A method and device for determining battery compartment position and a battery replacement station

Abstract

The present invention discloses a method, device and battery swap station for determining the position of a battery compartment. The method for determining the position of a battery compartment includes: controlling the sensor device and the origin in the origin device to be on a first straight line, and taking the position of the sensor device as the zero-point coordinate; wherein the origin device includes an origin, the origin device is fixed to the wall of the battery warehouse, and the first straight line is perpendicular to the wall; controlling the sensor device and the battery compartment to be on a second straight line, and determining the coordinate information of the sensor device after movement according to the zero-point coordinate and the distance moved by the sensor device; wherein the second straight line is perpendicular to the wall; controlling the sensor device to obtain the first distance information between the battery compartment and the sensor device, and determining the position coordinates of the battery compartment according to the coordinate information and the first distance information. The technical solution of the embodiment of the present invention achieves the effect of quickly and accurately determining the position coordinates of the battery compartment.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swap stations, and in particular to a method and device for determining a battery compartment position, and a battery swap station. Background Art

[0002] With the rapid development of electric vehicles, there are more and more electric vehicle battery swap stations.

[0003] After the battery swap station is assembled, the coordinates of the placement of each battery compartment in the battery library need to be manually calibrated, and the calibration results are stored in the storage unit of the controller to facilitate the direct placement of the battery in the battery compartment when the battery swap station is used later.

[0004] However, when manually determining the coordinates of the battery compartment position, manual operation is time-consuming, and the accuracy depends entirely on the human eye, which is prone to errors. When placing the battery pack, it is easy to cause wear on the contact points of the battery pack. Summary of the invention

[0005] The present invention provides a method and device for determining the position of a battery compartment, and a battery swap station, so as to accurately and quickly determine the position coordinates of the battery compartment.

[0006] According to one aspect of the present invention, a method for determining a battery compartment position is provided, the method comprising:

[0007] Control the sensor device and the origin of the origin device to be on the first straight line, and use the position of the sensor device as the zero point coordinate; wherein the origin device includes an origin, the origin device is fixed to the wall of the battery storage, and the first straight line is perpendicular to the wall;

[0008] Control the sensor device and the battery compartment to be on a second straight line, and determine the coordinate information of the sensor device after movement according to the zero point coordinate and the distance moved by the sensor device; wherein the second straight line is perpendicular to the wall;

[0009] The sensor device is controlled to obtain first distance information between the battery compartment and the sensor device, and the position coordinates of the battery compartment are determined according to the coordinate information and the first distance information.

[0010] Optionally, controlling the sensing device and the origin of the origin device to be on a first straight line includes:

[0011] Controlling the sensing device to obtain the position of the origin in the origin device;

[0012] The sensing device is controlled to move to be on the first straight line with the origin.

[0013] Optionally, the origin device includes a plurality of first frames and a plurality of second frames;

[0014] The first frame and the second frame are arranged alternately, and the height of the first frame is higher than that of the second frame; the first frame and the second frame are arranged around the origin, and along the direction from the origin to the first frame, the side lengths of the first frame and the second frame are increasing; wherein the direction of the height of the first frame and the height of the second frame is perpendicular to the wall;

[0015] Controlling the sensor device to obtain the position of the origin in the origin device includes:

[0016] Controlling the sensing device to scan the origin device from the first frame farthest from the origin in a first direction and a second direction; wherein the first direction is a first side length direction of the first frame, the second direction is a second side length direction of the first frame, and the first side length direction is perpendicular to the second side length direction;

[0017] When the spacing information obtained by the sensing device scanning the origin device along the first direction is the spacing between two adjacent first frames, and the spacing information obtained by scanning the origin device along the second direction is the spacing between two adjacent first frames, and when the second distance information obtained by scanning the current point along the first direction is equal to the third distance information obtained by scanning the current point along the second direction, the current point is determined to be the position of the origin.

