Battery replacement control method and system, computer equipment, and computer-readable storage medium

Abstract

The present invention relates to the field of battery replacement technology, and specifically provides a battery replacement control method and system, a computer device, and a computer-readable storage medium. The present invention aims to at least to some extent solve the technical problem that the battery replacement operation has serious safety risks due to the phenomenon that the battery positioning pin that should have just entered the hole is offset and hits the power battery. The battery replacement control method includes: obtaining visual data of the vehicle to be replaced; wherein the visual data includes the position data of the battery hole of the power battery of the vehicle to be replaced; based on the position data of multiple battery holes, judging whether the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation on it; if so, making the battery replacement vehicle perform a battery replacement operation on the vehicle to be replaced. Through such a structure, it is possible to seek to reduce / avoid the possibility of misjudgment through the position data of multiple battery holes, thereby reducing or eliminating safety risks.

Description

Technical Field

[0001] The present invention relates to the field of battery swapping technology, and specifically provides a battery swapping control method, a control system for a battery swapping vehicle, a computer device, and a computer-readable storage medium. Background Art

[0002] Electric vehicles can maintain their range by charging or battery swapping. Charging restores the range of an electric vehicle by recharging the currently depleted battery, while battery swapping restores the range of an electric vehicle by directly replacing the currently depleted battery with another fully charged battery. Battery swapping is accomplished by: after the electric vehicle to be swapped enters the battery swapping platform within the battery swapping station, the battery swapping vehicle removes the currently depleted battery and transfers it to the charging compartment for recharging, while also directly attaching another fully charged battery to the electric vehicle to be swapped.

[0003] In the process of removing a depleted power battery from an electric vehicle, a battery swapping trolley (such as an RGV or AGV) needs to rise to the working position of the power battery to unlock the bolts. The way the battery swapping trolley unlocks the power battery is to unlock the battery by inserting the battery locating pin on the battery swapping trolley into the hole (the mounting hole for the bolt corresponding to the battery locating pin, used to install the power battery on the electric vehicle). However, in the event of abnormal lifting of the battery swapping trolley, it is usually manifested as the battery locating pin that should have just entered the hole being offset and hitting the power battery, and this phenomenon poses serious safety risks. For example, the power battery may be damaged; due to the occurrence of this phenomenon, the vehicle to be replaced shakes, and since the vehicle to be replaced is in a lifted-up position in the air, the shaking of the vehicle may cause injury to nearby workers. Summary of the Invention

[0004] The present invention aims to at least partially solve the above-mentioned technical problems. Specifically, it aims to reduce the probability or avoid the occurrence of the phenomenon that the battery positioning pin that should have just entered the hole will be offset and hit the power battery when the battery-exchange vehicle is abnormally lifted, thereby reducing or eliminating the corresponding safety risks.

[0005] In view of this, in a first aspect, the present invention provides a battery replacement control method, which includes: obtaining visual data of a vehicle to be replaced; wherein the visual data includes position data of battery holes of the power battery of the vehicle to be replaced; based on the position data of multiple battery holes, judging whether the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation on it; if so, making the battery replacement vehicle perform a battery replacement operation on the vehicle to be replaced.

[0006] With this configuration, it is possible to reduce or avoid the possibility of misjudgment using position data of a plurality of battery holes.

[0007] For the above-mentioned battery replacement control method, in a possible implementation manner, the "determining whether the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation based on the position data of the multiple battery holes" includes: when the deviations of the position data of the multiple battery holes are all less than the set deviation threshold, it is determined that the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation.

[0008] Through such a structure, a specific form is provided in which the position of the vehicle to be battery-replaced meets the conditions for battery replacement operation.

[0009] It is understood that those skilled in the art can determine the deviation threshold of the battery hole according to actual needs. For example, the deviation threshold can be a fixed value or a variable, and the deviation thresholds corresponding to different battery holes can be the same or different.

[0010] For the above-mentioned battery replacement control method, in a possible implementation, the "determining whether the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation based on the position data of the multiple battery holes" includes: when one of the deviations in the position data of the multiple battery holes is greater than or equal to a set deviation threshold, it is determined that the position of the vehicle to be replaced does not meet the conditions for performing a battery replacement operation; wherein, when the position of the vehicle to be replaced does not meet the conditions for performing a battery replacement operation, the control method includes: terminating the current battery replacement operation; or selectively performing a secondary judgment on the position of the vehicle to be replaced, and according to the result of the secondary judgment, still terminating the current battery replacement operation or continuing the current battery replacement operation.

