A method, system, device and storage medium for accurately locating a battery pack

Abstract

The present invention discloses a precise positioning method, system, device and storage medium for a battery pack, which relates to the field of battery swapping technology. The method comprises: when a battery swapping vehicle reaches a battery swapping area, three laser ranging sensors arranged on a battery swapping robot respectively detect the distance between it and the deficient battery pack on the battery swapping vehicle, and send the distance information detected by each laser ranging sensor to a battery swapping station; the battery swapping station determines whether the battery swapping robot is completely aligned with the deficient battery pack based on the distance information of each laser ranging sensor; when it is determined that the battery swapping robot is not completely aligned with the deficient battery pack, the battery swapping station adjusts the position of the battery swapping robot so that the battery swapping robot is completely aligned with the deficient battery pack, so that the battery swapping robot can complete the battery swapping operation of the battery swapping vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle battery replacement technology, and in particular to a method, system, device and storage medium for accurately locating a battery pack. Background Art

[0002] Battery swapping for electric vehicles can quickly recharge, reducing user wait time while preserving battery life. Therefore, using battery swapping stations to provide battery swapping services for electric vehicles has high promotional value and economic significance. However, once a vehicle enters a battery swapping station, the battery pack position is difficult to align with the swapping position at the station, resulting in low battery swap efficiency and a poor customer experience. Summary of the Invention

[0003] The technical problem solved by the solution provided in the embodiment of the present invention is that the battery pack position is difficult to align with the battery swap position at the battery swap station, resulting in low battery swap efficiency and poor customer experience.

[0004] A method for accurately locating a battery pack according to an embodiment of the present invention includes:

[0005] When the battery swap vehicle reaches the battery swap area, the three laser ranging sensors installed on the battery swap robot respectively detect the distance between it and the low-power battery pack on the battery swap vehicle, and send the distance information detected by each laser ranging sensor to the battery swap station;

[0006] The battery swap station determines whether the battery swap robot is completely aligned with the depleted battery pack based on the spacing information of each laser ranging sensor;

[0007] When it is determined that the battery-swapping robot is not completely aligned with the depleted battery pack, the battery-swapping station adjusts the position of the battery-swapping robot so that the battery-swapping robot is completely aligned with the depleted battery pack, so that the battery-swapping robot can complete the battery-swapping operation of the battery-swapping vehicle.

[0008] According to an embodiment of the present invention, a system for accurately positioning a battery pack is provided, comprising:

[0009] Laser ranging sensors are used to detect the distance between the battery swapping vehicle and the depleted battery pack on the battery swapping vehicle when the vehicle reaches the battery swapping area, and send the distance information detected by each laser ranging sensor to the battery swapping station;

[0010] The battery swap station is used to determine whether the battery swap robot is completely aligned with the depleted battery pack based on the spacing information of each laser ranging sensor; when it is determined that the battery swap robot is not completely aligned with the depleted battery pack, adjust the position of the battery swap robot so that the battery swap robot is completely aligned with the depleted battery pack, so that the battery swap robot can complete the battery swap operation of the battery swap vehicle.

[0011] The solution provided according to the embodiment of the present invention improves battery replacement efficiency and customer experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to understand the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0013] Figure 1 This is a flow chart of a method for accurately locating a battery pack provided by an embodiment of the present invention;

[0014] Figure 2 Schematic diagram of a system for accurately positioning a battery pack provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0015] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments described below are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0016] Figure 1 This is a flow chart of a method for accurately locating a battery pack provided by an embodiment of the present invention. Figure 1 Shown, including:

[0017] Step S101: When the battery swapping vehicle reaches the battery swapping area, the three laser ranging sensors installed on the battery swapping robot respectively detect the distance between it and the low-power battery pack on the battery swapping vehicle, and send the distance information detected by each laser ranging sensor to the battery swapping station;

[0018] Step S102: The battery swap station determines whether the battery swap robot is completely aligned with the depleted battery pack based on the distance information of each laser ranging sensor;

[0019] Step S103: When it is determined that the battery-swapping robot is not completely aligned with the depleted battery pack, the battery-swapping station adjusts the position of the battery-swapping robot so that the battery-swapping robot is completely aligned with the depleted battery pack, so that the battery-swapping robot can complete the battery-swapping operation of the battery-swapping vehicle.