[0018] Optionally, controlling the sensor device and the battery compartment to be on a second straight line, and determining coordinate information of the sensor device after movement according to the zero point coordinate and the distance moved by the sensor device, comprises:

[0019] Controlling the sensor device to move along the first direction and the second direction so that the sensor device and the battery compartment are located on the second straight line;

[0020] The fourth distance information of the sensor device moving along the first direction and the fifth distance information of the sensor device moving along the second direction are obtained, and the coordinate information is determined according to the zero point coordinate, the fourth distance information and the fifth distance information.

[0021] Optionally, the method for determining the battery compartment position further includes:

[0022] At preset intervals, determining the position coordinates of the battery compartment, and determining the difference between the previous position coordinates and the current position coordinates of the battery compartment;

[0023] When it is determined that the difference value is greater than a preset value, an abnormality message is issued.

[0024] According to another aspect of the present invention, a battery compartment position determination device is provided, the battery compartment position determination device comprising: an origin device, a sensing device and a control device;

[0025] The origin device includes an origin, and the origin device is fixed to the wall of the battery warehouse;

[0026] The control device is connected to the sensor device, and the control device is used to control the sensor device and the origin in the origin device to be on a first straight line; and use the position of the sensor device as the zero point coordinate; control the sensor device and the battery compartment to be on a second straight line, and determine the coordinate information of the sensor device after movement according to the zero point coordinate and the distance moved by the sensor device; control the sensor device to obtain the first distance information between the battery compartment and the sensor device, and determine the position coordinates of the battery compartment according to the coordinate information and the first distance information; wherein, the first straight line is perpendicular to the wall, and the second straight line is perpendicular to the wall.

[0027] Optionally, the origin device includes a plurality of first frames and a plurality of second frames;

[0028] The first frame and the second frame are arranged alternately, and the height of the first frame is higher than that of the second frame; the first frame and the second frame are arranged around the origin, and along the direction from the origin to the first frame, the side lengths of the first frame and the second frame become larger and larger; wherein the direction of the height of the first frame and the height of the second frame is perpendicular to the wall.

[0029] Optionally, the first frame and the second frame are square.

[0030] Optionally, the sensor device is fixed on a stacker of the battery warehouse.

[0031] According to another aspect of the present invention, there is provided a battery swap station, which includes a battery compartment position determination device as described in any embodiment of the present invention.

[0032] The technical solution of the embodiment of the present invention controls the sensor device and the origin in the origin device to be on the first straight line, and uses the position of the sensor device at this time as the zero point coordinate; then controls the sensor device to scan the battery rack, and when scanning the battery compartment, controls the sensor device to move to the straight line where the battery compartment is located, so that the sensor device and the battery compartment are on the second straight line, that is, the battery compartment and the rays emitted by the sensor device are on a straight line; and obtains the distance moved by the sensor device in each direction, and the coordinate information of the sensor device relative to the zero point coordinate can be determined; controls the sensor device to obtain the first distance information between the battery compartment and the sensor device, and the position coordinates of the battery compartment can be determined according to the first distance information and the coordinate information of the sensor device; controls the sensor device to continue scanning until the position coordinates of all battery compartments on the battery rack are determined. By using the coordinate information of the sensor device and the first distance information between the sensor device and the battery compartment, the position coordinates of the battery compartment can be quickly and accurately determined, thereby improving the efficiency of the calibration of the battery compartment position coordinates. The technical solution of the embodiment of the present invention solves the problem of manual determination of the position coordinates of the battery compartment, which is time-consuming and inaccurate, and achieves the effect of quickly and accurately determining the position coordinates of the battery compartment.

