以理解，本申请实施例上述对控制设备所包含的组件的举例不应该对该控制器的结构造成限定。例如，控制器还可包括更多或者更少的组件，或者不同的配置。
例如，该控制器还可以包括显示单元，该显示单元在控制器与用户之间提供一个交互界面(例如用户操作界面)或用于显示图像数据给用户参考。在本实施例中，该显示单元可以是液晶显示器或触控显示器。若为触控显示器，其可为支持单点和多点触控操作的电容式触控屏或电阻式触控屏等。支持单点和多点触控操作是指触控显示器能感应到来自该触控显示器上一个或多个位置处同时产生的触控操作，并将该感应到的触控操作交由处理器进行计算和处理。
本实施例中的控制器可以用于执行本申请实施例提供的各个方法中的各个步骤。下面通过几个实施例详细描述电池安装状态检测方法的实现过程。
请参阅图3，是本申请实施例提供的电池安装状态检测方法的流程图。下面将对图3所示的具体流程进行详细阐述。
步骤310，在第一目标电池安装至目标车辆上后，控制输送工具远离该目标车辆。
该输送工具用于安装和运输该第一目标电池。示例性地，该输送工具可以由控制器控制。
该第一目标电池可以是按照目标车辆的需求从换电站中的电池仓中选取的供电电池。
步骤320，在该输送工具远离该目标车辆过程中，通过该输送工具上的传感器进行物体检测。
在第一目标电池安装至目标车辆上后，运输该第一目标电池的输送工具远离该目标车辆过程中，通过该输送工具上的传感器进行物体检测。
可选地，该输送工具可以在执行了将第一目标电池的安装动作后，可以启动该输送工具的传感器的进行检测动作。可选地，该输送工具上的传感器也可以处于持续工作的状态，可以在输送工具远离该目标车辆过程中，该输送工具上的传感器的检测数据可以确定出第一目标电池的安装状态。
以目标车辆的电池安装在车辆底部为例，在安装电池之前，可以先将目标车辆抬高至指定 高度。通过输送工具将目标电池安装在目标车辆后，控制输送工具先下降，以远离目标车辆，以进一步地控制输送工具移出目标车辆的底部，然后将目标车辆放下。通过输送工具在安装完电池后，输送工具下降过程中，通过输送工具上的传感器进行物体检测。
在上述实例中，可以通过传感器检测目标车辆上的目标电池是否安装好。例如，可以通过传感器检测目标电池是否掉下来。再例如，可以通过传感器检测目标电池是否处于水平状态。再例如，可以通过传感器检测目标电池是否与输送工具平行。再例如，可以通过传感器检测目标电池是否陈设整齐。
以目标车辆的电池安装在车头和车货箱之间为例，安装电池的输送工具，可以从车辆顶部下放电池，以将电池安装在车头和车货箱之间。通过输送工具将目标电池安装在目标车辆后，先控制输送工具上升，以远离目标车辆，以进一步地控制输送工具移出目标车辆的顶部。输送工具安装完电池后，输送工具上升过程中，通过输送工具上的传感器进行物体检测。
在上述实例中，可以通过传感器检测目标车辆上的目标电池是否安装好。例如，可以通过传感器检测目标电池是否陈设状态是否满足设定标准。
可选地，可以通过该传感器检测与第一目标电池的距离，确定出该第一目标电池在目标车辆的电池存放位中的陈设是否合格。
示例性地，随着该输送工具远离该目标车辆，则该输送工具与该目标车辆的距离也逐渐变大，该输送工具的传感器与目标车辆的距离也逐渐变大，则可以根据该传感器检测到的与第一目标电池的距离与该传感器与第一目标电池的理论距离，确定出第一目标电池在目标车辆的电池存放位中的陈设是否合格。例如，若该距离小于该理论距离，则可以表示该第一目标电池陈设不合格。例如，若该距离等于该理论距离，则可以表示该第一目标电池陈设合格。该传感器与第一目标电池的理论距离可以表示若第一目标电池成功安装在目标车辆的电池存放位内，传感器的当前位置与第一目标电池的距离。
可选地，该输送工具上可以安装有多个传感器，也可以根据多个传感器检测到的与第一目标电池的多个距离，确定出该第一目标电池是否陈设合格。