[0011] Through such a structure, a control method is provided for the case where the position of the vehicle to be replaced does not meet the conditions for replacing its battery.

[0012] It is understandable that those skilled in the art can determine the method for secondary determination of the location of the vehicle to be battery swapped, the specific implementation method, and the circumstances under which the secondary determination is performed based on actual needs. For example, it can be: using more detailed data to distinguish the degree of the current "non-compliance", such as continuing the current battery swap operation if the degree is not serious; distinguishing the current "non-compliance" through manual intervention, and assuming that the degree of non-compliance is determined to be not serious, continuing the current battery swap operation; etc.

[0013] For the above-mentioned battery replacement control method, in a possible implementation, after the "obtaining visual data of the vehicle to be replaced", the battery replacement control method includes: judging whether the position data corresponding to the battery hole is valid data; if not, in the process of the battery locating pin of the battery replacement vehicle approaching the battery hole, judging whether the position of the battery locating pin relative to the battery hole meets the conditions for performing a battery replacement operation on the vehicle to be replaced.

[0014] Through such a configuration, a judgment control logic is provided in the case where visual data fails.

[0015] It is understandable that those skilled in the art can determine the specific quantitative form of the position of the battery locating pin relative to the battery hole to meet the conditions for the battery swap operation based on actual needs. For example, when the battery locating pin of the battery swapping vehicle approaches the battery hole, the position of the battery locating pin is detected by the proximity sensor. When the two sets of proximity sensors corresponding to the battery locating pins of the two battery holes are triggered at the same time, it is considered that the battery locating pin has fallen into place, meeting the conditions for the battery swap operation. At this time, the battery swapping vehicle can perform the battery swap operation on the vehicle to be swapped.

[0016] For the above-mentioned battery replacement control method, in one possible implementation, the "determining whether the position of the battery locating pin relative to the battery hole meets the conditions for performing a battery replacement operation on the vehicle to be replaced" includes: if not, the battery locating pin of the battery replacement vehicle continues to move toward the battery hole, and it is determined whether the torque of the battery locating pin is greater than the set torque threshold; if so, feedback information is given and / or the current battery replacement operation is terminated; wherein, the torque threshold is a value lower than the set high value.

[0017] Through such a structure, it is possible to ensure that situations that do not comply with battery replacement operations can be discovered in a timely manner by lowering the threshold, thereby effectively avoiding safety risks that may arise while maintaining a higher torque threshold (such as a torque threshold that is roughly the same as when visual data is valid).

[0018] For the above-mentioned battery replacement control method, in a possible implementation, the "in the process of the battery locating pin of the battery replacement vehicle approaching the battery hole, judging whether the position of the battery locating pin relative to the battery hole meets the conditions for performing battery replacement operations on the vehicle to be replaced" includes: preliminarily judging whether the vehicle to be replaced meets the conditions for performing battery replacement operations on it; if so, making the battery locating pin of the battery replacement vehicle approach the battery hole, and in the process of the battery locating pin of the battery replacement vehicle approaching the battery hole, judging whether the position of the battery locating pin relative to the battery hole meets the conditions for performing battery replacement operations on the vehicle to be replaced.

[0019] Through such a structure, it is possible to determine whether the conditions for battery replacement operation are met for the vehicle to be replaced by making a preliminary judgment based on the position of the battery positioning pin relative to the battery hole.

[0020] It is understandable that those skilled in the art can determine the specific form of preliminary judgment based on actual needs. For example, it can be completed by using the state or movement of the structure of the battery swapping vehicle and / or the vehicle to be swapped, or by using the state or movement of other structures besides the two. For example, it can also be determined by visual observation.

[0021] For the above-mentioned battery replacement control method, in one possible implementation, the "preliminary judgment on whether the vehicle to be replaced meets the conditions for battery replacement operation" includes: moving multiple body positioning pins of the battery replacement vehicle in a manner close to the corresponding body holes of the vehicle to be replaced; if the multiple body positioning pins can all enter the holes, it is preliminarily judged that the vehicle to be replaced meets the conditions for battery replacement operation.