[0020] The three laser ranging sensors include a left laser ranging sensor, a middle laser ranging sensor, and a right laser ranging sensor; the spacing information includes left spacing information detected by the left laser ranging sensor, middle spacing information detected by the middle laser ranging sensor, and right spacing information detected by the right laser ranging sensor.

[0021] Among them, the battery swap station judges whether the battery swap robot is completely aligned with the deficient battery pack based on the detection distance information of each laser ranging sensor, including: when the left side distance information, the middle distance information and the right side distance information are all within the preset distance range, the battery swap station judges that the battery swap robot is completely aligned with the deficient battery pack; when the left side distance information or the right side distance information is not within the preset distance range, the battery swap station judges that the battery swap robot is not completely aligned with the deficient battery pack.

[0022] Specifically, when it is determined that the battery-swapping robot is not completely aligned with the defunct battery pack, the battery-swapping station adjusts the position of the battery-swapping robot so that the battery-swapping robot is completely aligned with the defunct battery pack, including: when the left-side spacing information is not within the preset spacing range, the battery-swapping station sends a right-moving instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the right along the track according to the right-moving instruction, so that the battery-swapping robot is completely aligned with the defunct battery pack; when the right-side spacing information is not within the preset spacing range, the battery-swapping station sends a left-moving instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the left along the track according to the left-moving instruction, so that the battery-swapping robot is completely aligned with the defunct battery pack.

[0023] Specifically, the battery swap station determines whether the battery swap robot is completely aligned with the deficient battery pack based on the detection distance information of each laser ranging sensor, including: when the left side distance information and the right side 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 deficient battery pack; when the left side distance information or the right side distance information is within the preset distance range, the battery swap station determines that the battery swap robot is not completely aligned with the deficient battery pack.

[0024] Specifically, when it is determined that the battery-swapping robot is not completely aligned with the defunct battery pack, the battery-swapping station adjusts the position of the battery-swapping robot so that the battery-swapping robot is completely aligned with the defunct battery pack, including: when the left side spacing information is within a preset spacing range, the battery-swapping station sends a left movement instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the left along the track according to the left movement instruction so that the battery-swapping robot is completely aligned with the defunct battery pack; when the right side spacing information is within a preset spacing range, the battery-swapping station sends a right movement instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the right along the track according to the right movement instruction so that the battery-swapping robot is completely aligned with the defunct battery pack.

[0025] Figure 2FIG. 1 is a schematic diagram of a system for accurately positioning a battery pack according to an embodiment of the present invention. Figure 2 As shown, it includes: three laser ranging sensors 201, which are used to detect the distance between the battery swapping vehicle and the deficient battery pack on the battery swapping vehicle when the battery swapping vehicle reaches the battery swapping area, and send the distance information detected by each laser ranging sensor to the battery swapping station; the battery swapping station 202, which is used to determine whether the battery swapping robot is completely aligned with the deficient battery pack based on the distance information of each laser ranging sensor; when it is determined that the battery swapping robot is not completely aligned with the deficient battery pack, adjust the position of the battery swapping robot so that the battery swapping robot is completely aligned with the deficient battery pack, so that the battery swapping robot can complete the battery swapping operation of the battery swapping vehicle.

[0026] The three laser ranging sensors 201 include a left laser ranging sensor, a middle laser ranging sensor, and a right laser ranging sensor; the spacing information includes left spacing information detected by the left laser ranging sensor, middle spacing information detected by the middle laser ranging sensor, and right spacing information detected by the right laser ranging sensor.

[0027] An electronic device provided by an embodiment of the present application includes: 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 method for accurately locating a battery pack.

[0028] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon; the computer program is executed by a processor to implement a method for accurately locating a battery pack.

[0029] Example 1

[0030] After the battery swap robot is completely aligned with the position of the depleted battery pack, the embodiment of the present invention further includes a battery swap operation between the battery swap station and the battery swap vehicle based on the two battery pack temporary storage seats, which specifically includes:

[0031] Step S11: After the battery swap station obtains the battery swap request of the battery swap vehicle, it determines the target fully charged battery pack charging station and the target battery pack temporary storage station;

[0032] Step S12: the battery swap station generates a battery swap instruction using the target fully-charged battery pack charging seat and the target battery pack temporary storage seat, and sends the battery swap instruction to the battery swap robot provided with a bidirectional telescopic mechanism;

[0033] Step S13: The battery-swapping robot drives the bidirectional telescopic mechanism according to the battery-swapping instruction to complete the battery-swapping operation.

