WO2023168672A1 - 电池存放方法、装置、控制器和换电站 - Google Patents

电池存放方法、装置、控制器和换电站 Download PDF

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Publication number
WO2023168672A1
WO2023168672A1 PCT/CN2022/080221 CN2022080221W WO2023168672A1 WO 2023168672 A1 WO2023168672 A1 WO 2023168672A1 CN 2022080221 W CN2022080221 W CN 2022080221W WO 2023168672 A1 WO2023168672 A1 WO 2023168672A1
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WIPO (PCT)
Prior art keywords
battery
storage position
sensor
discharged
storage
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PCT/CN2022/080221
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English (en)
French (fr)
Inventor
王霞
Original Assignee
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.)
Filing date
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/CN2022/080221 priority Critical patent/WO2023168672A1/zh
Priority to CN202280035168.9A priority patent/CN117355438A/zh
Publication of WO2023168672A1 publication Critical patent/WO2023168672A1/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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • the present application relates to the technical field of battery swap station control, specifically, to a battery storage method, device, controller and battery swap station.
  • the battery swap station After an electric vehicle has its battery replaced at a battery swap station, the battery swap station will store the battery removed from the electric vehicle.
  • the current battery storage is to control the position of the stacker to move the battery according to a preset process to complete the storage of the battery.
  • the purpose of the embodiments of the present application is to provide a battery storage method, device, controller and battery swap station to improve the problem that the battery's display status is unknown, which may result in the inability to perform subsequent processing on the battery.
  • embodiments of the present application provide a battery storage method, which includes: obtaining a first storage position of a battery to be placed in a battery compartment; and controlling a transport tool to move from the current position to a limited area of the first storage position. ; Control the conveying tool to move the battery to be discharged to the first storage position; Control the dynamic component on the first storage position of the battery compartment to move in the direction of the battery to be discharged; By installing The sensor group on the dynamic component and the first storage position detects the display status of the battery to be discharged.
  • the sensor group may include a first sensor and a second sensor; the sensor group installed on the dynamic component and the first storage position detects the display status of the battery to be discharged, including: :
  • the first sensor installed on the dynamic assembly transmits a signal
  • the second sensor installed on the first storage position receives a signal to detect the battery to be discharged in the first storage position. Display state, wherein the second sensor can receive the signal transmitted by the first sensor, indicating that the display of the battery to be discharged is qualified; or,
  • the first sensor installed on the dynamic assembly receives a signal
  • the second sensor installed on the first storage position transmits a signal to detect the battery to be discharged in the first storage position. Display state, wherein the first sensor can receive the signal transmitted by the second sensor, indicating that the display of the battery to be discharged is qualified.
  • the method before controlling the dynamic component in the first storage position of the battery compartment to move in the direction of the battery to be placed, the method further includes:
  • in-position detection is performed through the in-position sensor on the first storage position
  • the step of controlling the dynamic component in the first storage position of the battery compartment to move in the direction of the battery to be discharged is performed.
  • the in-position sensor includes: a third sensor and a fourth sensor; the in-position detection through the third sensor at the first storage position includes:
  • the first position detection is performed by the third sensor on the first edge of the first storage position
  • the second in-position detection is performed by the fourth sensor on the second edge of the first storage position, wherein the second edge and the first edge are different edges of the first storage position;
  • the detection result of the first in-position detection and the detection result of the second in-position detection both indicate that the battery to be discharged is in place, it means that the battery to be discharged is in place.
  • control of the transport tool to move from the current position to a defined area of the first storage position includes:
  • the travel data of the transport tool reaches the target travel distance, it means that the transport tool has moved into the limited area of the first storage position.
  • determining whether the travel data of the transportation tool reaches the target travel distance includes:
  • the controller is used to control the method; the method further includes:
  • the display status of the battery to be discharged is sent to a control device communicatively connected with the controller.
  • the method also includes:
  • the transport tool is controlled to place the battery to be discharged a second time.
  • controlling the transport tool to place the battery to be placed for a second time includes:
  • the battery to be placed is moved from the first storage position to the second storage position by the transport tool.
  • a battery storage device including:
  • the acquisition module is used to obtain the first storage position of the battery to be placed in the battery compartment;
  • a first movement module used to control the transport tool to move from the current position to a limited area of the first storage position
  • a second moving module used to control the conveying tool to move the battery to be discharged to the first storage position
  • a third moving module used to control the dynamic components in the first storage position of the battery compartment to move in the direction of the battery to be placed;
  • the first detection module is used to detect the display status of the battery to be discharged through the sensor group installed on the dynamic component and the first storage position.
  • 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 control device 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, characterized in that 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 the above-mentioned controller.
  • the battery storage method, device, controller and battery swap station provided by the embodiments of the present application use a sensor group to detect the display status of the battery. Compared with the existing technology that only displays the battery to the required position according to the preset process, it has It can detect whether the battery display meets the requirements, so that the display status of the batteries that need to be placed in the storage position can be more in line with the requirements, and it can also improve the safety of the batteries displayed in the storage position.
  • Figure 1 is a schematic diagram of the operating environment of the battery storage method provided by the embodiment of the present application.
  • Figure 2 is a flow chart of a battery storage method provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of the functional modules of the battery storage device provided by the embodiment of the present application.
  • this application provides a battery storage method that can detect the position of the battery stored in the battery compartment.
  • the battery storage method provided by this application is described below through several embodiments.
  • the operating environment of the battery storage 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 replace batteries for electric vehicles.
  • the power swap station 100 may include: a transportation system 110, a battery compartment 120, and a control device 130.
  • 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: a conveying tool 111, a conveying track 112 and a controller 113.
  • the controller 113 may be a programmable logic controller (Programmable Logic Controller, PLC for short). Conveyors can travel on this conveyor track to move the cells that require processing.
  • PLC Programmable Logic Controller
  • the conveying tool 111 can be controlled by the above-mentioned programmable logic controller, and the conveying tool moves according to the control instructions of the programmable logic controller.
  • the programmable logic controller may control the delivery tool based on data provided by the control device 130 .
  • the transportation tool 111 may include a Rail Guided Vehicle (RGV for short), a stacker, and other tools.