[0033] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 is a flow chart of a method for determining a battery compartment position provided by an embodiment of the present invention;

[0036] Figure 2 is a structural schematic diagram of an origin device provided by an embodiment of the present invention;

[0037] Figure 3 is a structural schematic diagram of a battery compartment provided by an embodiment of the present invention;

[0038] Figure 4 is a flow chart of another method for determining the position of a battery compartment provided by an embodiment of the present invention;

[0039] Figure 5 is a flow chart of another method for determining the position of a battery compartment provided by an embodiment of the present invention;

[0040] Figure 6 It is a structural schematic diagram of a battery compartment position determination device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the term "comprising" and any variation thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] Figure 1 is a flow chart of a method for determining a battery compartment position provided by an embodiment of the present invention. Figure 2 is a schematic structural diagram of an origin device provided by an embodiment of the present invention, Figure 3 is a schematic diagram of the structure of a battery compartment provided by an embodiment of the present invention, with reference to Figure 1 , Figure 2 and Figure 3 , the battery compartment position determination method includes:

[0044] S110, control the sensor device and the origin of the origin device to be on the first straight line, and use the position of the sensor device as the zero point coordinate; wherein the origin device includes an origin, the origin device is fixed to the wall of the battery storage, and the first straight line is perpendicular to the wall.

[0045] Specifically, when designing a battery swap station, a coordinate origin position will be determined, and an origin device will be installed at the coordinate origin position, such as Figure 2 As shown, the origin device includes an origin A1. The origin device is fixed on the wall of the battery storage, and the zero point coordinate can be determined according to the origin A1 of the origin device.

[0046] Exemplarily, the sensing device includes, for example, a laser sensor. The sensing device can be set on a stacker. The stacker is a machine for placing and grabbing batteries in a battery warehouse. The stacker can drive the sensing device to move. The control device can control the movement of the stacker, thereby controlling the movement of the sensing device, so that the sensing device and the origin A1 in the origin device are on the first straight line, and the position of the sensing device can be used as the zero-point coordinate. Among them, the origin A1 of the origin device is, for example, the center position of the battery rack of the battery warehouse facing the wall; it can also be the starting position of the stacker. When the origin A1 of the origin device is consistent with the starting position of the stacker, the stacker does not need to be moved; the origin A1 of the origin device can also be other positions in the battery warehouse, which can be determined according to actual conditions and is not limited here.

[0047] The control device is, for example, a station control system of a battery swap station, which can control the equipment of the battery swap station and obtain information of each device.

[0048] S120, controlling the sensor device and the battery compartment to be on a second straight line, and determining coordinate information of the sensor device after movement according to the zero point coordinates and the distance the sensor device moves; wherein the second straight line is perpendicular to the wall.

[0049] Specifically, the control device controls the sensor device to scan the battery rack in a certain direction, for example, scanning the battery rack from left to right, and / or scanning the battery rack from top to bottom; the direction from left to right is parallel to the ground, and the direction from top to bottom is perpendicular to the ground; until the battery compartment is scanned; Figure 3 As shown, there is an obvious feature point A2 at the location of the battery compartment. Figure 3 Only the characteristic point A2 is illustrated, and the shape and size of the characteristic point are not limited; when the sensor device scans the characteristic point A2 of the battery compartment, it will receive a reflection signal, thereby determining that the battery compartment has been scanned.

[0050] Then control the stacker to move. The stacker can move in the left and right directions and the up and down directions, but will not move in the height direction of the origin device. The height direction of the origin device is the vertical direction of the wall where it is located, and the vertical direction of the wall is generally the grabbing direction of the stacker; control the stacker to move to the straight line where the battery compartment is located, so that the sensor device can be controlled to move to the second straight line with the battery compartment. And obtain the distance that the sensor device moves relative to the origin A1 of the origin device in each direction, and then determine the coordinate information of the sensor device after moving according to the zero point coordinates and the moving distance.

[0051] S130, controlling the sensor device to obtain first distance information between the battery compartment and the sensor device, and determining the position coordinates of the battery compartment according to the coordinate information and the first distance information.