示例性地，目标车辆相较于地面是水平放置，该输送工具相较于地面也是水平放置时，若第一目标电池在目标车辆的电池存放位陈设合格，则该第一目标电池相较于地面也是水平状态。因此，输送工具上的多个传感器检测到与第一目标电池的距离可以表征该第一目标电池是否处于水平状态。示例性地，若多个传感器检测到与第一目标电池的距离相等，或，任意两个传感器检测到与第一目标电池的距离之差小于预设值，则可以表征该第一目标电池陈设合格。示例性地，其中两个传感器检测到与第一目标电池的距离之差大于预设值，则可以表征该第一目标电池相较于地面不处于水平状态，该第一目标电池陈设不合格。
步骤330，对该目标车辆进行异常处理。
可选地，该异常处理可以包括输出提示消息。示例性地，该提示消息可以包括异常内容。示例性地，控制该输送工具的控制器可以向换电站的控制设备传输异常信号，该控制设备可以根据该异常信号输出提示消息。
示例性地，输出提示消息的方式可以包括：在换电站的控制设备的显示器上显示提示消息。
示例性地，该输出提示消息的方式也可以包括：在该换电站中设置的扬声器中播放提示消息。
可选地，该异常处理可以包括通过输送工具对该第一目标电池进行再次固定安装。示例性地，该输送工具可以通过该输送工具重复执行对第一目标电池的安装操作。
通过上述步骤，在电池安装完成之后可以通过输送工具上的传感器的检测，在电池的安装存在异常时可以进一步地进行异常处理。可以提高电池安装的成功率，以及安装的电池也更加可靠，进一步地也能够更好地保障安装电池的车辆的安全性。
电池安装的异常可能是由于安装的位置存在误差，或者安装时没对准目标车辆的位置导致的。在此现状下，由于目标电池本身没有存在异常，则可以简单处理异常，提高电池更换的效率。基于此，步骤330可以包括：控制该输送工具，对该第一目标电池进行再次安装操作。
可选地，该输送工具安装第一目标电池过程中，可以包括多个动作时，在异常处理时，可以仅执行最后一个动作。以目标车辆的电池安装在车辆底部为例，安装第一目标电池的过程所涉及的动作可以包括：对目标车辆的定位操作和输送工具向目标车辆方向推动第一目标电池。异常处理时，则可以控制该输送工具再次执行：向目标车辆方向推动该第一目标电池，以将第一目标电池放入目标车辆的电池存放位内。
以目标车辆的电池安装在车辆底部为例，输送工具为目标车辆安装第一目标电池的最后一个动作是向上推动第一目标电池。则异常处理可以包括：可以控制该输送工具向上移动以举起该第一目标电池，以使该第一目标电池卡合在目标车辆上。
以目标车辆的电池安装在车头和车货箱之间为例，输送工具为目标车辆安装电池的最后一个动作是将第一目标电池从高处放下，落入该目标车辆的电池存放位中。则异常处理可以为：通过该输送工具抓取该第一目标电池，然后重新将该第一目标电池安装在目标车辆上。
可选地，该输送工具安装第一目标电池过程中，可以包括多个动作时，在异常处理时，可以执行全部动作。以目标车辆的电池安装在车辆底部为例，安装第一目标电池的过程所涉及的动作可以包括：对目标车辆的定位操作和输送工具向目标车辆方向推动第一目标电池。异常处理时，则可以控制该输送工具，将该第一目标电池拆卸下来；然后，对目标车辆的定位操作；最后，控制输送工具向目标车辆方向推动第一目标电池，以将第一目标电池放入目标车辆的电池存放位内。
以目标车辆的电池安装在车辆底部为例，输送工具为目标车辆安装第一目标电池的动作包括：对目标车辆的定位操作以及向上推动第一目标电池，以使该第一目标电池安装在目标车辆上。则异常处理可以包括：该输送工具从该目标车辆上拆卸该第一目标电池，该输送工具对该目标车辆进行定位操作，然后输送工具向上移动以举起该第一目标电池，以使该第一目标电池卡合在目标车辆上。
通过上述步骤，在安装的电池可能存在安装位置不准或电池未对齐目标车辆上的电池存放位时，可以通过对第一目标电池简单重装的方式处理，可以降低对电池重装所需的操作。
如果第一目标电池一直不能成功安装在目标车辆的电池存放位内，可能是第一目标电池本身存在一些问题，基于此，也可以为目标车辆重新选择电池。可选地，如图4所示，该步骤330可以包括：步骤331和步骤332。
步骤331，从电池仓中选取第二目标电池。
可选地，筛选该第二目标电池的标准可以与上述的第一目标电池的标准。示例性地，第一目标电池的筛选标准是筛选指定电量以上的电池，则该第二目标电池的筛选标准也可以是筛选指定电量以上的电池。示例性地，第一目标电池的筛选标准是筛选指定型号的电池，则该第二目标电池的筛选标准也可以是筛选指定型号的电池。