  • RUV Rail Guided Vehicle
  • the stacker is used to take batteries from the battery compartment and transfer the batteries to rail-guided vehicles.
  • the stacker is also used to remove batteries from rail-guided vehicles and return them to the battery compartment.
  • the stacker can also be used to move batteries inside 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 113 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 113 may also include a display unit, which provides an interactive interface (such as a user operation interface) between the controller 113 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 113 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 storage method is described in detail below through several embodiments.
  • Figure 2 is a flow chart of a battery storage method provided by an embodiment of the present application. The specific process shown in Figure 2 will be elaborated below.
  • Step 310 Obtain the first storage position of the battery to be placed in the battery compartment.
  • the first storage position is an empty storage position in the battery compartment.
  • the battery storage method in this embodiment can be applied to the controller in the transportation system, which is used to control the movement of each equipment in the transportation system.
  • the controller may be a programmable logic controller.
  • the controller can obtain the first storage position from a control device communicatively connected with the controller.
  • the battery compartment may include one or more rows of shelves, each row of shelves may include one or more layers, and each layer of the shelves may include multiple storage locations for storing batteries.
  • the battery storage method in this embodiment can be applied to the control equipment in the battery swap station.
  • the control equipment selects the first storage location from the currently idle storage locations in the battery compartment.
  • the storage location closest to the parking space in the battery swap station can be selected as the first storage location.
  • the storage location closest to the conveying tool can also be selected as the first storage location.
  • the first storage location can also be randomly selected from the multiple storage locations.
  • Step 330 Control the transport tool to move from the current position to a limited area of the first storage position.
  • the specific location of the first storage location can be represented by coordinates.
  • the first storage location can be represented by three-dimensional coordinates (x1, y1, z1). Among them, x1 represents the number of columns where the first storage location is located, y1 represents the number of rows where the first storage location is located, and z1 represents the number of layers where the first storage location is located.
  • the limited area may be within the same number of columns as the first storage location and the same number of layers as the first storage location.
  • driving rails can be provided on both sides of the shelves in each row of battery compartments, and the conveying tools can travel on the rails.
  • the conveying tool can travel on the track to the column number x1 where the first storage position is located.
  • the conveying tool is provided with a lifting mechanism, through which the battery to be discharged can be raised to the level where the first storage position is located.
  • Step 350 Control the transport tool to move the battery to be discharged to the first storage position.
  • the transport tool transfers the battery to be placed into the first storage position.
  • the conveyor may include a fork.
  • the battery to be placed can be placed in the first storage position through the fork.
  • the transport tool may include a robotic arm through which the battery to be discharged may be placed in the first storage position.
  • Step 370 Control the dynamic component in the first storage position of the battery compartment to move in the direction of the battery to be placed.
  • the dynamic component can be controlled to move in the direction of the battery to be discharged.
  • the dynamic component can be controlled by a programmable logic controller to move the dynamic component toward the direction of the battery to be discharged.
  • the dynamic component may be an electric push rod installed in the first storage position of the battery compartment, and the electric push rod may move in a direction perpendicular to the placement surface of the first storage position.
  • the battery to be discharged is properly placed in the first storage position, the battery to be discharged is in contact with the placement surface of the first storage position.
  • Step 390 Detect the display status of the battery to be discharged through the sensor group installed on the dynamic component and the first storage position.
  • the sensor group may include one or more groups of obstacle detection sensors.
  • a part of each set of obstacle detection sensors may be installed at the edge of the first storage position, and another part of the obstacle detection sensor may be installed at the edge of the dynamic component.
  • the placement surface of the first storage position may be a rectangle
  • the first bracket is provided on the first side of the rectangle.
  • the first bracket may be perpendicular to the placement surface of the first storage position and perpendicular to the first side.
  • the dynamic component is installed on the first bracket and can move along the first bracket.
  • the placement surface of the first storage position may also be circular, and the second bracket is provided on the edge of the circle.
  • the second bracket may be perpendicular to the placement surface of the first storage position and perpendicular to the tangent line of the circle.
  • the dynamic component may be mounted on the second support and may move along the second support.
  • any one battery in the first storage position is qualified, then any one battery will only be displayed on the placement surface of the first storage position and will not block the edge of the first storage position where the sensor is installed.
  • this furnishing status can be sent to a control device connected to the controller.
  • the display status is sent to the control device, and the control device can record the storage information of the battery.
  • the storage information may include battery identification, battery storage location, etc.
  • an alarm signal can also be output through the alarm device.
  • the alarm device may be an alarm light
  • the alarm signal may be a light signal of a specified color displayed by the alarm light.
  • the specified color can be red, blue, etc.
  • the specified color can also be other colors, which can be set as needed.
  • the alarm device may be a sound alarm
  • the alarm signal may be a sound signal of a specified frequency output by the sound alarm.
  • the specified frequency can be set on demand.
  • the alarm device may also be a sound and light alarm
  • the alarm signal may be a light signal of a specified color and a sound signal of a specified frequency output by the sound and light alarm.
  • the sensor can be used to detect whether the display of the battery to be placed is qualified, which can make the display state of the battery that needs to be placed in the storage position more in line with the requirements, and can also improve the quality of the display in the storage position. Battery safety.
  • the sensor group may include a first sensor and a second sensor, the first sensor is installed on the dynamic component, and the second sensor is installed on the edge of the first storage position.
  • the dynamic component can move, and after receiving the instruction, the dynamic component can move along the specified direction.
  • the specified direction may be perpendicular to the placement surface of the first storage position.
  • the dynamic component can make the first sensor move along the specified direction.
  • the second sensor can be installed at the intersection of the extension line of the movement trajectory of the first sensor and the first storage position. . For example, if there is no object between the first sensor and the second sensor, the first sensor and the second sensor can transmit and receive signals.
  • the second sensor is installed on the edge of the first storage position, and the first sensor is installed on the edge of the dynamic component. If any battery is properly displayed in the first storage position, the battery is placed in the third storage position. The placement surface of a storage position does not cover the second sensor installed in the first storage position.
  • the first sensor may be a laser emitting sensor
  • the second sensor may be a laser receiving sensor.