[0022] Through such a composition, a specific implementation method of preliminary judgment is given.

[0023] For the above-mentioned battery replacement control method, in a possible implementation manner, the "all of the multiple vehicle body locating pins are able to enter the holes" includes: the torque during the period when the multiple vehicle body locating pins enter the holes is less than or equal to a preset torque threshold.

[0024] Through such a structure, a specific method for judging whether the vehicle body locating pin can enter the hole is provided.

[0025] It is understandable that, since the body locating pin hits a portion other than the power battery during insertion of the body locating pin into the hole, the torque threshold here can theoretically be greater than the torque threshold for the battery locating pin.

[0026] In a second aspect, the present invention provides a computer-readable storage medium comprising a memory, wherein the memory is suitable for storing a plurality of program codes, and the program codes are suitable for being loaded and run by a processor to execute any of the aforementioned battery replacement control methods.

[0027] It can be understood that the computer-readable storage medium has all the technical effects of the battery replacement control method described in any of the above items, which will not be repeated here.

[0028] Those skilled in the art will appreciate that all or part of the processes in the battery swapping control method of the present invention can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-described method embodiments. The computer program includes computer program code, which can include, but is not limited to, program code for executing the above-described battery swapping control method. For ease of illustration, only the portions relevant to the present invention are shown. The computer program code can be in source code form, object code form, executable file, or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal, and software distribution medium capable of carrying the computer program code. It should be noted that the content of the computer-readable storage medium can be appropriately increased or decreased based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0029] In a third aspect, the present invention provides a computer device comprising a memory and a processor, wherein the memory is suitable for storing a plurality of program codes, and the program codes are suitable for being loaded and run by the processor to execute any one of the aforementioned battery replacement control methods.

[0030] It is understood that the device has all the technical effects of any of the above-mentioned battery replacement control methods, which will not be described in detail here. The device can be a computer-controlled device formed by various electronic devices.

[0031] In a fourth aspect, the present invention provides a battery exchange control system, which includes a control module, and the control module is configured to be able to execute any of the battery exchange control methods described above.

[0032] It can be understood that the computer-readable storage medium has all the technical effects of the battery replacement control method described in any of the above items, which will not be repeated here.

[0033] In the description of the present invention, a "control module" may include hardware, software, or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software components, such as program code, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Non-transitory computer-readable storage media include any suitable media that can store program code, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, and the like.

[0034] Furthermore, it should be understood that since the setting of the control module is only for illustrating the functional units in the system corresponding to the battery replacement control method of the present invention, the physical device corresponding to the control module can be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of control modules is one is only schematic. It can be understood by those skilled in the art that the control module can be adaptively split according to actual conditions. The specific form of splitting the control module will not cause the technical solution to deviate from the principle of the present invention. Therefore, the technical solutions after splitting will fall within the scope of protection of the present invention.

[0035] Proposal 1. A battery swap control method, characterized in that the battery swap control method includes:

[0036] Obtain visual data of the vehicle to be replaced;

[0037] Wherein, the visual data includes the position data of the battery hole of the power battery of the vehicle to be replaced;

[0038] Determining, based on the position data of the plurality of battery holes, whether the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation thereon;

[0039] If so, use the battery swapping vehicle to swap batteries for the vehicle to be swapped.

[0040] Proposal 2. The battery swap control method according to Proposal 1 is characterized in that the step of "determining whether the position of the vehicle to be battery swapped meets the conditions for battery swapping based on the position data of the plurality of battery holes" includes:

[0041] When the deviations of the position data of the multiple battery holes are all smaller than the set deviation threshold, it is determined that the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation.

[0042] Proposal 3. The battery swap control method according to Proposal 2 is characterized in that the step of "determining whether the position of the vehicle to be battery swapped meets the conditions for battery swapping based on the position data of the plurality of battery holes" includes:

[0043] If one of the deviations of the position data of the plurality of battery holes is greater than or equal to a set deviation threshold, it is determined that the position of the vehicle to be replaced does not meet the conditions for performing a battery replacement operation;

[0044] Wherein, when the position of the vehicle to be replaced does not meet the conditions for performing the battery replacement operation, the control method includes:

[0045] Terminate the current battery swap operation; or

[0046] A secondary judgment is selectively made on the position of the vehicle to be battery-swapped, and based on the result of the secondary judgment, the current battery-swapped operation is still terminated or continued.