可选地，筛选第二目标电池的标准也可以是与第一目标电池的标准不相同。示例性地，该第二目标电池可以是区别与第一目标电池的筛选标准。例如，第一目标电池的筛选标准是筛选第一指定电量以上的电池，则该第二目标电池的筛选标准也可以是筛选第二指定电量以上的电池。
可选地，筛选第二目标电池的标准也可以是与第一目标电池的标准不相关。可以基于该目标车辆所需电池，筛选出该第二目标电池。例如，可以基于该目标车辆的类型参数筛选第二目标电池。
步骤332，将该第二目标电池安装在该目标车辆上。
安装第二目标电池的方式可以与安装第一目标电池的方式相同。当然，第二目标电池的安装方式也可以是其他方式，只要第二目标电池能够放入该目标车辆即可，本实施例不限定该第二目标电池的安装方式。
通过二次筛选目标电池，可以在首次选的目标电池本身存在异常的情况，以实现二次换电，提高为目标车辆换电池的成功率，也能够提高更换给目标车辆的电池的可靠性以及安全性。
如果目标车辆换的电池多次检测存在异常，换电站多次重复给予换电池，可能会导致用户等待时间较长，为了提高成功换电池的效率，提高目标车辆换电池过程中的安全，如图5所示，步骤330可以包括：
步骤333，判断传感器检测到该目标车辆的电池安装存在异常的次数是否超过异常阈值。
若该传感器检测到该目标车辆的电池安装存在异常的次数未超过异常阈值，则执行步骤334。
可以预设一个异常计数变量，该异常计数变量用于存储当前正在换电池的车辆电池安装存在异常的次数。示例性地，该异常计数变量可以仅用于记录车辆每次驶入换电站的电池安装存在异常的次数。
在一个实例中，该目标车辆进入换电站之前，该异常计数变量清零，当输送工具的传感器的检测结果表征该目标车车辆的电池安装存在异常，则该异常计数变量加一；当输送工具的传感器的检测结果表征该目标车车辆的电池安装正常，则该异常计数变量清零。
步骤334，从电池仓中选取第三目标电池，使用该第三目标电池替换该目标车辆上的第一目标电池。
若该传感器检测到该目标车辆的电池安装存在异常的次数超过异常阈值，则执行步骤335。
关于步骤334的实现过程与步骤331和步骤332的实现过程相似，关于步骤334的其他细节可以参阅步骤331和步骤332中的描述，在此不再赘述。
步骤335，输出报警提示。
示例性地，控制器接收到输送工具上的传感器检测结果后，可以向换电站的控制设备发送异常信号，由该控制设备输出报警提示。
示例性地，该控制器也可以连接由报警器，通过该报警器输出报警提示。例如，该报警器可以是声光报警器。
通过报警或重新换电池两种策略，可以在提高换电池的成功率的情况下，也可以不需要太长的等待时长，及时通知到相关人员进行异常处理，也可以提高车辆的安全性。
在一个可选的实施方式中，为了提高对电池的安装情况检测准确性，该输送工具上可以设置有多个传感器。示例性地，该输送工具上可以设置两个传感器，分别为第一传感器和第二传感器。步骤320可以包括：通过该输送工具上的该第一传感器，对第一区域进行第一物体检测；通过该输送工具上的该第二传感器，对第二区域进行第二物体检测。
示例性地，该第一区域和该第二区域为该目标车辆的电池存放位的部分区域。
通过该第一物体检测的第一检测结果，和第二物体检测的第一检测结果确定出该目标车辆的电池安装是否存在异常。
示例性地，该第一传感器可以是接近传感器，该第二传感器也可以是接近传感器。通过接近传感器可以检测到与第一目标电池的距离。
在一个实例中，如图6所示，若该第一目标电池是矩形电池，则该目标车辆的电池存放位也是矩形存放位，则第一区域可以是位于矩形存放位其中一条长边的附近的区域P1，该第二区域位于矩形存放位另一条长边附近的区域P2。
可选地，该区域P1的中心和区域P2的中心的连线可以不与矩形存放位的长边平行，该区域P1的中心和区域P2的中心的连线也可以不与矩形存放位的短边平行。例如，该区域P1和区域P2是两个圆形区域时，则该区域P1的圆心与区域P2的圆心的连线不与矩形存放位的短边平行， 区域P1的圆心与区域P2的圆心的连线也不与矩形存放位的长边平行。通过将区域P1的中心和区域P2，可以检测第一目标电池不同位置的安装情况，可以进一步地提高第一目标电池安装情况检测的准确性。