  • Step 350 may include: transmitting a signal through a first sensor installed on the dynamic component, and receiving a signal through a second sensor installed on the first storage position, to detect the display status of the battery to be placed in the first storage position. , wherein the second sensor can receive the signal emitted by the first sensor, indicating that the battery display to be discharged is qualified.
  • the second sensor can receive the signal transmitted by the first sensor.
  • the emitted signal is blocked by the obstruction, resulting in the second sensor being unable to receive the first signal.
  • the signal emitted by the sensor when there is an obstruction between the first sensor and the second sensor, after the first sensor transmits a signal, the emitted signal is blocked by the obstruction, resulting in the second sensor being unable to receive the first signal.
  • the signal emitted by the sensor when there is an obstruction between the first sensor and the second sensor, after the first sensor transmits a signal, the emitted signal is blocked by the obstruction, resulting in the second sensor being unable to receive the first signal.
  • the first sensor may be a laser receiving sensor
  • the second sensor may be a laser transmitting sensor.
  • Step 350 may include: receiving a signal through a first sensor installed on the dynamic component, and transmitting a signal through a second sensor installed on the first storage position to detect the display status of the battery to be placed in the first storage position. , wherein the first sensor can receive the signal emitted by the second sensor, indicating that the battery display to be discharged is qualified.
  • the first sensor when there is no obstruction between the first sensor and the second sensor, after the second sensor transmits a signal, the first sensor can receive the signal transmitted by the first sensor.
  • the emitted signal is blocked by the obstruction, resulting in the first sensor being unable to receive the second signal.
  • the signal emitted by the sensor when there is an obstruction between the first sensor and the second sensor, after the second sensor transmits a signal, the emitted signal is blocked by the obstruction, resulting in the first sensor being unable to receive the second signal.
  • the signal emitted by the sensor when there is an obstruction between the first sensor and the second sensor, after the second sensor transmits a signal, the emitted signal is blocked by the obstruction, resulting in the first sensor being unable to receive the second signal.
  • the transmitting sensor and the receiving sensor can more accurately detect whether there is an obstruction between the two sensors. If there is an obstruction, it may be that the battery is skewed during placement, causing the battery to block the first sensor and the second sensor. to check whether the battery placement is qualified.
  • the method may further include: step 360, during the process of the transport tool moving the battery to be placed to the first storage position, by placing the battery in the first storage position.
  • the sensor performs position detection.
  • the step of controlling the dynamic component in the first storage position of the battery compartment to move in the direction of the battery to be discharged is performed.
  • the position sensor may be a proximity sensor, and the proximity sensor may determine whether the battery to be discharged is placed in the first storage position through distance detection.
  • multiple in-position sensors may be provided on the first storage position to enable different positions of the first storage position to detect whether the battery to be placed is in place.
  • the in-position sensors can be distributed in different positions of the first storage position.
  • One or more sensors are used to detect whether the battery to be discharged is in place. After detecting whether the battery has been placed in the first storage position, a second round of detection can be performed, which can improve the accuracy of battery display status detection.
  • step 360 may include: performing a first position detection through a third sensor on the first edge of the first storage position; performing a first position detection through a fourth sensor on the second edge of the first storage position. Perform second position detection.
  • the second edge and the first edge are different edges of the first storage position.
  • first edge and the second edge may be two parallel edges.
  • the detection result of the first position detection and the detection result of the second position detection both indicate that the battery to be discharged is in place, it means that the battery to be discharged is in place.
  • the display status of the battery to be discharged in the first storage position can be better determined, and it can also prevent the battery to be discharged from being placed on one side. The other side of the battery is not placed properly.
  • the detection accuracy of battery display status can be improved through the detection of multiple sensors.
  • step 330 may include: steps 331 to 333.
  • Step 331 Determine the target traveling distance based on the current position of the transport tool and the first storage position.
  • the target traveling direction of the transport tool can also be determined based on the current position of the transport tool and the first storage position.
  • Step 332 Control the conveying tool to travel toward the first storage position.
  • the conveying tool can be controlled to travel in the target traveling direction.
  • Step 333 Determine whether the travel data of the transportation tool reaches the target travel distance.
  • traveling data of the conveying tool reaches the target traveling distance, it means that the conveying tool has moved into the limited area of the first storage position.
  • whether the transportation tool is traveling in the target driving direction can be determined based on the real-time position of the transportation tool.
  • the transportation tool can be better controlled to travel toward the first storage position, and it can also be determined whether the movement of the transportation tool is accurate based on the driving data.
  • step 333 may include: step 3331 and step 3332.
  • Step 3331 Use the encoder in the first axial direction of the conveying tool to determine whether the conveying tool reaches the first target traveling distance in the first axial direction.
  • the first axis may be the direction of the driving track in front of the shelf in the battery compartment.
  • Step 3332 Use the encoder in the second axial direction of the conveying tool to determine whether the conveying tool has reached the second target travel distance in the second axial direction.
  • the second axial direction may be a direction perpendicular to the ground where the driving track is located.
  • the battery storage method may also include: step 3010: if the detection result of the sensor group indicates that the display status of the battery to be discharged is unqualified, control the transport tool to place the battery to be discharged for a second time.
  • the transport tool can be controlled to pick up the battery to be discharged, and then rearrange the battery to be discharged in the first storage position.
  • the display status of the battery to be placed can also be detected through the process of step 370 and step 390.
  • the batteries to be placed can be directly rearranged at the first storage location without re-selecting the storage location, which can improve the success rate of placing the batteries to be discharged.
  • step 3010 may include: obtaining a second storage position; and moving the battery to be discharged from the first storage position to the second storage position through the transport tool.
  • the second storage location may be a storage location closest to the first storage location.
  • the second storage location may be in the same column of the shelf as the first storage location.
  • a nearby storage position can be selected, which can improve the success rate of battery storage.
  • the embodiment of the present application also provides a battery storage device corresponding to the battery storage method. Since the problem-solving principle of the device in the embodiment of the present application is similar to that of the aforementioned battery storage method embodiment, in this embodiment
  • For the implementation of the device please refer to the description in the embodiments of the above method, and repeated details will not be described again.