[0047] Proposal 4. The battery swap control method according to Proposal 3 is characterized in that, after the step of "obtaining visual data of the vehicle to be swapped," the battery swap control method includes:

[0048] determining whether the position data corresponding to the battery hole is valid data;

[0049] If not, when the battery positioning pin of the battery-swapping vehicle approaches the battery hole, it is determined whether the position of the battery positioning pin relative to the battery hole meets the conditions for performing a battery-swapping operation on the vehicle to be battery-swapped.

[0050] Proposal 5. The battery swap control method according to Proposal 4 is characterized in that the step of "determining whether the position of the battery locating pin relative to the battery hole satisfies the conditions for performing a battery swap operation on the vehicle to be swapped" includes:

[0051] If not, the battery positioning pin of the battery swapping vehicle continues to move toward the battery hole, and it is determined whether the torque of the battery positioning pin is greater than the set torque threshold;

[0052] If yes, provide feedback information and / or terminate the current battery swap operation;

[0053] The torque threshold is a value lower than a set high value.

[0054] Proposal 6. The battery swap control method according to Proposal 4 is characterized in that the step of "determining whether the position of the battery locating pin relative to the battery hole meets the conditions for performing a battery swap operation on the vehicle to be swapped, during the process of the battery locating pin of the battery swapping vehicle approaching the battery hole" includes:

[0055] Preliminarily determine whether the vehicle to be replaced meets the conditions for battery replacement;

[0056] If so, the battery positioning pin of the battery swapping vehicle is brought close to the battery hole, and in the process of the battery positioning pin of the battery swapping vehicle approaching the battery hole, it is determined whether the position of the battery positioning pin relative to the battery hole meets the conditions for performing battery swapping operations on the vehicle to be battery swapped.

[0057] Proposal 7. The battery swap control method according to Proposal 6 is characterized in that the "preliminary determination of whether the vehicle to be battery swapped meets the conditions for battery swapping" includes:

[0058] Move the plurality of body positioning pins of the battery swapping vehicle so as to be close to the corresponding body holes of the vehicle to be swapped;

[0059] If the multiple vehicle body locating pins can all enter the holes, it is preliminarily determined that the vehicle to be battery-replaced meets the conditions for battery replacement.

[0060] Proposal 8. The battery replacement control method according to Proposal 7 is characterized in that the “multiple body positioning pins are all able to enter the holes” includes:

[0061] The torques during the insertion of the plurality of vehicle body locating pins into the holes are all less than or equal to a preset torque threshold.

[0062] Proposal 9. A computer-readable storage medium comprising a memory, wherein the memory is suitable for storing multiple program codes, and wherein the program codes are suitable for being loaded and run by a processor to execute the battery replacement control method described in any one of Proposals 1 to 8.

[0063] Proposal 10. A computer device comprising a memory and a processor, wherein the memory is suitable for storing multiple program codes, and wherein the program codes are suitable for being loaded and run by the processor to execute the battery replacement control method described in any one of Proposals 1 to 8.

[0064] Proposal 11. A battery replacement control system, characterized in that the control system includes a control module, and the control module is configured to be able to execute the battery replacement control method described in any one of Proposals 1 to 8. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The preferred embodiment of the battery swap control method of the present invention is described below by taking the battery swap vehicle as an RGV (Rail Guided Vehicle) as an example and referring to the accompanying drawings, in which:

[0066] Figure 1 A flow chart showing a battery replacement control method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0067] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0068] It should be noted that in the description of the present invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element described must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "installed," "disposed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0070] In addition, to better illustrate the present invention, numerous specific details are provided in the following detailed embodiments. Those skilled in the art will appreciate that the present invention can be implemented without certain specific details. In some instances, the detailed structures and principles of various functional units of a battery swap station, which are well known to those skilled in the art, are not described in detail in order to highlight the main purpose of the present invention.

