A battery swapping method, system, device and storage medium of a charging and battery swapping station

Abstract

The application discloses a battery replacing method, system and device of a charging and replacing station and a storage medium, and relates to the technical field of battery replacing. The method comprises the following steps: determining a charging position of a full-battery battery pack according to a battery replacing request sent by a battery replacing vehicle; generating a battery replacing instruction according to the charging position of the full-battery battery pack, and sending the battery replacing instruction to a battery replacing robot; and grabbing a low-battery battery pack on the battery replacing vehicle to a temporary storage position and grabbing a full-battery battery pack on the charging position to the battery replacing vehicle through a channel position according to the battery replacing instruction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle battery replacement, in particular to a battery replacement method, system, device and storage medium of a battery charging and replacing station. BACKGROUND

[0002] In response to the global call for energy saving and emission reduction, in recent years, mechanical equipment powered by fuel has been gradually replaced by electric mechanical equipment. The market provides a battery replacement station for directly replacing the battery of electric equipment. The battery replacement station stores a plurality of full battery boxes. The vehicle with a depleted battery can drive to the battery replacement station to unload the depleted battery box in the battery replacement station, and load the full battery box in the battery replacement station into the vehicle.

[0003] The battery replacement station is composed of an upper box and a lower box. The upper box is a battery replacement compartment containing a battery replacement robot and power and detection parts required by the robot. The lower box is a charging compartment having a charging unit, a heat dissipation device, etc. The layout is very compact, and the land occupation is very small. The battery replacement system completed under the compact layout has natural characteristics, such as Figure 3 As shown in the figure, after a round of battery packs are sequentially replaced from No. 3 position, the battery at No. 1 position and No. 2 position must be transferred to the battery seat at No. 9 position and No. 10 position in order to perform the next battery replacement. This process not only has low battery utilization, but also consumes time. For a heavy battery, the energy consumption is also considerable. Especially when more battery replacement mechanical equipment is needed, the waiting time is increased, resulting in low battery replacement efficiency, which cannot meet the customer demand. SUMMARY

[0004] The technical problem solved by the scheme provided by the embodiment of the present application is that the battery seat in the charging compartment of the battery replacement station cannot keep full battery packs, the battery replacement efficiency is low, and the battery utilization is low.

[0005] According to the battery replacement method of the battery charging and replacing station provided by the embodiment of the present application, the method comprises the following steps:

[0006] The battery charging and replacing station determines the charging position of the full battery pack according to the battery replacement request sent by the battery replacement vehicle.

[0007] The battery charging and replacing station generates a battery replacement instruction according to the charging position of the full battery pack, and sends the battery replacement instruction to the battery replacement robot.

[0008] The battery replacement robot grasps the depleted battery pack on the battery replacement vehicle to a temporary storage position through the channel position according to the battery replacement instruction, and grasps the full battery pack at the charging position to the battery replacement vehicle through the channel position.

[0009] According to the battery replacement system of the battery charging and replacing station provided by the embodiment of the present application, the system comprises the following steps:

[0010] The charging and battery swapping station is configured to determine a charging position of a full battery pack according to a battery swapping request sent by a battery swapping vehicle, generate a battery swapping instruction according to the charging position of the full battery pack, and send the battery swapping instruction to a battery swapping robot.

[0011] The battery swapping robot is configured to grasp the depleted battery pack on the battery swapping vehicle to a temporary storage position through a channel position according to the battery swapping instruction, and grasp the full battery pack on the charging position to the battery swapping vehicle through the channel position.

[0012] According to the scheme provided by the embodiment of the application, the charging seat in the charging bin can keep full battery boxes, the space of the battery swapping bin is fully utilized, the loading capacity of the battery boxes of the charging bin is improved, and the battery swapping efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings, which are included to provide a further understanding of the application, illustrate embodiments of the application and together with the description serve to explain the application. The drawings are not intended to be an undue limitation on the scope of the application, and are merely illustrative.

[0014] Figure 1 is a flowchart of a battery swapping method of a charging and battery swapping station provided by an embodiment of the application;

[0015] Figure 2 is a schematic diagram of a battery swapping system of a charging and battery swapping station provided by an embodiment of the application;

[0016] Figure 3 is a schematic diagram of a reverse bin provided by the prior art;

[0017] Figure 4 is a schematic diagram of a charging and battery swapping station provided by an embodiment of the application. DETAILED DESCRIPTION

[0018] The preferred embodiments of the application will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments described below are only used to explain and understand the application, and are not used to limit the application.