  • FIG. 3 is a schematic diagram of the functional modules of the battery storage device provided by the embodiment of the present application.
  • Each module in the battery storage device in this embodiment is used to perform each step in the above method embodiment.
  • the battery storage device includes: an acquisition module 410, a first mobile module 420, a second mobile module 430, a third mobile module 440 and a first detection module 450; the contents of each module are as follows.
  • the acquisition module 410 is used to acquire the first storage position of the battery to be placed in the battery compartment;
  • the first movement module 420 is used to control the transportation tool to move from the current position to a limited area of the first storage position
  • the second moving module 430 is used to control the transport tool to move the battery to be discharged to the first storage position
  • the third movement module 440 is used to control the dynamic components in the first storage position of the battery compartment to move in the direction of the battery to be placed;
  • the first detection module 450 is used to detect the display status of the battery to be discharged through the sensor group installed on the dynamic component and the first storage position.
  • the first detection module 450 is used to:
  • a signal is emitted by a first sensor installed on the dynamic component, and a signal is received by a second sensor installed on the first storage position to detect the display status of the battery to be discharged in the first storage position, wherein the third The second sensor can receive the signal emitted by the first sensor, indicating that the battery to be discharged is qualified; or,
  • the first sensor installed on the dynamic component receives a signal
  • the second sensor installed on the first storage position transmits a signal to detect the display status of the battery to be discharged in the first storage position, wherein the third A sensor can receive the signal emitted by the second sensor, indicating that the battery to be discharged is qualified.
  • the battery storage device further includes:
  • the second detection module is used to perform position detection through the third sensor on the first storage position when the transport tool moves the battery to be placed to the first storage position;
  • the third moving module 440 is executed.
  • the second detection module is used for:
  • the first position detection is performed by a third sensor on the first edge of the first storage position
  • the second in-position detection is performed by a fourth sensor on the second edge of the first storage position, wherein the second edge and the first edge are different edges of the first storage position;
  • the detection result of the first in-position detection and the detection result of the second in-position detection both indicate that the battery to be discharged is in place, it means that the battery to be discharged is in place.
  • the first movement module 420 includes: a distance determination unit, a traveling unit and a judgment unit.
  • a distance determination unit used to determine the target driving distance based on the current position of the conveying tool and the first storage position
  • a traveling unit used to control the conveying tool to travel in the direction of the first storage position
  • the travel data of the conveyor reaches the target travel distance, it means that the conveyor has moved to the limited area of the first storage location.