[0071] The basic functional units of a battery swap station mainly include a charging pod, a battery swap platform, and a battery swap vehicle (such as an RGV). Among them, the charging pod can recharge the depleted battery to provide a fully charged battery that can be directly installed on the vehicle to be swapped. The process of battery swapping a vehicle is as follows: after the vehicle to be swapped arrives at the battery swap platform, the RGV removes the depleted battery from the vehicle (unlocking operation) and installs the fully charged battery on the vehicle (locking operation).

[0072] In order to ensure the reliability of battery replacement, before the unlocking operation, it is first necessary to prepare for the basic links such as lowering the vehicle's high pressure to enter neutral mode, aligning the vehicle's four wheels, and ensuring that the vehicle's tire pressure is within the range. Assuming that there is a problem with the preparation of these basic links, the vehicle's battery replacement posture may be incorrect. After the preparation of the basic links, the vehicle to be replaced is lifted by a vehicle lift, and visual photography is used to determine whether the position accuracy of the battery hole is within the deviation range allowed for the battery replacement operation, and to check whether there are any obstructions or other interference factors at the location of the unlocking operation (near the battery hole). When the position accuracy of the battery hole meets the conditions for the battery replacement operation, the RGV is moved to the working position, the battery positioning pin on the RGV is extended, and the RGV is lifted, so that the battery positioning pin is lifted into the battery hole of the low-power battery. Based on this, the low-power battery can be unlocked from the vehicle and transferred to the RGV. Afterwards, the locking operation of adding the fully charged battery carried by the RGV to the vehicle is performed.

[0073] Taking the unlocking operation as an example, the problem of abnormal lifting of the RGV may occur during the battery replacement process. The following describes the cause of the abnormal lifting problem and the corresponding safety hazards by combining the cause events of the present invention.

[0074] In the causal event, the error reporting logic of the visual photography link is: an error is reported when the visual deviation values ​​of the right front battery hole and the left rear battery hole are both greater than 10mm. For example, the visual deviation value includes the visual deviation value along the vehicle's X direction (vehicle length direction, that is, forward or backward deviation) and Y direction (vehicle width direction, that is, left or right deviation). In the causal event, the deviation of the right front battery hole is: 3.779mm to the right / 10.959mm to the rear (one of the deviation values ​​to the right or rear is greater than 10mm, which is considered to be a visual deviation value greater than 10mm), and the deviation of the left rear battery hole is: 1.89mm to the left / 6.802mm to the rear). It can be seen that in the causal accident, only the deviation value of the left rear battery hole was greater than 10mm, so the battery replacement continued.

[0075] While the RGV torque increased, the lifting torque of the vehicle lift decreased. Analysis revealed that during the initial incident, the lifting torque on the right side decreased less (the left battery locating pin had not entered the battery hole). Subsequently, because the left battery locating pin was at the edge of the battery hole, it was able to slide into the hole from the edge. The torque of the vehicle lift and RGV then quickly returned to normal. Because the RGV torque did not reach the torque threshold, no alarm or error signal was issued.

[0076] As the battery locating pin slid into the battery hole, the hood of the vehicle being swapped shook. This shaking resulted in damage to the front edge of the battery hole for the depleted battery. Furthermore, a worker who was adding windshield washer fluid at the battery swap site suffered a minor head injury.

[0077] It can be seen that in this incident, when the vehicle posture was incorrect, due to the failure of visual photography judgment and the unreasonable setting of the RGV torque threshold, the RGV positioning pin was able to continue to rise, eventually causing damage to the low-charge battery near the battery hole, and the shaking of the hood caused injury to the staff.

[0078] Based on the above events, the present invention is proposed.

[0079] Reference Figure 1 , Figure 1 A flow chart of a battery swap control method according to an embodiment of the present invention is shown. In one possible implementation, the control method mainly includes the following steps:

[0080] S101. When the vehicle to be replaced is lifted into place by a vehicle lift, visual data of the low-power battery is collected, such as collecting visual data under the low-power battery by visual photography.

[0081] S102. Determine whether the visual photography is valid. If the visual photography is valid, proceed to S103. In this case, visual data related to battery replacement can be obtained. For example, the position data of the two battery holes (such as the left rear and right front) of the low-battery battery can be determined based on the visual data. If the visual photography is invalid (for example, there is interference / obstruction such as water or mud at the location corresponding to the battery hole), proceed to S104.