[0034] It should be pointed out that the battery-swapping robot set in the battery-swapping warehouse moves back and forth along the set track, and the battery-swapping robot is provided with a two-way telescopic mechanism for grabbing and storing battery packs. The battery pack temporary storage seat is located on the set track, and is used to temporarily store the depleted battery packs grabbed by the battery-swapping robot from the battery-swapping vehicle. By setting a battery pack temporary storage seat on the set track, the depleted battery packs removed from the vehicle to be replaced can be temporarily stored, and there is no need to reserve space in the charging compartment of the battery-swapping equipment, so that the charging compartment can remain fully loaded with battery packs, thereby increasing the battery pack loading capacity of the charging compartment.

[0035] Specifically, the battery swap station determines the target fully-charged battery pack charging seat and battery pack temporary storage seat including: the battery swap station reads the power information and charging time of the battery pack currently on each charging seat; the battery swap station determines the target fully-charged battery pack based on the power information and charging time of the battery pack on each charging seat, and obtains the target fully-charged battery pack charging seat and charging seat position number based on the target fully-charged battery pack; the battery swap station determines the target battery pack temporary storage seat based on the charging seat position number; wherein, the target battery pack temporary storage seat is located in the battery swap warehouse.

[0036] Among them, the battery swap station determines the target battery pack temporary storage seat according to the charging seat position number, including: the battery swap station determines whether the target fully charged battery pack charging seat is located in the first charging area or the second charging area according to the charging seat position number; when it is determined that the target fully charged battery pack charging seat is located in the first charging area, the battery swap station will use the second battery pack temporary storage position as the target battery pack temporary storage seat; when it is determined that the target fully charged battery pack charging seat is located in the second charging area, the battery swap station will use the first battery pack temporary storage position as the target battery pack temporary storage seat; wherein, the first charging area and the first battery pack temporary storage position are on the same side, and on the opposite side to the second battery pack temporary storage position; the second charging area and the second battery pack temporary storage position are on the same side, and on the opposite side to the first battery pack temporary storage position.

[0037] Specifically, a first battery pack temporary storage seat and a second battery pack temporary storage seat are sequentially arranged on the set track of the battery swap warehouse, and a battery swap station for the battery swap robot to perform the battery swap action is provided between the two battery temporary storage seats. That is to say, by arranging battery pack temporary storage seats on both sides of the battery swap station, the battery swap robot can determine the charging area to which it belongs according to the charging seat position number of the target fully charged battery pack, and place the low-charged battery pack on the battery swap vehicle on the corresponding battery pack temporary storage position according to the charging area. For example, there are 8 charging seat positions for battery pack charging in the charging warehouse. When the battery swap robot needs to grab a fully charged battery pack located at charging seat position number 2, it first determines that the charging area to which it belongs is the first charging area, and then determines that the first charging area corresponds to the second battery pack temporary storage position, and uses the second battery pack temporary storage position as the target battery pack temporary storage seat, so that the battery swap robot can store the low-charged battery pack on the battery swap vehicle on the second battery pack temporary storage position, thereby not blocking the battery swap robot from subsequently moving to the left to grab the fully charged battery pack located at charging seat position number 2.

[0038] Among them, the battery swap station generates a battery swap instruction using the target fully-charged battery pack charging seat and the target battery pack temporary storage seat, including: the battery swap station generates a first battery swap instruction based on the target battery swap position where the battery swap vehicle is parked and the target battery pack temporary storage seat; the battery swap station generates a second battery swap instruction based on the target fully-charged battery pack charging seat and the target battery swap position where the battery swap vehicle is parked; the battery swap station generates a third battery swap instruction based on the target battery pack temporary storage seat and the target fully-charged battery pack charging seat.