[0019] Figure 1 is a flowchart of a battery swapping method of a charging and battery swapping station provided by an embodiment of the application, as shown in Figure 1 , including:

[0020] Step S101: The charging and battery swapping station determines a charging position of a full battery pack according to a battery swapping request sent by a battery swapping vehicle;

[0021] Step S102: The charging and battery swapping station generates a battery swapping instruction according to the charging position of the full battery pack, and sends the battery swapping instruction to a battery swapping robot;

[0022] Step S103: The battery replacing robot grabs the depleted battery pack on the battery replacing vehicle to the temporary storage position through the channel position according to the battery replacing instruction, and grabs the full battery pack on the charging position to the battery replacing vehicle through the channel position.

[0023] The charging and battery replacing station comprises a battery replacing robot with a bidirectional telescopic mechanism, a charging and battery replacing bin, a vehicle channel bin and a battery pack reverse bin channel bin located on both sides of the charging and battery replacing bin.

[0024] Before the charging and battery replacing station generates the battery replacing instruction according to the charging position of the full battery pack, the charging and battery replacing station further comprises detecting whether the depleted battery pack of the battery replacing vehicle is aligned with the channel position in the charging and battery replacing bin; when it is detected that the depleted battery pack of the battery replacing vehicle is not aligned with the channel position in the charging and battery replacing bin, the charging and battery replacing station issues an alarm prompt.

[0025] The battery replacing robot grabs the depleted battery pack in the vehicle channel bin to the temporary storage position through the channel position and the battery pack reverse bin channel bin, and grabs the full battery pack on the charging position to the battery replacing vehicle through the battery pack reverse bin channel bin and the channel position.

[0026] The battery replacing robot further comprises grabbing the depleted battery pack in the temporary storage position to the charging position through the vehicle channel bin or the battery pack reverse bin channel bin, so as to charge the depleted battery pack.

[0027] As shown in Figure 4 The channel position and the temporary storage position are arranged at the middle position of the charging and battery replacing bin, so that the two sides of the channel position have the same or similar number of charging positions. The channel position and the temporary storage position can also be arranged at other charging positions of the charging and battery replacing bin, and can be arranged separately.

[0028] It should be noted that, before the battery replacing robot grabs the depleted battery pack on the battery replacing vehicle to the temporary storage position through the channel position according to the battery replacing instruction, the three laser ranging sensors arranged on the battery replacing robot detect the distance between each laser ranging sensor and the depleted battery pack on the battery replacing vehicle, and send the distance information detected by each laser ranging sensor to the battery replacing station; the battery replacing station judges whether the battery replacing robot is completely aligned with the depleted battery pack according to the distance information of each laser ranging sensor; when it is judged that the battery replacing robot is not completely aligned with the depleted battery pack, the battery replacing station adjusts the position of the battery replacing robot, so that the battery replacing robot is completely aligned with the depleted battery pack, so that the battery replacing robot completes the battery replacing operation of the battery replacing vehicle.

[0029] The three laser ranging sensors include a left laser ranging sensor, a middle laser ranging sensor, and a right laser ranging sensor; and the distance information includes left distance information detected by the left laser ranging sensor, middle distance information detected by the middle laser ranging sensor, and right distance information detected by the right laser ranging sensor.

[0030] The battery swap station determines whether the battery swap robot is completely aligned with the depleted battery pack according to the distance information detected by each laser ranging sensor, including: when the left distance information, the middle distance information, and the right distance information are all within a preset distance range, the battery swap station determines that the battery swap robot is completely aligned with the depleted battery pack; and when the left distance information or the right distance information is not within the preset distance range, the battery swap station determines that the battery swap robot is not completely aligned with the depleted battery pack.

[0031] Specifically, when it is determined that the battery swap robot is not completely aligned with the depleted battery pack, the battery swap station adjusts the position of the battery swap robot to completely align the battery swap robot with the depleted battery pack, including: when the left distance information is not within the preset distance range, the battery swap station sends a right movement instruction to the battery swap robot, so that the battery swap robot adjusts the position to the right along the track according to the right movement instruction, and completely aligns the battery swap robot with the depleted battery pack; and when the right distance information is not within the preset distance range, the battery swap station sends a left movement instruction to the battery swap robot, so that the battery swap robot adjusts the position to the left along the track according to the left movement instruction, and completely aligns the battery swap robot with the depleted battery pack.