[0082] S103: Determine whether the battery replacement conditions are met based on the position data of the two battery holes in the visual data. If not, proceed to S108; if so, proceed to S107.

[0083] As in this embodiment, it can be judged that the battery replacement conditions are met only when the deviation values ​​of the battery hole at the left rear position and the battery hole at the right front position from the ideal position are both less than the set threshold (such as still 10mm), otherwise it is judged that the battery replacement conditions are not met.

[0084] Step S104: Before the battery positioning pin of the RGV is unlocked, it is initially determined whether it is in place through mechanical movement.

[0085] In one possible implementation, the initial determination is achieved by extending the two body locating pins (e.g., the left front and right rear body locating pins) of the RGV to the pin position, raising the pin position to the working position, and determining whether the body locating pins can enter the holes located on the vehicle body (not on the depleted battery) based on the torque of the two body locating pins. If not, the process proceeds to S108; if so, it is preliminarily determined that the body locating pins have actually entered the holes and the vehicle body posture is generally correct, retracting the body locating pins and proceeding to S105.

[0086] S105: Lift the battery positioning pins in the RGV that has reached the working position. During the lifting process of the RGV, the position of the battery positioning pins is detected in real time to determine whether the battery positioning pins have fallen into place. If not, proceed to S106; if so, proceed to S107.

[0087] In one possible implementation, proximity sensors can be used to determine whether the battery locating pins are close enough to the battery hole to be properly positioned. For example, a properly positioned position should be achieved when two sets of proximity sensors corresponding to the two battery locating pins are triggered simultaneously. Otherwise, the battery locating pins are not properly positioned.

[0088] S106: Real-time detection of the torque of the battery positioning pin to determine whether the torque reaches a torque threshold. If so, proceed to S108; if not, proceed to S107.

[0089] Preferably, a stricter torque protection function is called in this link, specifically, the torque threshold of the RGV corresponding to the battery positioning pin is lowered to ensure that the current battery replacement operation can be terminated when the battery positioning pin of the RGV hits a position outside the non-battery hole of the deflated battery.

[0090] S107: Continue the current battery replacement operation. For example, after the unlocking operation corresponding to removing the depleted battery is completed, the subsequent locking operation of pretending to have a fully charged battery is performed.

[0091] S108: If the battery swap station is unattended, the station can be restored to its pre-battery swap state, the current battery swap operation can be terminated, and the vehicle owner can be prompted to leave. Furthermore, information can be provided, such as prompting operations and maintenance personnel to perform maintenance on the station. If the station is manned, the system will shut down and report an error, terminating the current battery swap operation until the on-duty personnel can perform the appropriate maintenance work. If the problem is resolved, the battery swap can continue at the current station.

[0092] Since visual data may also be inaccurate, the following changes can be made to the "no" situation in S103: a pop-up window will appear on the interface (such as when there is someone on duty at the battery swap station), and the visual data will be manually checked to confirm the current deviation for a second time. Once it is confirmed that the battery swap operation can be carried out, the battery swap operation will continue.

[0093] It can be seen that in the control method of the present invention, in the judgment link of visual data, the probability of misjudgment is reduced by a stricter judgment mechanism. In the case of visual data failure, the battery replacement can be continued through the initial judgment based on the vehicle body positioning pin and the secondary judgment based on the landing detection. Moreover, in the secondary judgment link, by lowering the torque threshold of the battery positioning pin, it can be ensured that the problem of not landing in place can be discovered in time, thereby avoiding the safety hazards such as damage to the low-power battery and injury to the staff if the battery replacement operation is continued under this circumstance.

[0094] It should be noted that although the above embodiments describe the various steps in a specific order, those skilled in the art will appreciate that, in order to achieve the effects of the present invention, the different steps do not necessarily need to be performed in this order; they can be performed simultaneously or in another order, and certain steps can be added, replaced, or omitted. For example, the aforementioned initial determination can be omitted, and only a position determination mechanism based on calling the torque protection function can be employed.

[0095] It should be noted that although the battery swap control method constructed in the above specific manner is introduced as an example, those skilled in the art will understand that the present invention should not be limited to this. In fact, users can flexibly adjust the relevant steps and parameters in the steps according to actual application scenarios, such as determining the reduction amount of the torque threshold according to actual needs.