[0052] Specifically, the control device controls the sensor device to obtain the first distance information between the battery compartment and the sensor device, for example, controls the sensor device to transmit a signal to the battery compartment, obtains the time for the signal to be reflected back, and determines the first distance information between the battery compartment and the sensor device according to the time and the wavelength of the transmitted signal. According to the coordinate information of the sensor device after movement, the coordinates of the two axes of the battery compartment can be determined, and then the coordinates of the third axis can be determined according to the first distance information, and the position coordinates of the battery compartment can be determined; for example, when the sensor device moves 2 meters to the right and 1 meter upward, and the first distance information is 3 meters, the position coordinates of the battery compartment are (2,3,1), so that the three-dimensional coordinates of the battery compartment can be determined, and the sensor device is controlled to continue scanning until the position coordinates of all battery compartments on the battery rack are determined. By using the coordinate information of the sensor device and the first distance information between the sensor device and the battery compartment, the position coordinates of the battery compartment can be determined quickly and accurately, thereby improving the efficiency of the battery compartment position coordinate calibration.

[0053] The technical solution of this embodiment is to control the sensor device and the origin in the origin device to be on the first straight line, and use the position of the sensor device at this time as the zero point coordinate; then control the sensor device to scan the battery rack, and when scanning the battery compartment, control the sensor device to move to the straight line where the battery compartment is located, so that the sensor device and the battery compartment are on the second straight line, that is, the battery compartment and the rays emitted by the sensor device are on a straight line; and obtain the distance moved by the sensor device in each direction, so that the coordinate information of the sensor device relative to the zero point coordinate can be determined; control the sensor device to obtain the first distance information between the battery compartment and the sensor device, and the position coordinates of the battery compartment can be determined according to the first distance information and the coordinate information of the sensor device; control the sensor device to continue scanning until the position coordinates of all battery compartments on the battery rack are determined. By using the coordinate information of the sensor device and the first distance information between the sensor device and the battery compartment, the position coordinates of the battery compartment can be quickly and accurately determined, thereby improving the efficiency of the calibration of the battery compartment position coordinates. The technical solution of this embodiment solves the problem of manual determination of the position coordinates of the battery compartment, which is time-consuming and inaccurate, and achieves the effect of quickly and accurately determining the position coordinates of the battery compartment.

[0054] In addition, in some battery swap stations, after the battery swap device removes the battery pack of the vehicle to be swapped, it will place the battery pack in the battery swap cache position. According to the battery compartment position determination method of this embodiment, the coordinates of the battery swap cache position and the position coordinates of the battery pack can also be determined, which is convenient for the stacker to accurately grab the battery pack at the battery swap cache position.

[0055] Figure 4 is a flowchart of another method for determining the position of a battery compartment provided by an embodiment of the present invention. Optionally, refer to Figure 2 and Figure 4 , the battery compartment position determination method includes:

[0056] S210, controlling the sensing device to obtain the position of the origin in the origin device.

[0057] Specifically, the control device controls the sensor device to scan the origin device. When the origin A1 in the origin device is scanned, the position of the origin A1 can be determined according to the distance between the origin A1 and the sensor device, so as to make the sensor device coincide with the position of the origin.

[0058] S220, controlling the sensor device to move to be on the first straight line with the origin.

[0059] Specifically, the control device controls the movement of the stacker, and the sensor device is fixed on the stacker, so that the sensor device can be controlled to move to the first straight line with the origin A1. The position of the sensor device at this time can be used as the zero point coordinate, which is convenient for determining the position of the battery compartment according to the distance between the sensor device and the battery compartment.

[0060] S230, controlling the sensor device and the battery compartment to be on a second straight line, and determining coordinate information of the sensor device after movement according to the zero point coordinates and the distance the sensor device moves; wherein the second straight line is perpendicular to the wall.

[0061] S240, controlling the sensor device to obtain first distance information between the battery compartment and the sensor device, and determining the position coordinates of the battery compartment according to the coordinate information and the first distance information.

[0062] S250, determining the position coordinates of the battery compartment at preset time intervals, and determining the difference between the previous position coordinates and the current position coordinates of the battery compartment.