可选地，两个传感器可以分别对第一目标电池进行物体检测，分别确定出检测结果。
示例性地，可以根据该第一传感器在第一区域检测到的与第一目标电池的距离与该传感器与第一目标电池的理论距离，确定出在在第一区域处第一目标电池在目标车辆的电池存放位中的陈设是否存在异常。例如，若该第一传感器检测到的距离小于该理论距离，则可以表示该第一目标电池陈设存在异常。例如，若该第一传感器检测到的距离等于该理论距离，则可以表示该第一目标电池在该第一区域处陈设合格。
示例性地，可以根据该第二传感器在第二区域检测到的与第一目标电池的距离与该传感器与第一目标电池的理论距离，确定出在在第二区域处第一目标电池在目标车辆的电池存放位中的陈设是否存在异常。例如，若该第二传感器检测到的距离小于该理论距离，则可以表示该第一目标电池陈设存在异常。例如，若该第二传感器检测到的距离等于该理论距离，则可以表示该第一目标电池在该第二区域处陈设合格。
若第一传感器或第二传感器中任意一个传感器的检测结果表示第一目标电池在目标车辆的电池存放位中的陈设存在异常，则该第一目标电池在目标车辆的电池存放位中的陈设存在异常；若第一传感器或第二传感器中两个传感器的检测结果表示第一目标电池在目标车辆的电池存放位中的陈设合格，则该第一目标电池在目标车辆的电池存放位中的陈设合格。
可选地，两个传感器可以对第一目标电池进行物体检测，基于两个传感器的检测数据，确定出检测结果。
示例性地，可以通过该第一传感器检测与第一目标电池的距离，通过该第二传感器检测与第一目标电池的距离。通过第一传感器检测到的距离和第二传感器检测到的距离，确定出第一目标电池的安装是否存在异常。例如，若第一传感器检测到的距离与第二传感器检测到的距离相同，则可以确定出第一目标电池的安装是否存在异常。
在其它实施方式中，该输送工具上还可以设置更多数量的传感器，以对电池存放位的多个区域进行检测。
通过对多个区域均进行检测可以提高电池安装是否存在异常的检测准确性。
在一种可选的实施方式中，安装在输送工具上的传感器可以是接近传感器，步骤320可以包括：通过该输送工具上的接近传感器，检测距离阈值内是否检测到该第一目标电池。
其中，该距离阈值内检测到该第一目标电池，则表示该第一目标电池安装存在异常。
该距离阈值可以按照需求设定。
可选地，可以根据该输送工具的实时位置确定出该距离阈值。该输送工具的位置不同，对应的距离阈值也可以不同。示例性地，可以根据该输送工具的实时位置以及目标车辆的车底所处位置，确定出输送工具的上表面与目标车辆的车底的距离，该距离阈值可以是小于该输送工具的上表面与目标车辆的车底的距离的一个值。
通过接近传感器，可以通过简单的距离数据确定出第一目标电池的安装是否存在异常，对于检测所需的设备要求比较低，因此检测成本也可以相对较低。进一步地，由于接近传感器检测数据相对简单，因此，异常检测效率也相对较高。
在一种可选的实施方式中，如图7所示，步骤320可以包括步骤321和步骤322。
步骤321，通过输送工具上的传感器，采集该目标车辆的图像数据。
示例性地，该图像数据可以是目标车辆的电池存放位所在一侧的图像数据。
示例性地，该输送工具上可以包括多个图像采集传感器，通过多个图像采集传感器采集该目标车辆靠近该输送工具一侧的图像。例如，该目标车辆的电池安装在目标车辆底部，则该传感器 采集的图像数据可以是目标车辆底部的图像。再例如，该目标车辆的电池安装在目标车辆的车头和车货箱之间，则该传感器采集的图像数据可以是目标车辆顶部的图像。
步骤322，对该图像数据进行识别，以确定该第一目标电池安装是否存在异常。
可选地，可以将该图像数据与标准图像进行对比，以确定该第一目标电池安装是否存在异常。示例性地，该标准图像可以是在目标车辆安装有电池，且电池安装合格情况下拍摄的图像。示例性地，该标准图像可以是在与目标车辆型号相同的车辆安装有电池，且电池安装合格情况下拍摄的图像。