  • the judgment unit is used for:
  • the battery storage device may also include:
  • the placement module is used to control the transport tool to place the battery to be discharged for a second time if the detection result of the sensor group indicates that the battery to be discharged is not connected to the charging connector at the first storage position.
  • the placement module is used for:
  • the battery to be discharged is moved from the first storage position to the second storage position by the transport tool.
  • embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps of the battery storage method described in the above method embodiments are executed. .
  • the computer program product of the battery storage method provided by the embodiment of the present application includes a computer-readable storage medium storing program code.
  • the instructions included in the program code can be used to execute the steps of the battery storage method described in the above method embodiment. , please refer to the above method embodiments for details, and will not be described again here.
  • 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 described 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存放方法、装置、控制器和换电站，其中，该方法包括：获取待放电池在电池仓中的第一存放位置；控制输送工具从当前位置移动至该第一存放位置的限定区域内；控制该输送工具，将该待放电池移动至该第一存放位置；控制该电池仓的该第一存放位置上的动态组件，向该待放电池方向移动；通过安装在该动态组件和该第一存放位置上的传感器组，检测该待放电池的陈设状态。

Description

电池存放方法、装置、控制器和换电站 技术领域
本申请涉及换电站控制技术领域，具体而言，涉及一种电池存放方法、装置、控制器和换电站。
背景技术
电动车辆在换电站换电池之后，换电站会对从电动车辆上取下的电池进行存放。目前的电池存放是按照预设的流程控制堆垛机移动电池的位置，以实现完成对电池的存放。
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存放方法、装置、控制器和换电站，以改善对电池的陈设状态未知，可能导致不能对电池进行后续处理的问题。
第一方面，本申请实施例提供了一种电池存放方法，包括：获取待放电池在电池仓中的第一存放位置；控制输送工具从当前位置移动至所述第一存放位置的限定区域内；控制所述输送工具，将所述待放电池移动至所述第一存放位置；控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动；通过安装在所述动态组件和所述第一存放位置上的传感器组，检测所述待放电池的陈设状态。
可选地，所述传感器组可以包括第一传感器和第二传感器；所述通过安装在所述动态组件和所述第一存放位置上的传感器组，检测所述待放电池的陈设状态，包括：
通过安装在动态组件上的所述第一传感器发射信号，以及安装在所述第一存放位置上的所述第二传感器接收信号，以检测所述待放电池在所述第一存放位置上的陈设状态，其中，所述第二传感器能够接收到所述第一传感器发射的信号，表示所述待放电池陈设合格；或者，
通过安装在动态组件上的所述第一传感器接收信号，以及安装在所述第一存放位置上的所述第二传感器发射信号，以检测所述待放电池在所述第一存放位置上的陈设状态，其中，所述第一传感器能够接收到所述第二传感器发射的信号，表示所述待放电池陈设合格。
可选地，在所述控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动之前，所述方法还包括：
在所述输送工具移动所述待放电池至所述第一存放位置过程中，通过所述第一存放位置上的到位传感器进行到位检测；
当检测到所述待放电池已到位，再执行所述控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动的步骤。
可选地，所述到位传感器包括：第三传感器和第四传感器；所述通过所述第一存放位置上的第三传感器进行到位检测，包括：
通过所述第一存放位置的第一边缘上的所述第三传感器进行第一到位检测；
通过所述第一存放位置的第二边缘上的所述第四传感器进行第二到位检测，其中，所述第二边缘与所述第一边缘为所述第一存放位置的不同边缘；
若所述第一到位检测的检测结果和第二到位检测的检测结果均表示所述待放电池到位，则表示所述待放电池已到位。
可选地，所述控制输送工具从当前位置移动至所述第一存放位置的限定区域内，包括：
根据输送工具的当前位置与所述第一存放位置，确定出目标行驶距离；
控制所述输送工具向所述第一存放位置方向行驶；
判断所述输送工具的行驶数据是否达到所述目标行驶距离；
若所述输送工具的行驶数据达到所述目标行驶距离，表征所述输送工具已移动至所述第一存放位置的限定区域内。
可选地，所述判断所述输送工具的行驶数据是否达到所述目标行驶距离，包括：
通过所述输送工具的第一轴向上的编码器，确定出所述输送工具在第一轴向上是否达到所述目标行驶距离中的第一目标行驶距离；
通过所述输送工具的第二轴向上的编码器，确定出所述输送工具在第二轴向上是否达到所述目标行驶距离中的第二目标行驶距离。
可选地，应用于控制器，所述控制器用于控制所述；所述方法还包括：
向与所述控制器通信连接的控制设备发送所述待放电池的陈设状态。
可选地，所述方法还包括：
若所述传感器组检测结果表征所述待放电池的陈设状态不合格，控制所述输送工具二次摆放所述待放电池。
可选地，所述控制所述输送工具二次摆放所述待放电池，包括：
获取第二存放位置；
通过所述输送工具将所述待放电池从所述第一存放位置移动到所述第二存放位置。
第二方面，本申请实施例提供了一种电池存放装置，包括：
获取模块，用于获取待放电池在电池仓中的第一存放位置；
第一移动模块，用于控制所述输送工具从当前位置移动至所述第一存放位置的限定区域内；
第二移动模块，用于控制所述输送工具，将所述待放电池移动至所述第一存放位置；
第三移动模块，用于控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动；
第一检测模块，用于通过安装在所述动态组件和所述第一存放位置上的传感器组，检测所述待放电池的陈设状态。
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，当控制设备运行时，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，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，所述输送系统包括上述的控制器。