[0039] Specifically, the battery-swapping robot drives the bidirectional telescopic mechanism according to the battery-swapping instruction to complete the battery-swapping operation, including: the battery-swapping robot drives the bidirectional telescopic mechanism according to the first battery-swapping instruction to grab the deflated battery pack from the battery-swapping vehicle, and stores the grabbed deflated battery pack on the target battery pack temporary storage seat; the battery-swapping robot drives the bidirectional telescopic mechanism according to the second battery-swapping instruction to grab the target fully-charged battery pack from the target fully-charged battery pack charging seat, and stores the grabbed target fully-charged battery pack on the battery-swapping vehicle.

[0040] An embodiment of the present invention also includes: the battery-exchanging robot drives the bidirectional telescopic mechanism to grab a deflated battery pack from the target battery pack temporary storage seat according to the third battery-exchanging instruction, and stores the grabbed deflated battery pack on the target fully-charged battery pack charging seat to charge the deflated battery pack.

[0041] Example 2

[0042] After the battery swap robot is completely aligned with the depleted battery pack, the embodiment of the present invention further includes a battery swap operation between the battery swap station and the battery swap vehicle based on two bidirectional telescopic mechanisms, which specifically includes:

[0043] Step S21: After the battery swapping device obtains the battery swapping request from the battery swapping vehicle, it determines the charging position of the fully charged battery box;

[0044] Each battery holder can hold a battery box, and each battery holder can charge the battery box mounted thereon, that is, each battery holder provides a charging position.

[0045] Step S22: The battery exchange equipment drives the first bidirectional telescopic mechanism to grab the fully charged battery box located on the charging position according to the charging position of the fully charged battery box, and drives the second bidirectional telescopic mechanism to grab the low-charged battery box located on the battery exchange vehicle.

[0046] Step S23: The battery exchange device drives the first bidirectional telescopic mechanism to store the grabbed fully charged battery box on the battery exchange vehicle, and drives the second bidirectional telescopic mechanism to store the grabbed low-charge battery box on the charging position.

[0047] The battery swapping device includes: a charging compartment with multiple charging positions; and a battery swapping compartment for transverse movement along a guide rail by a first bidirectional telescopic mechanism and a second bidirectional telescopic mechanism. The guide rails disposed within the battery swapping compartment are each provided at both ends with a length one charging position longer than a support portion within the charging compartment. Alternatively, each end of the charging compartment includes a vacant position of the same size as a charging position, but without a battery holder, and the charging compartment and the battery swapping compartment have the same length.

[0048] In this embodiment of the application, after the battery swap device determines the charging position of the fully charged battery box, the battery swap device further includes: determining whether the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism are set in a split mode or a combined mode; wherein the split mode means that the first bidirectional telescopic mechanism is set on the first battery swap robot, and the second bidirectional telescopic mechanism is set on the second battery swap robot. The combined mode means that the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism are both set on the third battery swap robot.

[0049] Wherein, the battery-exchanging device drives the first bidirectional telescopic mechanism to grab the fully charged battery box located on the charging position according to the charging position of the fully charged battery box, and drives the second bidirectional telescopic mechanism to grab the low-charged battery box located on the battery-exchanging vehicle, including: when the battery-exchanging device determines that the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is a split mode, the battery-exchanging robot closest to the charging position of the fully charged battery box is used as the first battery-exchanging robot, and the battery-exchanging robot that is not closest to the charging position of the fully charged battery box is used as the second battery-exchanging robot, and a first instruction is sent to the first battery-exchanging robot, and a second instruction is sent to the second battery-exchanging robot; the first battery-exchanging robot drives the first battery-exchanging robot according to the first instruction, and the second battery-exchanging robot drives the second battery-exchanging robot according to the first instruction. The bidirectional telescopic mechanism grabs the fully charged battery box located on the charging position, and at the same time, the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the second instruction to grab the low-charged battery box located on the battery-exchanging vehicle; or after the first battery-exchanging robot drives the first bidirectional telescopic mechanism according to the first instruction to grab the fully charged battery box located on the charging position, the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the second instruction to grab the low-charged battery box located on the battery-exchanging vehicle; or after the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the second instruction to grab the low-charged battery box located on the battery-exchanging vehicle, the first battery-exchanging robot drives the first bidirectional telescopic mechanism according to the first instruction to grab the fully charged battery box located on the charging position.