可选地，也可以通过图像识别，确定出输送工具与该第一目标电池上的各个位置点的距离，可以根据输送工具与该第一目标电池上的各个位置点的距离，确定出该第一目标电池安装是否存在异常。示例性地，该第一目标电池上的各个位置点可以是位于同一平面上的多个位置点。
示例性地，可以将输送工具与该第一目标电池上的各个位置点的距离，与传感器与第一目标电池的理论距离进行对比，以确定出第一目标电池安装是否存在异常。
示例性地，可以将输送工具与该第一目标电池上的各个位置点的距离进行对比，以确定出第一目标电池安装是否存在异常。例如，输送工具与该第一目标电池上的各个位置点的距离差大于预设值，则可以表示该第一目标电池安装存在异常。该预设值可以按需设置，例如，该预设值可以是1cm、2cm等。
可选地，对该图像采集传感器在采集到图像数据后，可以通过控制器对该图像数据进行后续处理，以确定出第一目标电池安装是否存在异常。
可选地，该图像采集传感器也可以设置有处理器，该处理器对该图像采集传感器采集到的图像数据进行处理，以确定出第一目标电池安装是否存在异常。
通过图像可以直观地呈现出目标车辆上的电池安装情况，图像数据可以更全面地呈现出目标车辆的电池存放位的图像；通过视觉识别或与标准图像对比，可以更直观也更全面地表示第一目标电池的状态，也能够进一步地提高第一目标电池的状态检测的准确性。
在一种可选的实施方式中，传感器包括距离传感器，如图8所示，步骤320可以包括：步骤323至步骤325。
步骤323，通过该输送工具上的传感器进行距离检测，确定该传感器与该第一目标电池的第一距离。
示例性地，该传感器可以输出光脉冲，该光脉冲遇到第一目标电池被该第一目标电池反射回来的时间，通过光脉冲发射出至反射回来的时长计算与第一目标电池之间的距离。
步骤324，根据该输送工具的移动数据，确定出该传感器与该目标车辆的第二距离。
该移动数据可以包括输送工具的移动时长、移动速度等。
示例性地，输送工具在对第一目标电池进行了安装动作之后，可以远离该目标车辆，则可以根据该输送工具的移动速度和移动时间确定出，该输送工具与该目标车辆的第二距离。
在一个实例中，若电池能够合格地安装在目标车辆内，且第一目标电池合格地安装在目标车辆的电池存放位内时，该第一目标电池的表面与目标车辆的车底处于同一平面时，则该传感器与该目标车辆的第二距离与该传感器与该第一目标电池的第一距离相等。
在另一个实例中，若电池能够合格地安装在目标车辆内，且第一目标电池合格地安装在目标车辆的电池存放位内时，该第一目标电池的表面与目标车辆的车底存在一高度差时，则该传感器与该目标车辆的第二距离与该高度差之和等于该传感器与该第一目标电池的第一距离。
步骤325，将该第一距离与该第二距离进行对比。
若该第一距离小于该第二距离，则表示该传感器检测到该第一目标电池安装存在异常。
通过两个传感器检测到与第一目标电池的第一距离与第二距离可以确定出第一目标电池的 陈设相较于输送工具的陈设是否平整。进一步地，多个传感器，多个位置的检测可以使检测结果更加准确。
基于同一申请构思，本申请实施例中还提供了与电池安装状态检测方法对应的电池安装状态检测装置，由于本申请实施例中的装置解决问题的原理与前述的电池安装状态检测方法实施例相似，因此本实施例中的装置的实施可以参见上述方法的实施例中的描述，重复之处不再赘述。
请参阅图9，是本申请实施例提供的电池安装状态检测装置的功能模块示意图。本实施例中的电池安装状态检测装置中的各个模块用于执行上述方法实施例中的各个步骤。电池安装状态检测装置包括：控制模块410、检测模块420和处理模块430；其中各模块的内容如下所示：
控制模块410，用于在第一目标电池安装至目标车辆上后，控制输送工具远离该目标车辆，该输送工具为安装和运输该第一目标电池的工具；
检测模块420，用于在该输送工具远离该目标车辆过程中，通过该输送工具上的传感器进行物体检测；
处理模块430，用于若该传感器检测到该第一目标电池安装存在异常，对该目标车辆进行异常处理。
一种可能的实施方式中，处理模块430，用于：
控制该输送工具，对该第一目标电池进行再次安装操作。