[0063] Specifically, at every preset time, the control device determines the position coordinates of the battery compartment, the current position coordinates refer to the position coordinates of the battery compartment currently obtained, and the previous position coordinates refer to the position coordinates of the battery compartment determined last time; and compares the current position coordinates obtained with the previous position coordinates of the same battery compartment to obtain the difference between the previous position coordinates and the current position coordinates. The difference value is, for example, the difference between the previous position coordinates and the current position coordinates, or the quotient of the previous position coordinates and the current position coordinates, or other comparison values ​​between the previous position coordinates and the current position coordinates, which is not limited in this embodiment.

[0064] S260: When it is determined that the difference value is greater than a preset value, an abnormality message is issued.

[0065] Specifically, when the control device determines that the difference value is greater than the preset value, it indicates that the current position coordinates differ too much from the previous position coordinates, and the control device will issue an abnormal message to remind the staff to confirm. In addition, when the control device determines that the difference value is less than or equal to the preset value, it indicates that the difference value is within a reasonable range and no processing is required; the position coordinates of the battery bin can also be updated according to the current position coordinates, for example, the current position coordinates are used as the position coordinates of the battery bin. Therefore, regular coordinate inspections can be implemented, so that when the battery bin moves, the position coordinates of the battery bin can be updated in time, so that the stacker can accurately place the battery pack in the battery bin, and can accurately grab the battery from the battery bin to avoid wear and tear on the battery pack.

[0066] Optionally, continue to refer to Figure 2 The origin device includes a plurality of first frames B1 and a plurality of second frames B2; the first frames B1 and the second frames B2 are arranged alternately, and the height of the first frames B1 is higher than the height of the second frames B2; the first frames B1 and the second frames B2 are arranged around the origin A1, and along the direction of the origin A1 pointing to the first frame B1, the side lengths of the first frames B1 and the second frames B2 become larger and larger; wherein the direction of the height of the first frame B1 and the height of the second frame B2 are perpendicular to the wall.

[0067] Specifically, the height of the first frame B1 is higher than the height of the second frame B2. The height difference between the first frame B1 and the second frame B2 is, for example, 2 cm. Then, after the origin device is fixed on the wall, the first frame B1 is raised and the second frame B2 is recessed. The first frame B1 will become a protruding mark, and when the sensor device is irradiated perpendicular to the wall, the first frame B1 will be scanned. The first frame B1 and the second frame B2 are alternately arranged, and the spacing of the first frame B1 scanned by the sensor device is the width of the second frame B2.

[0068] Figure 5 is a flowchart of another method for determining the position of a battery compartment provided by an embodiment of the present invention. Optionally, refer to Figure 2 and Figure 5 , the battery compartment position determination method includes:

[0069] S310, control the sensing device to scan the origin device from the first frame farthest from the origin in the first direction and the second direction; wherein the first direction is the first side length direction of the first frame, the second direction is the second side length direction of the first frame, and the first side length direction is perpendicular to the second side length direction.

[0070] Specifically, the control device controls the sensor device to scan the origin device from the first frame B1 farthest from the origin, that is, to scan from the outermost first frame B1, for example, to scan in the first direction x and the second direction z. The first frame B1 and the second frame B2 are, for example, squares, the first frame B1 includes four sides, the first direction x is, for example, the first side length direction of the first frame, the first side length a1 is, for example, the horizontal side length, that is, the first direction x is a direction parallel to the ground; the second direction z is, for example, the second side length a2 direction of the first frame, the second side length a2 is perpendicular to the first side length a1, then the second side length a2 is a vertical direction, that is, the second direction z is a direction perpendicular to the ground.

[0071] S320. When the spacing information obtained by the sensing device scanning the origin device in the first direction is the spacing between two adjacent first frames, and the spacing information obtained by scanning the origin device in the second direction is the spacing between two adjacent first frames, and the second distance information obtained by scanning the current point along the first direction is equal to the third distance information obtained by scanning the current point along the second direction, the current point is determined to be the position of the origin.