[0050] Among them, the battery-exchanging device controls the first bidirectional telescopic mechanism to place the grabbed fully-charged battery box on the battery-exchanging vehicle, and drives the second bidirectional telescopic mechanism to place the grabbed low-charged battery box on the charging position, including: the battery-exchanging device sends a third instruction to the first battery-exchanging robot, and at the same time sends a fourth instruction to the second battery-exchanging robot; the first battery-exchanging robot drives the first bidirectional telescopic mechanism according to the third instruction to place the grabbed fully-charged battery box on the battery-exchanging vehicle, and at the same time the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the fourth instruction to place the grabbed low-charged battery box on the charging position. The battery box is stored at the charging position; or after the first battery-exchanging robot drives the first bidirectional telescopic mechanism according to the third instruction to store the grabbed fully-charged battery box on the battery-exchanging vehicle, the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the fourth instruction to store the grabbed low-charged battery box at the charging position; or after the second battery-exchanging robot drives the second bidirectional telescopic mechanism according to the fourth instruction to store the grabbed low-charged battery box at the charging position, the first battery-exchanging robot drives the first bidirectional telescopic mechanism according to the third instruction to store the grabbed fully-charged battery box on the battery-exchanging vehicle.

[0051] Among them, the battery exchange device drives the first bidirectional telescopic mechanism to grab the fully charged battery box located on the charging position according to the charging position of the fully charged battery box, and drives the second bidirectional telescopic mechanism to grab the low-charged battery box located on the battery exchange vehicle, including: when the battery exchange device determines that the setting mode of the first bidirectional telescopic mechanism and the second bidirectional telescopic mechanism is a combined mode, the bidirectional telescopic mechanism closest to the charging position of the fully charged battery box is used as the first bidirectional telescopic mechanism, and the bidirectional telescopic mechanism not closest to the charging position of the fully charged battery box is used as the second bidirectional telescopic mechanism, and sends a fifth instruction to the third battery exchange robot; after the third battery exchange robot drives the first bidirectional telescopic mechanism to grab the fully charged battery box located on the charging position according to the fifth instruction, it drives the second bidirectional telescopic mechanism to grab the low-charged battery box located on the battery exchange vehicle; or after the third battery exchange robot drives the second bidirectional telescopic mechanism to grab the low-charged battery box located on the battery exchange vehicle according to the fifth instruction, it drives the first bidirectional telescopic mechanism to grab the fully charged battery box located on the charging position.

[0052] Among them, the battery exchange device controls the first bidirectional telescopic mechanism to place the grabbed fully charged battery box on the battery exchange vehicle, and drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery box on the charging position, including: the battery exchange device sends a sixth instruction to the third battery exchange robot; the third battery exchange robot drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery box on the battery exchange vehicle according to the sixth instruction, and then drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery box on the charging position; or the third battery exchange robot drives the second bidirectional telescopic mechanism to place the grabbed low-charge battery box on the charging position according to the sixth instruction, and then drives the first bidirectional telescopic mechanism to place the grabbed fully charged battery box on the battery exchange vehicle.

[0053] A battery-swapping vehicle is used to send a battery-swapping request to a battery-swapping device; the battery-swapping device is used to determine the charging position of a fully-charged battery box after obtaining the battery-swapping request from the battery-swapping vehicle; according to the charging position of the fully-charged battery box, drive the first bidirectional telescopic mechanism to grab the fully-charged battery box located at the charging position, and drive the second bidirectional telescopic mechanism to grab the depleted battery box located on the battery-swapping vehicle; and drive the first bidirectional telescopic mechanism to store the grabbed fully-charged battery box on the battery-swapping vehicle, and drive the second bidirectional telescopic mechanism to store the grabbed depleted battery box at the charging position.