[0032] Specifically, the battery swap station determines whether the battery swap robot is completely aligned with the depleted battery pack according to the distance information detected by each laser ranging sensor, including: when the left distance information and the right distance information are both greater than the preset distance range, and the middle distance information is within the preset distance range, the battery swap station determines that the battery swap robot is completely aligned with the depleted battery pack; and when the left distance information or the right distance information is within the preset distance range, the battery swap station determines that the battery swap robot is not completely aligned with the depleted battery pack.

[0033] Specifically, when it is determined that the battery swap robot is not completely aligned with the depleted battery pack, the battery swap station adjusting the position of the battery swap robot to completely align the battery swap robot with the depleted battery pack comprises: when the left side distance information is within a preset distance range, the battery swap station sends a left moving instruction to the battery swap robot, so that the battery swap robot adjusts the position to the left along the track according to the left moving instruction to completely align the battery swap robot with the depleted battery pack; when the right side distance information is within a preset distance range, the battery swap station sends a right moving instruction to the battery swap robot, so that the battery swap robot adjusts the position to the right along the track according to the right moving instruction to completely align the battery swap robot with the depleted battery pack.

[0034] Figure 2 is a schematic diagram of a battery swap system of a battery charging and swapping station provided by an embodiment of the present application, as shown, comprising: a battery charging and swapping station 201, configured to determine a charging position of a full battery pack according to a battery swap request sent by a battery swap vehicle, and generate a battery swap instruction according to the charging position of the full battery pack, and send the battery swap instruction to a battery swap robot; the battery swap robot 202 is configured to grasp the depleted battery pack on the battery swap vehicle to a temporary storage position through a channel position according to the battery swap instruction, and grasp the full battery pack on the charging position to the battery swap vehicle through the channel position. Figure 2

[0035] Specifically, the battery charging and swapping station 201 comprises a battery swap robot with a bidirectional telescopic mechanism, a battery charging and swapping bin, and a vehicle channel bin and a battery pack reversing channel bin located on both sides of the battery charging and swapping bin; the temporary storage position and the channel position in the battery charging and swapping bin are arranged in a spaced or non-spaced manner; the channel position is arranged at the most central position of the battery charging and swapping bin, so that there are the same or similar number of charging positions on both sides of the channel position.

[0036] An electronic device provided by an embodiment of the present application comprises: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and is configured to be executed by the processor to implement a battery swap method of a battery charging and swapping station.

[0037] A computer readable storage medium provided by an embodiment of the present application has a computer program stored thereon; the computer program is executed by a processor to implement a battery swap method of a battery charging and swapping station.

[0038] According to the scheme provided by the embodiment of the present application, the charging seats in the charging bin can keep full battery boxes, the space of the battery swap bin is fully utilized, and the loading capacity of the battery boxes of the charging bin is improved.

[0039] ​Although the present application has been described in detail, but the present application is not limited thereto, those skilled in the art can make various modifications according to the principles of the present application. Therefore, any modification made according to the principles of the present application should be understood as falling within the scope of the present application.

Claims

1. A battery swapping method of a battery swapping station, characterized by, The method comprises the following steps: The battery swap station determines the charging position of the full battery pack according to the battery swap request sent by the battery swap vehicle, generates a battery swap instruction according to the charging position of the full battery pack, and sends the battery swap instruction to the battery swap robot; The battery swap robot grasps the depleted battery pack in the vehicle channel warehouse to the temporary storage position via the channel position and the battery pack reverse channel warehouse according to the battery swap instruction, and grasps the full battery pack on the charging position to the battery swap vehicle via the battery pack reverse channel warehouse and the channel position; The battery swap robot grasps the depleted battery pack in the temporary storage position to the charging position via the vehicle channel warehouse or the battery pack reverse channel warehouse, so as to charge the depleted battery pack; wherein the battery swap station comprises a battery swap robot with a bidirectional telescopic mechanism, a battery charging and swapping warehouse, and a vehicle channel warehouse and a battery pack reverse channel warehouse located on both sides of the battery charging and swapping warehouse; the temporary storage position and the channel position in the battery charging and swapping warehouse are arranged at the middlemost position of the battery charging and swapping warehouse, so that the same or similar number of charging positions are arranged on both sides of the channel position, and the arrangement mode is interval arrangement or non-interval arrangement; Before the battery swap robot grasps the depleted battery pack on the battery swap vehicle to the temporary storage position via the channel position according to the battery swap instruction, three laser ranging sensors arranged on the battery swap robot detect the distance between each laser ranging sensor and the depleted battery pack on the battery swap vehicle, and send the distance information detected by each laser ranging sensor to the battery charging and swapping station; the three laser ranging sensors comprise a left laser ranging sensor, a middle laser ranging sensor, and a right laser ranging sensor; the distance information comprises left distance information detected by the left laser ranging sensor, middle distance information detected by the middle laser ranging sensor, and right distance information detected by the right laser ranging sensor; When the left distance information and the right distance information are both greater than the preset distance range, and the middle distance information is within the preset distance range, the battery charging and swapping station determines that the battery swap robot is completely aligned with the depleted battery pack; when the left distance information or the right distance information is within the preset distance range, the battery charging and swapping station determines that the battery swap robot is not completely aligned with the depleted battery pack; When it is determined that the battery swap robot is not completely aligned with the depleted battery pack, and when the left distance information is within the preset distance range, the battery charging and swapping station sends a left moving instruction to the battery swap robot, so that the battery swap robot adjusts the position to the left along the track according to the left moving instruction, so that the battery swap robot is completely aligned with the depleted battery pack; When it is determined that the battery swap robot is not completely aligned with the depleted battery pack, and when the right distance information is within the preset distance range, the battery charging and swapping station sends a right moving instruction to the battery swap robot, so that the battery swap robot adjusts the position to the right along the track according to the right moving instruction, so that the battery swap robot is completely aligned with the depleted battery pack.