一种可能的实施方式中，处理模块430，用于从电池仓中选取第二目标电池；将该第二目标电池安装在该目标车辆上。
一种可能的实施方式中，处理模块430，用于：若该传感器检测到该目标车辆的电池安装存在异常的次数未超过异常阈值，从电池仓中选取第三目标电池，使用该第三目标电池替换该目标车辆上的第一目标电池；若该传感器检测到该目标车辆的电池安装存在异常的次数超过异常阈值，输出报警提示。
一种可能的实施方式中，该输送工具上设置第一传感器和第二传感器，检测模块420，用于通过该输送工具上的该第一传感器，对第一区域进行第一物体检测；通过该输送工具上的该第二传感器，对第二区域进行第二物体检测，该第一区域和该第二区域为该目标车辆的电池存放位的部分区域。
一种可能的实施方式中，该传感器包括接近传感器，检测模块420，用于通过该输送工具上的接近传感器，检测距离阈值内是否检测到该第一目标电池；其中，该距离阈值内检测到该第一目标电池，则表示该第一目标电池安装存在异常。
一种可能的实施方式中，检测模块420，用于通过输送工具上的传感器，采集该目标车辆的图像数据；对该图像数据进行识别，以确定该第一目标电池安装是否存在异常。
一种可能的实施方式中，该传感器包括距离传感器，检测模块420，用于：
通过该输送工具上的传感器进行距离检测，确定该传感器与该第一目标电池的第一距离；
根据该输送工具的移动数据，确定出该传感器与该目标车辆的第二距离；
将该第一距离与该第二距离进行对比；
若该第一距离小于该第二距离，则表示该传感器检测到该第一目标电池安装存在异常。
此外，本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述方法实施例中所述的电池安装状态检测方法的步骤。
本申请实施例所提供的电池安装状态检测方法的计算机程序产品，包括存储了程序代码的 计算机可读存储介质，所述程序代码包括的指令可用于执行上述方法实施例中所述的电池安装状态检测方法的步骤，具体可参见上述方法实施例，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (12)

  1. 一种电池安装状态检测方法，其特征在于，包括：
    在第一目标电池安装至目标车辆上后，控制输送工具远离所述目标车辆，所述输送工具为安装和运输所述第一目标电池的工具；
    在所述输送工具远离所述目标车辆过程中，通过所述输送工具上的传感器进行物体检测；
    若所述传感器检测到所述第一目标电池安装存在异常，对所述目标车辆进行异常处理。
  2. 根据权利要求1所述的方法，其特征在于，所述对所述目标车辆进行异常处理，包括：
    控制所述输送工具，对所述第一目标电池进行再次安装操作。
  3. 根据权利要求1所述的方法，其特征在于，所述对所述目标车辆进行异常处理，包括：
    从电池仓中选取第二目标电池；
    将所述第二目标电池安装在所述目标车辆上。
  4. 根据权利要求1所述的方法，其特征在于，所述对所述目标车辆进行异常处理，包括：
    若所述传感器检测到所述目标车辆的电池安装存在异常的次数未超过异常阈值，从电池仓中选取第三目标电池，使用所述第三目标电池替换所述目标车辆上的第一目标电池；
    若所述传感器检测到所述目标车辆的电池安装存在异常的次数超过异常阈值，输出报警提示。
  5. 根据权利要求1所述的方法，其特征在于，所述输送工具上设置第一传感器和第二传感器，所述通过所述输送工具上的传感器进行物体检测，包括：
    通过所述输送工具上的所述第一传感器，对第一区域进行第一物体检测；
    通过所述输送工具上的所述第二传感器，对第二区域进行第二物体检测，所述第一区域和所述第二区域为所述目标车辆的电池存放位的部分区域。
  6. 根据权利要求1所述的方法，其特征在于，所述传感器包括接近传感器，所述通过所述输送工具上的传感器进行物体检测，包括：
    通过所述输送工具上的接近传感器，检测距离阈值内是否检测到所述第一目标电池；
    其中，所述距离阈值内检测到所述第一目标电池，则表示所述第一目标电池安装存在异常。