[0054] Example 3

[0055] The embodiment of the present invention further includes a battery swap operation performed between a battery swap station having two battery swap robots and a battery swap vehicle after the battery swap robot is completely aligned with the position of the depleted battery pack. The two battery swap robots are respectively a main battery swap robot and a backup battery swap robot. When only one of the main battery swap robot and the backup battery swap robot performs the battery swap task, it is usually necessary to reserve a battery holder as an empty space to facilitate the storage of the depleted battery box taken out of the battery swap vehicle. The battery swap method specifically includes:

[0056] Step S31: After the battery swapping device obtains the battery swapping request from the battery swapping vehicle, it determines the charging position of the fully charged battery box and determines whether the current main battery swapping robot can work normally;

[0057] Step S32: When the battery-swapping device determines that the current primary battery-swapping robot can operate normally, it generates a first battery-swapping instruction and sends the first battery-swapping instruction to the primary battery-swapping robot, so that the primary battery-swapping robot completes the battery-swapping operation of the battery-swapping vehicle according to the first battery-swapping instruction;

[0058] Step S33: When the battery-swapping device determines that the current main battery-swapping robot cannot work normally, it generates a second battery-swapping instruction and sends the second battery-swapping instruction to the backup battery-swapping robot, so that the backup battery-swapping robot completes the battery-swapping operation of the battery-swapping vehicle according to the second battery-swapping instruction.

[0059] Specifically, the main battery-swapping robot completes the battery-swapping operation of the battery-swapping vehicle according to the first battery-swapping instruction, including: the main battery-swapping robot obtains the charging position of the fully-charged battery box from the first battery-swapping instruction; the main battery-swapping robot grabs the low-charged battery box of the battery-swapping vehicle to the temporary storage position according to the charging position of the fully-charged battery box, grabs the fully-charged battery box at the charging position to the battery-swapping vehicle, and grabs the low-charged battery box at the temporary storage position to the charging position, thereby completing the battery-swapping operation of the battery-swapping vehicle. The charging position is provided by a battery holder, and the temporary storage position can be provided by a battery holder or a support structure different from the battery holder.

[0060] Specifically, the backup battery-swapping robot completes the battery-swapping operation of the battery-swapping vehicle according to the second battery-swapping instruction, including: the backup battery-swapping robot obtains the charging position of the fully-charged battery box from the second battery-swapping instruction; the backup battery-swapping robot grabs the low-charged battery box of the battery-swapping vehicle to the temporary storage position according to the charging position of the fully-charged battery box, grabs the fully-charged battery box at the charging position to the battery-swapping vehicle, and grabs the low-charged battery box at the temporary storage position to the charging position, thereby completing the battery-swapping operation of the battery-swapping vehicle.

[0061] Among them, after the battery-swapping device determines the charging position of the fully charged battery box, it also includes: the battery-swapping device detects whether the temporary storage position for temporarily storing the low-charged battery box is available; when the battery-swapping device detects that the temporary storage position is unavailable, it generates a third battery-swapping instruction, and sends the third battery-swapping instruction to the main battery-swapping robot and the backup battery-swapping robot at the same time, so that the main battery-swapping robot and the backup battery-swapping robot complete the battery-swapping operation of the battery-swapping vehicle according to the third battery-swapping instruction.

[0062] Among them, the main battery-swapping robot and the backup battery-swapping robot complete the battery-swapping operation of the battery-swapping vehicle according to the third battery-swapping instruction, including: the main battery-swapping robot and the backup battery-swapping robot respectively obtain the charging position of the fully-charged battery box from the third battery-swapping instruction; the main battery-swapping robot first grabs the low-charged battery box from the battery-swapping vehicle according to the charging position of the fully-charged battery box, and then stores the low-charged battery box at the charging position; at the same time, the backup battery-swapping robot first grabs the fully-charged battery box from the charging position according to the charging position of the fully-charged battery box, and then stores the fully-charged battery box on the battery-swapping vehicle; or the backup battery-swapping robot first grabs the low-charged battery box from the battery-swapping vehicle according to the charging position of the fully-charged battery box, and then stores the low-charged battery box at the charging position; at the same time, the main battery-swapping robot first grabs the fully-charged battery box from the charging position according to the charging position of the fully-charged battery box, and then stores the fully-charged battery box on the battery-swapping vehicle.

[0063] The embodiment of the present invention further includes, after the battery exchange device determines the charging position of the fully charged battery box, that: the battery exchange device determines a battery exchange robot that matches the charging position according to the charging position of the fully charged battery box, and uses the battery exchange robot as the main battery exchange robot.