2. The battery replacing method of claim 1, wherein, Before the battery charging and swapping station generates a battery swap instruction according to the charging position of the full battery pack, the method further comprises the following steps: The battery swap station detects whether the depleted battery pack of the battery swap vehicle is aligned with the passage position in the battery swap compartment; When it is detected that the depleted battery pack of the battery swap vehicle is not aligned with the passage position in the battery swap compartment, the battery swap station issues an alarm prompt.

3. A battery replacing system of a battery charging and replacing station, characterized in that, It comprises: a battery swap station configured to determine a charging position of a full battery pack according to a battery swap request sent by a battery swap vehicle, generate a battery swap instruction according to the charging position of the full battery pack, and send the battery swap instruction to a battery swap robot; a battery swap robot configured to grasp a depleted battery pack located in a vehicle passage compartment to a temporary storage position via a passage position and a battery pack reverse passage compartment according to the battery swap instruction, grasp a full battery pack on the charging position to the battery swap vehicle via the battery pack reverse passage compartment and the passage position, and grasp the depleted battery pack in the temporary storage position to the charging position via the vehicle passage compartment or the battery pack reverse passage compartment so as to charge the depleted battery pack; wherein the battery swap station comprises a battery swap robot with a bidirectional telescopic mechanism, a battery swap compartment, and a vehicle passage compartment and a battery pack reverse passage compartment located on both sides of the battery swap compartment; the temporary storage position and the passage position in the battery swap compartment are arranged at the middle of the battery swap compartment, and the same or similar number of charging positions are arranged on both sides of the passage position in an interval or non-interval manner; three laser ranging sensors arranged on the battery swap robot are configured to detect the distance between each laser ranging sensor and the depleted battery pack on the battery swap vehicle respectively, and send the distance information detected by each laser ranging sensor to the battery swap station; the three laser ranging sensors comprise a left laser ranging sensor, a middle laser ranging sensor, and a right laser ranging sensor; the distance information comprises left distance information detected by the left laser ranging sensor, middle distance information detected by the middle laser ranging sensor, and right distance information detected by the right laser ranging sensor; the battery swap station is further configured to determine that the battery swap robot is completely aligned with the depleted battery pack when the left distance information and the right distance information are both greater than a preset distance range and the middle distance information is within the preset distance range, determine that the battery swap robot is not completely aligned with the depleted battery pack when the left distance information or the right distance information is within the preset distance range, send a left moving instruction to the battery swap robot when it is determined that the battery swap robot is not completely aligned with the depleted battery pack and the left distance information is within the preset distance range, so that the battery swap robot adjusts the position to the left along the track according to the left moving instruction to completely align the battery swap robot with the depleted battery pack, and send a right moving instruction to the battery swap robot when it is determined that the battery swap robot is not completely aligned with the depleted battery pack and the right distance information is within the preset distance range, so that the battery swap robot adjusts the position to the right along the track according to the right moving instruction to completely align the battery swap robot with the depleted battery pack.

4. An electronic device, comprising: It comprises: a memory; a processor; and a computer program; The computer program is stored in the memory and configured to be executed by the processor to implement the method of claim 1 or 2.

5. A computer readable storage medium, characterized in that, The computer program is stored in the memory and configured to be executed by the processor to implement the method of claim 1 or 2.

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