本申请实施例提供的电池存放方法、装置、控制器和换电站，采用传感器组进行检测电池的陈设状态，与现有技术中的仅按照预设流程将电池陈设至需要的位置相比，其能够对电池陈设是否符合要求进行检测，以此可以使需要放置在存放位置上的电池的陈设状态更加符合要求，也能够提高陈设在存放位置的电池的安全性。
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存放方法的运行环境示意图；
图2为本申请实施例提供的电池存放方法的流程图；
图3为本申请实施例提供的电池存放装置的功能模块示意图。
具体实施方式
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，而更换电池所需时间远小于为电池充满电所需时间。
经发明人研究了解到，换电站更换车辆上的电池后，需要将亏电电池运输回电池仓的电池架上，电池仓给亏电电池进行后续处理。考虑到如果放置的电池的陈设状态不符合要求，可能会导致电池仓不能够对亏电电池进行后续处理。
基于此，本申请提供的一种电池存放方法，可以在对存放入电池仓的电池的位置进行检测。下面通过几个实施例来描述本申请提供的电池存放方法。
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存放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存放方法的运行环境示意图。该电池存放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用于为电动车辆更换电池。
该换电站100中可以包括：输送系统110、电池仓120以及控制设备130。
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111、输送轨道112和控制器113。
该控制器113可以是可编程逻辑控制器(Programmable Logic Controller，简称：PLC)。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111可以由上述的可编程逻辑控制器控制，该输送工具根据该可编程逻辑控制器的控制指令移动。该可编程逻辑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，该输送工具111可以包括有轨制导车辆(Rail Guided Vehicle，简称： RGV)、堆垛机等工具。
其中，该堆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。该堆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。该堆垛机还可以用于在电池仓内部移动电池。
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113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113还可以包括显示单元，该显示单元在控制器113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113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存放方法的实现过程。
请参阅图2，是本申请实施例提供的电池存放方法的流程图。下面将对图2所示的具体流程进行详细阐述。
步骤310，获取待放电池在电池仓中的第一存放位置。
示例性地，该第一存放位是电池仓中空闲的存放位置。
本实施例中的电池存放方法可应用于输送系统中的控制器，该控制器用于控制输送系统中的各个设备运动。
该控制器可以是可编程逻辑控制器。
该控制器可以从与该控制器通信连接的控制设备中获取第一存放位置。
该电池仓中可以包括一排或多排货架，每一排货架上包括一层或多层，货架上的每一层可以包括多个用于存放电池的存放位置。
本实施例中的电池存放方法可以应用于换电站中的控制设备，该控制设备从电池仓中当前为空闲状态的存放位置中选出该第一存放位置。
可选地，在电池仓中有多个处于空闲状态的存放位置时，可以选择离换电站中的停车位最近的存放位置，作为第一存放位置。
可选地，在电池仓中有多个处于空闲状态的存放位置时，也可以选择离输送工具最近的存放位置，作为第一存放位置。
可选地，在电池仓中有多个处于空闲状态的存放位置时，还可以随机地从多个存放位置中选出第一存放位置。
步骤330，控制该输送工具从当前位置移动至该第一存放位置的限定区域内。
示例性地，可以通过坐标表示第一存放位置的具体位置。在一个实例中，第一存放位置可以通过三维坐标(x1，y1，z1)表示。其中，x1表示该第一存放位置所在的列数，y1表示该第一存放位置所在的排数，z1表示该第一存放位置所在的层数。
该限定区域可以为与第一存放位置所在的列数相同，且与该第一存放位置所在层数相同的位置范围内。
示例性地，每一排电池仓中的货架的两侧可以设置有行驶轨道，输送工具可以在轨道上行驶。该输送工具可以在该轨道上行驶至该第一存放位置所在的列数x1处。该输送工具上设置升降机构，通过该升降机构可以将待放电池上升至该第一存放位置所在的层数。
步骤350，控制该输送工具，将该待放电池移动至该第一存放位置。
该输送工具将待放电池转移至该第一存放位置中。
示例性地，该输送工具上可以包括货叉。可以通过货叉将该待放电池放置在该第一存放位置中。
示例性地，该输送工具上可以包括机械臂，可以通过该机械臂将该待放电池放置在该第一存放位置中。
步骤370，控制该电池仓的该第一存放位置上的动态组件，向该待放电池方向移动。
示例性地，可以在确定该待放电池放置在第一存放位置后，控制该动态组件向待放电池方向移动。可选地，可以由可编程逻辑控制器对该动态组件进行控制，以使该动态组件向待放电池方向移动。
示例性地，该动态组件可以是安装在该电池仓的第一存放位置上的电动推杆，该电动推杆可以沿着垂直于该第一存放位置的放置面的方向上移动。待放电池合格地放置在第一存放位置时，该待放电池与该第一存放位置的放置面接触。
步骤390，通过安装在该动态组件和该第一存放位置上的传感器组，检测该待放电池的陈设状态。
可选地，该传感器组中可以包括一组或多组障碍物检测传感器。每一组障碍物检测传感器的一部分可以安装在该第一存放位置的边缘，障碍物检测传感器的另一部分可以安装在该动态组件的边缘。
示例性地，该第一存放位置的放置面可以是矩形，则该矩形的其中第一条边处设置有第一支架。例如，该第一支架可以垂直于该第一存放位置的放置面，且垂直该第一条边。该动态组件安装在该第一支架上，且该动态组件可以沿着该第一支架移动。
示例性地，该第一存放位置的放置面也可以是圆形，该圆形的边上设置有第二支架。例如，该第二支架可以垂直于该第一存放位置的放置面，且垂直该圆形的切线。该动态组件可以安装在该第二支架上，且可以沿着该第二支架移动。
其中，若任意一块电池在第一存放位置的陈设合格，则该任意一块电池仅陈设在该第一存放位置的放置面，不会遮挡安装传感器的第一存放位置的边缘。
可选地，可以将该陈设状态发送给与控制器连接的控制设备。
可选地，若该陈设状态表征待放电池陈设合格，将陈设状态发送给控制设备，该控制设备可以记录电池的存放信息。该存放信息可以包括电池标识、电池存放位置等。
可选地，若该陈设状态表征待放电池陈设不合格，还可以通过报警设备输出报警信号。
示例性地，该报警设备可以是报警灯，该报警信号则可以是报警灯显示的指定颜色的光信号。例如，该指定颜色可以是红色、蓝色等。当然，该指定颜色也可以是其他颜色，具体可以按需设置。
示例性地，该报警设备可以是声音报警器，该报警信号则可以是该声音报警器输出的指定频率的声音信号。该指定频率可以是按需设置。
示例性地，该报警设备还可以是声光报警器，该报警信号则可以是声光报警器输出的指定颜色的光信号以及指定频率的声音信号。
通过上述步骤，在电池执行摆放动作后，可以通过传感器检测该待放电池的陈设是否合格，可以使需要放置在存放位置上的电池的陈设状态更加符合要求，也能够提高陈设在存放位置的电池的安全性。