[0072] Specifically, when the spacing obtained by the sensor device scanning the origin device along the first direction x is inconsistent, for example, after scanning the first first frame B1 and the second first frame B1, the first spacing obtained is the spacing between the two adjacent first frames B1; when scanning the third first frame B1, the spacing obtained is the side length of the third first frame B1, then there is no origin A1 in the scanning direction of the sensor device; when the spacing obtained by the sensor device scanning the origin device along the first direction x is consistent, for example, after scanning the first first frame B1 and the second first frame B1, the first spacing obtained is the spacing between the two adjacent first frames B1; when scanning the third first frame B1 , the obtained spacing is also the spacing between two adjacent first frames B1; when scanning each first frame B1, the obtained spacing is the spacing between two adjacent first frames B1, then there is an origin A1 in the scanning direction of the sensor device; similarly, when the spacing obtained by the sensor device scanning the origin device along the second direction z is consistent, then there is an origin A1 in the scanning direction of the sensor device; and, when the second distance information obtained by scanning the current point along the first direction x is equal to the third distance information obtained by scanning the current point along the second direction z, it indicates that the current point scanned by the sensor device is the center of the first frame B1, that is, the origin A1 of the origin device, so that the position of the origin A1 can be determined.

[0073] S330, control the sensor device to move to be on the first straight line with the origin.

[0074] S340, controlling the sensor device to move along the first direction and the second direction so that the sensor device and the battery compartment are located on a second straight line.

[0075] Specifically, when the sensing device scans the battery compartment, the control device controls the stacker to move along the first direction x and the second direction z, thereby controlling the sensing device to move along the first direction x and the second direction z; the stacker is controlled to move to a second straight line with the battery compartment, thereby controlling the sensing device to move to the straight line where the battery compartment is located, that is, the battery compartment and the rays emitted by the sensing device are on a straight line.

[0076] S350, obtaining fourth distance information of the sensor device moving along the first direction and fifth distance information of the sensor device moving along the second direction, and determining coordinate information according to the zero point coordinates, the fourth distance information and the fifth distance information.

[0077] Specifically, the fourth distance information of the stacker moving along the first direction x and the fifth distance information of the stacker moving along the second direction z are obtained, so that the fourth distance information of the sensor device moving along the first direction x and the fifth distance information of the sensor device moving along the second direction z can be determined; thus, the coordinate information of the sensor device relative to the zero point coordinate can be determined based on the fourth distance information and the fifth distance information. For example, if the fourth distance information is 0.5 meters and the fifth distance information is 0.2 meters, the coordinate information of the sensor device is (0.5, 0, 0.2), and then the position coordinates of the battery compartment can be determined based on the first distance information between the sensor device and the battery compartment. For example, when the first distance information is 0.3 meters, the position coordinates of the battery compartment can be determined as (0.5, 0.3, 0.2); thus, it is convenient to determine the position coordinates of the battery compartment based on the coordinate information of the sensor device.

[0078] S360, controlling the sensor device to obtain first distance information between the battery compartment and the sensor device, and determining the position coordinates of the battery compartment according to the coordinate information and the first distance information.

[0079] Figure 6 is a schematic diagram of a battery compartment position determination device provided by an embodiment of the present invention, with reference to Figure 2 and Figure 6 The battery compartment position determination device includes: an origin device 610, a sensor device 620 and a control device 630; the origin device 610 includes an origin A1, and the origin device 610 is fixed to the wall of the battery warehouse; the control device 630 is connected to the sensor device 620, and the control device 630 is used to control the sensor device 620 and the origin A1 in the origin device 610 to be on a first straight line; and the position of the sensor device 620 is used as the zero point coordinate; the sensor device 620 and the battery compartment are controlled to be on a second straight line, and the coordinate information of the sensor device 620 after the movement is determined according to the zero point coordinate and the distance moved by the sensor device 620; the sensor device 620 is controlled to obtain the first distance information between the battery compartment and the sensor device 620, and the position coordinate of the battery compartment is determined according to the coordinate information and the first distance information; wherein the first straight line is perpendicular to the wall, and the second straight line is perpendicular to the wall.