[0096] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A battery replacement control method, characterized in that: The battery swap control method includes: Obtain visual data of the vehicle to be replaced; Wherein, the visual data includes the position data of the battery hole of the power battery of the vehicle to be replaced; Determining, based on the position data of the plurality of battery holes, whether the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation thereon; Among them, after the "obtaining visual data of the vehicle to be replaced", the battery replacement control method includes: determining whether the position data corresponding to the battery hole is valid data; If not, when the battery positioning pin of the battery swapping vehicle approaches the battery hole, determine whether the position of the battery positioning pin relative to the battery hole meets the conditions for performing the battery swapping operation on the vehicle to be swapped; If so, the battery-swapping vehicle is used to swap batteries for the vehicle to be swapped; The "determining whether the position of the battery locating pin relative to the battery hole meets the conditions for performing a battery replacement operation on the vehicle to be replaced" includes: If not, the battery positioning pin of the battery swapping vehicle continues to move toward the battery hole, and it is determined whether the torque of the battery positioning pin is greater than the set torque threshold; If yes, provide feedback information and / or terminate the current battery swap operation; The torque threshold is a value lower than a set high value.

2. The battery replacement control method according to claim 1, characterized in that: The aforementioned “determining whether the position of the vehicle to be battery-swapped meets the conditions for battery-swapped operation based on the position data of the plurality of battery holes” includes: When the deviations of the position data of the multiple battery holes are all smaller than the set deviation threshold, it is determined that the position of the vehicle to be replaced meets the conditions for performing a battery replacement operation.

3. The battery replacement control method according to claim 2, characterized in that: The aforementioned “determining whether the position of the vehicle to be battery-swapped meets the conditions for battery-swapped operation based on the position data of the plurality of battery holes” includes: If one of the deviations of the position data of the plurality of battery holes is greater than or equal to a set deviation threshold, it is determined that the position of the vehicle to be replaced does not meet the conditions for performing a battery replacement operation; Wherein, when the position of the vehicle to be replaced does not meet the conditions for performing the battery replacement operation, the control method includes: Terminate the current battery swap operation; or A secondary judgment is selectively made on the position of the vehicle to be battery-swapped, and based on the result of the secondary judgment, the current battery-swapped operation is still terminated or continued.

4. The battery replacement control method according to claim 1, characterized in that: The aforementioned "in the process of the battery locating pin of the battery swapping vehicle approaching the battery hole, determining whether the position of the battery locating pin relative to the battery hole meets the conditions for performing the battery swapping operation on the vehicle to be swapped" includes: Preliminarily determine whether the vehicle to be replaced meets the conditions for battery replacement; If so, the battery positioning pin of the battery swapping vehicle is brought close to the battery hole, and in the process of the battery positioning pin of the battery swapping vehicle approaching the battery hole, it is determined whether the position of the battery positioning pin relative to the battery hole meets the conditions for performing battery swapping operations on the vehicle to be battery swapped.

5. The battery replacement control method according to claim 4, characterized in that: The "preliminary determination of whether the vehicle to be battery-replaced meets the conditions for battery-replacement operation" includes: Move the plurality of body positioning pins of the battery swapping vehicle so as to be close to the corresponding body holes of the vehicle to be swapped; If the multiple vehicle body locating pins can all enter the holes, it is preliminarily determined that the vehicle to be battery-replaced meets the conditions for battery replacement.

6. The battery replacement control method according to claim 5, characterized in that: The aforementioned “the plurality of vehicle body locating pins are all capable of entering the holes” includes: The torques during the insertion of the plurality of vehicle body locating pins into the holes are all less than or equal to a preset torque threshold.

7. A computer-readable storage medium comprising a memory, wherein the memory is adapted to store a plurality of program codes, wherein: The program code is suitable for being loaded and run by a processor to execute the battery replacement control method according to any one of claims 1 to 6.

8. A computer device comprising a memory and a processor, wherein the memory is adapted to store a plurality of program codes, wherein: The program code is suitable for being loaded and run by the processor to execute the battery replacement control method according to any one of claims 1 to 6.

9. A battery replacement control system, characterized in that: The control system includes a control module, and the control module is configured to be able to execute the battery replacement control method according to any one of claims 1 to 6.

Images