  7. 根据权利要求1所述的方法，其特征在于，所述通过所述输送工具上的传感器进行物体检测，包括：
    通过输送工具上的传感器，采集所述目标车辆的图像数据；
    对所述图像数据进行识别，以确定所述第一目标电池安装是否存在异常。
  8. 根据权利要求1-7任意一项所述的方法，其特征在于，所述传感器包括距离传感器，所述通过所述输送工具上的传感器进行物体检测，包括：
    通过所述输送工具上的传感器进行距离检测，确定所述传感器与所述第一目标电池的第一距离；
    根据所述输送工具的移动数据，确定出所述传感器与所述目标车辆的第二距离；
    将所述第一距离与所述第二距离进行对比；
    若所述第一距离小于所述第二距离，则表示所述传感器检测到所述第一目标电池安装存在异常。
  9. 一种电池安装状态检测装置，其特征在于，包括：
    控制模块，用于在第一目标电池安装至目标车辆上后，控制输送工具远离所述目标车辆，所述输送工具为安装和运输所述第一目标电池的工具；
    检测模块，用于在所述输送工具远离所述目标车辆过程中，通过所述输送工具上的传感器进行物体检测；
    处理模块，用于若所述传感器检测到所述第一目标电池安装存在异常，对所述目标车辆进行异常处理。
  10. 一种控制器，其特征在于，包括：处理器、存储器，所述存储器存储有所述处理器可执行的机器可读指令，当控制器运行时，所述机器可读指令被所述处理器执行时执行如权利要求1至8任一所述的方法的步骤。
  11. 一种计算机可读存储介质，其特征在于，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行如权利要求1至8任一所述的方法的步骤。
  12. 一种换电站，其特征在于，包括：输送系统、电池仓和控制设备；
    其中，所述输送系统包括输送工具和权利要求10所述的控制器。
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JP2010173364A (ja) * 2009-01-27 2010-08-12 Nissan Motor Co Ltd バッテリ搭載装置
CN105150869A (zh) * 2015-08-26 2015-12-16 北京新能源汽车股份有限公司 电动汽车的电池更换控制系统及方法
CN105946609A (zh) * 2016-05-11 2016-09-21 北京新能源汽车股份有限公司 用于电动汽车的快换电池的连接状态监控方法和装置
CN110834563A (zh) * 2019-11-20 2020-02-25 无锡顺达智能自动化工程股份有限公司 新能源汽车换电站电池更换检测方法和检测装置
CN113291199A (zh) * 2021-05-28 2021-08-24 蓝谷智慧(北京)能源科技有限公司 电池包入库控制方法以及换电站的控制系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010173364A (ja) * 2009-01-27 2010-08-12 Nissan Motor Co Ltd バッテリ搭載装置
CN105150869A (zh) * 2015-08-26 2015-12-16 北京新能源汽车股份有限公司 电动汽车的电池更换控制系统及方法
CN105946609A (zh) * 2016-05-11 2016-09-21 北京新能源汽车股份有限公司 用于电动汽车的快换电池的连接状态监控方法和装置
CN110834563A (zh) * 2019-11-20 2020-02-25 无锡顺达智能自动化工程股份有限公司 新能源汽车换电站电池更换检测方法和检测装置
CN113291199A (zh) * 2021-05-28 2021-08-24 蓝谷智慧(北京)能源科技有限公司 电池包入库控制方法以及换电站的控制系统

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