[0080] Specifically, when designing a battery swap station, a coordinate origin position is determined, and an origin device 610 is installed at the coordinate origin position. Figure 2 As shown, the origin device 610 includes an origin A1. The origin device 610 is fixed to the wall of the battery storage, and the coordinate origin position can be determined according to the origin A1 of the origin device 610.

[0081] Exemplarily, the sensor device 620 includes a laser sensor, for example; the control device 630 can control the sensor device 620 to move to the first straight line with the origin A1 in the origin device 610, and the sensor device 620 can be used as the zero point coordinate. The origin A1 of the origin device is, for example, the center position of the battery rack of the battery warehouse facing the wall; the origin A1 of the origin device can also be other positions in the battery warehouse, which can be determined according to actual conditions and is not limited here. Then control the sensor device 620 to scan the battery rack. When scanning the battery compartment, control the sensor device 620 to move to the second straight line with the battery compartment, so that the sensor device 620 and the battery compartment are in a straight line; and obtain the distance moved by the sensor device 620 in each direction, so as to determine the coordinate information of the sensor device 620 relative to the zero point coordinate; control the sensor device 620 to obtain the first distance information between the battery compartment and the sensor device 620, and determine the position coordinates of the battery compartment according to the first distance information and the coordinate information of the sensor device 620; the control device 630 controls the sensor device 620 to continue scanning until the position coordinates of all battery compartments on the battery rack are determined. By using the coordinate information of the sensor device 620 and the first distance information between the sensor device 620 and the battery compartment, the position coordinates of the battery compartment can be determined quickly and accurately, thereby improving the efficiency of the calibration of the battery compartment position coordinates.

[0082] Optionally, refer to Figure 2 The origin device includes a plurality of first frames B1 and a plurality of second frames B2; the first frames B1 and the second frames B2 are arranged alternately, and the height of the first frames B1 is higher than the height of the second frames B2; the first frames B1 and the second frames B2 are arranged around the origin A1, and along the direction of the origin A1 pointing to the first frame B1, the side lengths of the first frames B1 and the second frames B2 become larger and larger; wherein the direction of the height of the first frame B1 and the height of the second frame B2 are perpendicular to the wall.

[0083] Optionally, continue to refer to Figure 2 , the first frame and the second frame are square.

[0084] Specifically, the first frame B1 and the second frame B2 are, for example, squares. When the first frame B1 is a square, the distance from the first frame B1 farthest from the origin A1 to the origin A1 along the first direction x can be equal to the distance from the origin A1 to the origin A1 along the second direction z; when the second frame B2 is a square, the spacing between two adjacent first frames B1 can be equal; thereby, it is convenient to determine the position of the origin A1 according to the spacing information and distance information obtained by scanning the sensing device.

[0085] In some other implementations, the first frame B1 and the second frame B2 may also be circular, which may be determined based on actual conditions and is not limited in this embodiment.

[0086] Optionally, the sensor device is fixed on a stacker of the battery store.

[0087] Specifically, the stacker is a machine for placing and grabbing batteries in a battery warehouse. The sensor device is fixed on the stacker so that the stacker can drive the sensor device to move; the control device can control the movement of the stacker, thereby controlling the movement of the sensor device.

[0088] The technical solution of this embodiment also provides a battery swap station, which includes a battery compartment position determination device provided in any of the above implementation schemes. The implementation principle and technical effect of the battery swap station are similar to those of the battery compartment position determination device, and will not be repeated here.

[0089] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0090] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining a battery compartment position, characterized in that: include: Control the sensor device and the origin of the origin device to be on the first straight line, and use the position of the sensor device as the zero point coordinate; wherein the origin device includes an origin, the origin device is fixed to the wall of the battery storage, and the first straight line is perpendicular to the wall; Control the sensor device and the battery compartment to be on a second straight line, and determine the coordinate information of the sensor device after movement according to the zero point coordinate and the distance moved by the sensor device; wherein the second straight line is perpendicular to the wall; The sensor device is controlled to obtain first distance information between the battery compartment and the sensor device, and the position coordinates of the battery compartment are determined according to the coordinate information and the first distance information.