[0064] The battery-swapping device is used to determine the charging position of the fully charged battery box after obtaining the battery-swapping request of the battery-swapping vehicle, and judge whether the main battery-swapping robot can work normally; when it is judged that the main battery-swapping robot can work normally, a first battery-swapping instruction is generated, and the first battery-swapping instruction is sent to the main battery-swapping robot; and when it is judged that the main battery-swapping robot cannot work normally, a second battery-swapping instruction is generated, and the second battery-swapping instruction is sent to the backup battery-swapping robot; the main battery-swapping robot is used to complete the battery-swapping operation of the battery-swapping vehicle according to the first battery-swapping instruction; the backup battery-swapping robot is used to complete the battery-swapping operation of the battery-swapping vehicle according to the second battery-swapping instruction.

[0065] Among them, the battery-swapping equipment is also used to detect whether a temporary storage space for temporarily storing a low-power battery box is available; when it is detected that the temporary storage space is unavailable, a third battery-swapping instruction is generated, and the third battery-swapping instruction is sent to the main battery-swapping robot and the backup battery-swapping robot at the same time, so that the main battery-swapping robot and the backup battery-swapping robot complete the battery-swapping operation of the battery-swapping vehicle according to the third battery-swapping instruction.

[0066] Although the present invention has been described in detail above, it is not limited thereto, and those skilled in the art can make various modifications based on the principles of the present invention. Therefore, any modifications made based on the principles of the present invention should be understood to fall within the scope of protection of the present invention.

Claims

1. A method for accurately positioning a battery pack, characterized in that: include: When the battery-swapping vehicle reaches the battery-swapping area, the three laser ranging sensors installed on the battery-swapping robot respectively detect the distance between it and the depleted battery pack on the battery-swapping vehicle, and send the distance information detected by each laser ranging sensor to the battery-swapping station; wherein, the three laser ranging sensors include a left laser ranging sensor, a middle laser ranging sensor, and a right laser ranging sensor; wherein, the distance information includes the left side distance information detected by the left laser ranging sensor, the middle distance information detected by the middle laser ranging sensor, and the right side distance information detected by the right laser ranging sensor; The battery swap station determines whether the battery swap robot is completely aligned with the depleted battery pack based on the spacing information of each laser ranging sensor, which includes: when the left spacing information and the right spacing information are both greater than a preset spacing range, and the middle spacing information is within the preset spacing range, the battery swap station determines that the battery swap robot is completely aligned with the depleted battery pack; when the left spacing information or the right spacing information is within the preset spacing range, the battery swap station determines that the battery swap robot is not completely aligned with the depleted battery pack; When it is determined that the battery-swapping robot is not completely aligned with the defunct battery pack, the battery-swapping station adjusts the position of the battery-swapping robot so that the battery-swapping robot is completely aligned with the defunct battery pack, so that the battery-swapping robot completes the battery-swapping operation of the battery-swapping vehicle, which includes: when the left-side spacing information is within a preset spacing range, the battery-swapping station sends a left-moving instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the left along the track according to the left-moving instruction so that the battery-swapping robot is completely aligned with the defunct battery pack; when the right-side spacing information is within a preset spacing range, the battery-swapping station sends a right-moving instruction to the battery-swapping robot, so that the battery-swapping robot adjusts its position to the right along the track according to the right-moving instruction so that the battery-swapping robot is completely aligned with the defunct battery pack.

2. A precise positioning system for a battery pack, comprising a processor, configured to implement the precise positioning method for a battery pack according to claim 1, wherein: include: Laser ranging sensors are used to detect the distance between the battery swapping vehicle and the depleted battery pack on the battery swapping vehicle when the vehicle reaches the battery swapping area, and send the distance information detected by each laser ranging sensor to the battery swapping station; The battery swap station is used to determine whether the battery swap robot is completely aligned with the depleted battery pack based on the spacing information of each laser ranging sensor; when it is determined that the battery swap robot is not completely aligned with the depleted battery pack, the position of the battery swap robot is adjusted so that the battery swap robot is completely aligned with the depleted battery pack, so that the battery swap robot can complete the battery swap operation of the battery swap vehicle.

3. An electronic device, characterized in that: include: Memory; processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method according to claim 1.

4. A computer-readable storage medium, characterized in that A computer program is stored thereon; the computer program is executed by a processor to implement the method according to claim 1.

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