在一可选的实施方式中，传感器组可以包括第一传感器和第二传感器，该第一传感器安装在动态组件上，第二传感器安装在该第一存放位置的边缘。其中，该动态组件可以移动，该动态组件接收到指令后，可以沿着指定方向移动。该指定方向可以是垂直于第一存放位置的放置面。
在该动态组件移动过程中，该动态组件可使该第一传感器也沿着该指定方向移动，该第二传感器可以安装在第一传感器的移动轨迹的延长线与该第一存放位置的交点处。示例性地，若第一传感器与该第二传感器之间没有物体，则该第一传感器与第二传感器可以实现信号的发射与接收。
在一个实例中，该第二传感器安装在该第一存放位置的边缘，该第一传感器安装在动态组件的边缘，若任意一个电池合格地陈设在第一存放位置上，则电池摆放在第一存放位置的放置面，且不会覆盖安装在第一存放位置的第二传感器。
可选地，该第一传感器可以是激光发射传感器，该第二传感器可以是激光接收传感器。步骤350可以包括：通过安装在动态组件上的第一传感器发射信号，以及安装在该第一存放位置上的第二传感器接收信号，以检测该待放电池在该第一存放位置上的陈设状态，其中，该第二传感器能够接收到该第一传感器发射的信号，表示该待放电池陈设合格。
示例性地，该第一传感器与该第二传感器之间不存在遮挡物时，该第一传感器发射信号后，该第二传感器能够接收到第一传感器发射的信号。
示例性地，该第一传感器与该第二传感器之间存在遮挡物时，该第一传感器发射信号后，该发射出来的信号被遮挡物遮挡，导致该第二传感器能够不能够接收到第一传感器发射的信号。
可选地，该第一传感器可以是激光接收传感器，该第二传感器可以是激光发送传感器。步骤350可以包括：通过安装在动态组件上的第一传感器接收信号，通过安装在该第一存放位置上的第二传感器发射信号，以检测该待放电池在该第一存放位置上的陈设状态，其中，该第一传感器能够接收到该第二传感器发射的信号，表示该待放电池陈设合格。
示例性地，该第一传感器与该第二传感器之间不存在遮挡物时，该第二传感器发射信号后，该第一传感器能够接收到第一传感器发射的信号。
示例性地，该第一传感器与该第二传感器之间存在遮挡物时，该第二传感器发射信号后，该发射出来的信号被遮挡物遮挡，导致该第一传感器能够不能够接收到第二传感器发射的信号。
通过发射传感器和接收传感器可以更准确地检测两个传感器之间是否存在遮挡物，如果存在遮挡物，则可能是电池在摆放过程中电池歪斜了，导致电池将第一传感器和第二传感器遮挡了，以此检测电池摆放是否合格。
为了提高电池陈设状态的检测的准确性，可以通过多种方式检测电池的陈设状态。在一个可选的实施方式中，在步骤370之前，该方法还可以包括：步骤360，在该输送工具移动该待放电池至该第一存放位置过程中，通过该第一存放位置上的到位传感器进行到位检测。
当检测到该待放电池已到位，再执行该控制该电池仓的该第一存放位置上的动态组件，向该待放电池方向移动的步骤。
示例性地，该到位传感器可以是接近传感器，该接近传感器可以通过距离检测，确定待放电池是否放置到该第一存放位置上。
可选地，该第一存放位置上可以设置多个到位传感器，以实现第一存放位置的不同位置是否能够检测到待放电池是否到位。
示例性地，若第一存放位置上可以安装多个到位传感器时，该到位传感器可以分布在第一存放位置的不同位置。
通过一个或多个传感器检测待放电池是否到位，可以在检测电池是否已经放到该第一存放位置后，再进行第二轮的检测，可以提高电池陈设状态检测的准确性。
在一可选的实施方式中，步骤360可以包括：通过该第一存放位置的第一边缘上的第三传感器进行第一到位检测；通过该第一存放位置的第二边缘上的第四传感器进行第二到位检测。
其中，该第二边缘与该第一边缘为该第一存放位置的不同边缘。
示例性地，该第一边缘与第二边缘可以是两条平行的边缘。
若该第一到位检测的检测结果和第二到位检测的检测结果均表示该待放电池到位，则 表示该待放电池已到位。
通过设置在第一存放位置的不同边缘的多个传感器检测待放电池是否到位，可以更好地确定待放电池在第一存放位置的陈设状态，也可以防止待放电池一边放好了，待放电池另一边没放好的情况。通过多个传感器的检测可以提高电池陈设状态的检测的准确性。
在一可选的实施方式中，步骤330可以包括：步骤331至步骤333。
步骤331，根据输送工具的当前位置与该第一存放位置，确定出目标行驶距离。
可选地，还可以根据该输送工具的当前位置与该第一存放位置，确定出输送工具的目标行驶方向。
步骤332，控制该输送工具向该第一存放位置方向行驶。
示例性地，可以控制该输送工具向目标行驶方向行驶。
步骤333，判断该输送工具的行驶数据是否达到该目标行驶距离。
若该输送工具的行驶数据达到该目标行驶距离，表征该输送工具已移动至该第一存放位置的限定区域内。
示例性地，可以根据该输送工具上的编码器的数据，确定该输送工具的行驶数据是否达到该目标行驶距离。
示例性地，在可以根据该输送工具的实时位置，确定出该输送工具是否向目标行驶方向行驶。
通过上述步骤，可以更好地控制该输送工具向第一存放位置方向行驶，且还能够判断基于行驶数据，判断输送工具的移动是否准确。
在一种可选的实施方式中，步骤333可以包括：步骤3331和步骤3332。
步骤3331，通过该输送工具的第一轴向上的编码器，确定出该输送工具在第一轴向上是否达到第一目标行驶距离。
示例性地，该第一轴向可以是电池仓中的货架前的行驶轨道所在方向。
通过确定出该输送工具在第一轴向上是否达到第一目标行驶距离，确定该输送工具是否到达该第一存放位置所在列。
步骤3332，通过该输送工具的第二轴向上的编码器，确定出该输送工具在第二轴向上是否达到第二目标行驶距离。
该第二轴向可以是垂直于行驶轨道所在的地面的方向。
通过确定出该输送工具在第二轴向上是否达到第一目标行驶距离，确定该输送工具是否到达该第一存放位置所在层。
在上述的步骤中，可以从两个方向判断该输送工具是否到位，可以使用输送工具可以停靠的更加准确。进一步地，在输送工具停靠准确的情况下，可以使电池的放置也可以更加准确。
不可避免一些摆放异常的情况可以通过机器设备自动流程处理，重新摆放待放电池。电池存放方法还可以包括：步骤3010，若该传感器组检测结果表征该待放电池的陈设状态不合格，控制该输送工具二次摆放该待放电池。
示例性地，可以控制该输送工具拿取该待放电池，然后将该待放电池重新摆放在该第一存放位置。
示例性地，在重新将该待放电池摆放在该第一存放位置的过程中，还可以通过步骤370和步骤390的过程对该待放电池的陈设状态进行检测。
通过上述动作可以不重新选取存放位置，直接在该第一存放位置处对待放电池进行重新摆放，可以提高待放电池陈设成功率。
在一可选的实施方式中，步骤3010可以包括：获取第二存放位置；通过该输送工具将该待放电池从该第一存放位置移动到该第二存放位置。
可选地，该第二存放位置可以是离该第一存放位置最近的一个存放位置。
在一个实例中，该第二存放位置可以与该第一存放位置处于货架的同一列。
通过上述步骤，可以在如果该第一存放位置不能够更好地摆放待放电池时，可以就近的选取存放位置，可以提高电池存放的成功率。
基于同一申请构思，本申请实施例中还提供了与电池存放方法对应的电池存放装置，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存放方法实施例相似，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3，是本申请实施例提供的电池存放装置的功能模块示意图。本实施例中的电池存放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。电池存放装置包括：获取模块410、第一移动模块420、第二移动模块430、第三移动模块440以及第一检测模块450；其中各模块的内容如下所示。
获取模块410，用于获取待放电池在电池仓中的第一存放位置；
第一移动模块420，用于控制该输送工具从当前位置移动至该第一存放位置的限定区域内；
第二移动模块430，用于控制该输送工具，将该待放电池移动至该第一存放位置；
第三移动模块440，用于控制该电池仓的该第一存放位置上的动态组件，向该待放电池方向移动；
第一检测模块450，用于通过安装在该动态组件和该第一存放位置上的传感器组，检测该待放电池的陈设状态。