2. The method for determining the battery compartment position according to claim 1, characterized in that: Controlling the sensor device and the origin of the origin device to be on the first straight line includes: Controlling the sensing device to obtain the position of the origin in the origin device; The sensing device is controlled to move to be on the first straight line with the origin.

3. The method for determining the battery compartment position according to claim 2, characterized in that: The origin device includes a plurality of first frames and a plurality of second frames; The first frame and the second frame are arranged alternately, and the height of the first frame is higher than that of the second frame; the first frame and the second frame are arranged around the origin, and along the direction from the origin to the first frame, the side lengths of the first frame and the second frame are increasing; wherein the direction of the height of the first frame and the height of the second frame is perpendicular to the wall; Controlling the sensor device to obtain the position of the origin in the origin device includes: Controlling the sensing device to scan the origin device from the first frame farthest from the origin in a first direction and a second direction; wherein the first direction is a first side length direction of the first frame, the second direction is a second side length direction of the first frame, and the first side length direction is perpendicular to the second side length direction; When the spacing information obtained by the sensing device scanning the origin device along the first direction is the spacing between two adjacent first frames, and the spacing information obtained by scanning the origin device along the second direction is the spacing between two adjacent first frames, and when the second distance information obtained by scanning the current point along the first direction is equal to the third distance information obtained by scanning the current point along the second direction, the current point is determined to be the position of the origin.

4. The method for determining the battery compartment position according to claim 3, characterized in that: Controlling the sensor device and the battery compartment to be on a second straight line, and determining coordinate information of the sensor device after movement according to the zero point coordinate and the distance moved by the sensor device, including: Controlling the sensor device to move along the first direction and the second direction so that the sensor device and the battery compartment are located on the second straight line; The fourth distance information of the sensor device moving along the first direction and the fifth distance information of the sensor device moving along the second direction are obtained, and the coordinate information is determined according to the zero point coordinate, the fourth distance information and the fifth distance information.

5. The method for determining the battery compartment position according to claim 1, characterized in that: Also includes: At preset intervals, determining the position coordinates of the battery compartment, and determining the difference between the previous position coordinates and the current position coordinates of the battery compartment; When it is determined that the difference value is greater than a preset value, an abnormality message is issued.

6. A battery compartment position determination device, characterized in that: include: Origin device, sensor device and control device; The origin device includes an origin, and the origin device is fixed to the wall of the battery warehouse; The control device is connected to the sensor device, and the control device is used to control the sensor device and the origin in the origin device to be on a first straight line; and use the position of the sensor device as the zero point coordinate; control the sensor device and the battery compartment to be on a second straight line, and determine the coordinate information of the sensor device after movement according to the zero point coordinate and the distance moved by the sensor device; control the sensor device to obtain the first distance information between the battery compartment and the sensor device, and determine the position coordinates of the battery compartment according to the coordinate information and the first distance information; wherein, the first straight line is perpendicular to the wall, and the second straight line is perpendicular to the wall.

7. The battery compartment position determination device according to claim 6, characterized in that: The origin device includes a plurality of first frames and a plurality of second frames; The first frame and the second frame are arranged alternately, and the height of the first frame is higher than that of the second frame; the first frame and the second frame are arranged around the origin, and along the direction from the origin to the first frame, the side lengths of the first frame and the second frame become larger and larger; wherein the direction of the height of the first frame and the height of the second frame is perpendicular to the wall.

8. The battery compartment position determination device according to claim 7, characterized in that: The first frame and the second frame are square.

9. The battery compartment position determination device according to claim 6, characterized in that: The sensor device is fixed on the stacker of the battery storehouse.

10. A battery swap station, characterized in that: A battery compartment position determination device comprising any one of claims 6-9.

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