一种可能的实施方式中，第一检测模块450，用于：
通过安装在动态组件上的第一传感器发射信号，通过安装在该第一存放位置上的第二传感器接收信号，以检测该待放电池在该第一存放位置上的陈设状态，其中，该第二传感器能够接收到该第一传感器发射的信号，表示该待放电池陈设合格；或者，
通过安装在动态组件上的第一传感器接收信号，通过安装在该第一存放位置上的第二传感器发射信号，以检测该待放电池在该第一存放位置上的陈设状态，其中，该第一传感器能够接收到该第二传感器发射的信号，表示该待放电池陈设合格。
一种可能的实施方式中，电池存放装置还包括：
第二检测模块，用于在该输送工具移动该待放电池至该第一存放位置过程中，通过该第一存放位置上的第三传感器进行到位检测；
当检测到该待放电池已到位，再执行该第三移动模块440。
一种可能的实施方式中，第二检测模块，用于：
通过该第一存放位置的第一边缘上的第三传感器进行第一到位检测；
通过该第一存放位置的第二边缘上的第四传感器进行第二到位检测，其中，该第二边缘与该第一边缘为该第一存放位置的不同边缘；
若该第一到位检测的检测结果和第二到位检测的检测结果均表示该待放电池到位，则表示该待放电池已到位。
一种可能的实施方式中，第一移动模块420，包括：距离确定单元、行驶单元和判断单元。
距离确定单元，用于根据输送工具的当前位置与该第一存放位置，确定出目标行驶距离；
行驶单元，用于控制该输送工具向该第一存放位置方向行驶；
判断单元，用于判断该输送工具的行驶数据是否达到该目标行驶距离；
若该输送工具的行驶数据达到该目标行驶距离，表征该输送工具已移动至该第一存放 位置的限定区域内。
一种可能的实施方式中，判断单元，用于：
通过该输送工具的第一轴向上的编码器，确定出该输送工具在第一轴向上是否达到第一目标行驶距离；
通过该输送工具的第二轴向上的编码器，确定出该输送工具在第二轴向上是否达到第二目标行驶距离。
一种可能的实施方式中，电池存放装置还可以包括：
摆放模块，用于若该传感器组检测结果表征该待放电池未与该第一存放位置上的充电接头连接，控制该输送工具二次摆放该待放电池。
一种可能的实施方式中，摆放模块，用于：
获取第二存放位置；
通过该输送工具将该待放电池从该第一存放位置移动到该第二存放位置。
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存放方法的步骤。
本申请实施例所提供的电池存放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存放方法的步骤，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 (13)

  1. 一种电池存放方法，其特征在于，包括：
    获取待放电池在电池仓中的第一存放位置；
    控制输送工具从当前位置移动至所述第一存放位置的限定区域内；
    控制所述输送工具，将所述待放电池移动至所述第一存放位置；
    控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动；
    通过安装在所述动态组件和所述第一存放位置上的传感器组，检测所述待放电池的陈设状态。
  2. 根据权利要求1所述的方法，其特征在于，所述传感器组可以包括第一传感器和第二传感器；所述通过安装在所述动态组件和所述第一存放位置上的传感器组，检测所述待放电池的陈设状态，包括：
    通过安装在动态组件上的所述第一传感器发射信号，以及安装在所述第一存放位置上的所述第二传感器接收信号，以检测所述待放电池在所述第一存放位置上的陈设状态，其中，所述第二传感器能够接收到所述第一传感器发射的信号，表示所述待放电池陈设合格；或者，
    通过安装在动态组件上的所述第一传感器接收信号，以及安装在所述第一存放位置上的所述第二传感器发射信号，以检测所述待放电池在所述第一存放位置上的陈设状态，其中，所述第一传感器能够接收到所述第二传感器发射的信号，表示所述待放电池陈设合格。
  3. 根据权利要求1所述的方法，其特征在于，在所述控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动之前，所述方法还包括：
    在所述输送工具移动所述待放电池至所述第一存放位置过程中，通过所述第一存放位置上的到位传感器进行到位检测；
    当检测到所述待放电池已到位，再执行所述控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动的步骤。
  4. 根据权利要求3所述的方法，其特征在于，所述到位传感器包括：第三传感器和第四传感器；所述通过所述第一存放位置上的第三传感器进行到位检测，包括：
    通过所述第一存放位置的第一边缘上的所述第三传感器进行第一到位检测；
    通过所述第一存放位置的第二边缘上的所述第四传感器进行第二到位检测，其中，所述第二边缘与所述第一边缘为所述第一存放位置的不同边缘；
    若所述第一到位检测的检测结果和第二到位检测的检测结果均表示所述待放电池到位，则表示所述待放电池已到位。
  5. 根据权利要求1所述的方法，其特征在于，所述控制输送工具从当前位置移动至所述第一存放位置的限定区域内，包括：
    根据输送工具的当前位置与所述第一存放位置，确定出目标行驶距离；
    控制所述输送工具向所述第一存放位置方向行驶；
    判断所述输送工具的行驶数据是否达到所述目标行驶距离；
    若所述输送工具的行驶数据达到所述目标行驶距离，表征所述输送工具已移动至所述第一存放位置的限定区域内。
  6. 根据权利要求5所述的方法，其特征在于，所述判断所述输送工具的行驶数据是否达到所述目标行驶距离，包括：
    通过所述输送工具的第一轴向上的编码器，确定出所述输送工具在第一轴向上是否达到所述目标行驶距离中的第一目标行驶距离；
    通过所述输送工具的第二轴向上的编码器，确定出所述输送工具在第二轴向上是否达到所述目标行驶距离中的第二目标行驶距离。
  7. 根据权利要求1-6任意一项所述的方法，其特征在于，应用于控制器，所述控制器用于控制所述；所述方法还包括：
    向与所述控制器通信连接的控制设备发送所述待放电池的陈设状态。
  8. 根据权利要求1-6任意一项所述的方法，其特征在于，所述方法还包括：
    若所述传感器组检测结果表征所述待放电池的陈设状态不合格，控制所述输送工具二次摆放所述待放电池。
  9. 根据权利要求8所述的方法，其特征在于，所述控制所述输送工具二次摆放所述待放电池，包括：
    获取第二存放位置；
    通过所述输送工具将所述待放电池从所述第一存放位置移动到所述第二存放位置。
  10. 一种电池存放装置，其特征在于，包括：
    获取模块，用于获取待放电池在电池仓中的第一存放位置；
    第一移动模块，用于控制所述输送工具从当前位置移动至所述第一存放位置的限定区域内；
    第二移动模块，用于控制所述输送工具，将所述待放电池移动至所述第一存放位置；
    第三移动模块，用于控制所述电池仓的所述第一存放位置上的动态组件，向所述待放电池方向移动；
    第一检测模块，用于通过安装在所述动态组件和所述第一存放位置上的传感器组，检测所述待放电池的陈设状态。
  11. 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，当控制设备运行时，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。
  12. 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9任一所述的方法的步骤。
  13. 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，所述输送系统包括权利要求11所述的控制器。
PCT/CN2022/080221 2022-03-10 2022-03-10 电池存放方法、装置、控制器和换电站 WO2023168672A1 (zh)

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