Docking Control Method, Device, Equipment and Storage Medium of Battery Swap Station

Abstract

This embodiment provides a docking control method, device, equipment and storage medium for a battery swapping station, belonging to the field of automatic control technology. The battery swapping station is provided with a servo platform that moves horizontally, and the servo platform is provided with a longitudinal track, and a battery swapping mechanism that moves longitudinally is arranged on the longitudinal track. The method includes: obtaining a battery swapping request signal sent by the AGV, and the battery swapping request signal includes the unique identification information of the AGV; determining a pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV; when it is determined that the AGV reaches the docking position, determining the lateral deviation amount between the AGV and the battery swapping mechanism; if it is determined that the lateral deviation amount is greater than a first preset deviation value, determining the lateral displacement amount of the servo platform based on the pre-compensation amount; after driving the servo platform to horizontally move the lateral displacement amount, controlling the battery swapping mechanism to move longitudinally to replace the battery in the AGV; this application can improve the battery swapping efficiency of the battery swapping station for the AGV.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular, to a docking control method, device, equipment and storage medium for a battery swapping station. Background Art

[0002] AGV is the abbreviation of Automated Guided Vehicle, which means "Automated Guided Vehicle". It is a transport vehicle that can travel along a specified guiding path and has safety protection and various loading and unloading functions.

[0003] The battery swapping station has the functions of storing batteries, automatically swapping batteries, automatically transferring and docking batteries, and plays an important role in the unmanned workshop system.

[0004] In the related art, when using a battery swapping station to automatically swap the battery of an AGV, the battery swapping mechanism for pushing and pulling the battery of the battery swapping station needs to accurately insert into the battery compartment of the AGV to reach the hook position of the battery, so as to accurately and stably take out the battery for replacement. Therefore, there are high requirements for the position accuracy of the AGV when parking.

[0005] However, when the AGV automatically swaps the battery, the position accuracy of the AGV when parking is difficult to meet the accuracy requirements of the battery swapping station for replacing the battery, resulting in low battery swapping efficiency of the battery swapping station for the AGV. Summary of the Invention

[0006] The main purpose of the embodiments of this application is to propose a docking control method, device, equipment and storage medium for a battery swapping station, aiming to improve the battery swapping efficiency of the battery swapping station for the AGV.

[0007] To achieve the above object, a first aspect of the embodiments of this application proposes a docking control method for a battery swapping station. The battery swapping station is provided with a servo platform that moves horizontally, and the servo platform is provided with a battery swapping mechanism. The method includes:

[0008] Obtain a request for battery swapping signal sent by the AGV; wherein, the request for battery swapping signal includes the unique identification information of the AGV;

[0009] Determine a pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV;

[0010] After driving the servo platform to move horizontally based on the pre-compensation amount, control the battery swapping mechanism to replace the battery of the AGV.

[0011] In some embodiments, the servo platform is provided with a longitudinal track, and the longitudinal track is provided with a battery swapping mechanism that moves longitudinally. After driving the servo platform to move horizontally based on the pre-compensation amount, controlling the battery swapping mechanism to replace the battery of the AGV includes:

[0012] When it is determined that the AGV reaches the docking position, determine the lateral deviation amount between the AGV and the battery swapping mechanism;

[0013] If it is determined that the lateral deviation amount is greater than the first preset deviation value, determine the lateral displacement amount of the servo platform based on the pre-compensation amount;

[0014] After driving the servo platform to traverse by the lateral displacement amount, control the battery swapping mechanism to move longitudinally to replace the battery in the AGV.

[0015] In some embodiments, the servo platform is provided with a longitudinal track, and a battery swapping mechanism moving longitudinally is arranged on the longitudinal track; after driving the servo platform to traverse based on the pre-compensation amount, controlling the battery swapping mechanism to replace the battery of the AGV includes:

[0016] Determine the lateral displacement amount of the servo platform based on the pre-compensation amount, and drive the servo platform to traverse by the lateral displacement amount;

[0017] When it is determined that the AGV reaches the docking position, determine the lateral deviation amount between the AGV and the battery swapping mechanism;

[0018] If it is determined that the lateral deviation amount is less than the first preset deviation value, control the battery swapping mechanism to move longitudinally to replace the battery in the AGV.

[0019] In some embodiments, the determining the pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV includes:

[0020] Obtain a pre-compensation model obtained by pre-training;

[0021] Input the unique identification information of the AGV into the pre-compensation model to obtain the pre-compensation amount corresponding to the AGV.

[0022] In some embodiments, before determining the pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV, it includes:

[0023] Construct a probabilistic matrix factorization model;

[0024] Use the unique identification information of the AGV as input data, and use the pre-compensation amount corresponding to the unique identification information of the AGV as output data to establish a training sample;

[0025] Form a sample data set with multiple training samples, input the sample data set into the probabilistic matrix factorization model for iterative training, and use the trained probabilistic matrix factorization model as the pre-compensation model.

[0026] In some embodiments, the battery swapping station is provided with a telescopic docking head. The telescopic direction of the docking head is consistent with the longitudinal movement direction of the battery swapping mechanism. A ranging sensor is arranged on the docking head, and a calibration plate is arranged on the AGV. The orientation of the calibration plate is consistent with the traveling direction of the AGV. When the AGV reaches the docking position, the ranging sensor faces the calibration plate. When it is determined that the AGV reaches the docking position, determining the lateral deviation amount between the AGV and the battery swapping mechanism includes:

[0027] When receiving the information sent by the AGV that it has reached the docking position, drive the docking head to dock with the AGV;

[0028] Obtain the distance value measured by the ranging sensor for the calibration plate;

[0029] Obtain a lateral reference value, and use the deviation between the distance value and the lateral reference value as the lateral deviation amount.

[0030] In some embodiments, determining the lateral displacement amount of the servo platform based on the pre-compensation amount includes:

[0031] After compensating the pre-compensation amount to the lateral reference value, obtain the lateral displacement amount.

[0032] To achieve the above object, a second aspect of the embodiments of the present application proposes a docking control device for a battery swapping station. The battery swapping station is provided with a servo platform that moves horizontally, and a battery swapping mechanism is arranged on the servo platform. The device includes:

[0033] A first module, configured to obtain a battery swapping request signal sent by the AGV; wherein, the battery swapping request signal includes the unique identification information of the AGV;

[0034] A second module, configured to determine a pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV;

[0035] A third module, configured to control the battery swapping mechanism to replace the battery of the AGV after driving the servo platform to move horizontally based on the pre-compensation amount.

[0036] To achieve the above object, a third aspect of the embodiments of the present application proposes an electronic device. The electronic device includes a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for realizing the connection and communication between the processor and the memory. When the program is executed by the processor, it implements the method described in the first aspect above.

[0037] To achieve the above object, a fourth aspect of the embodiments of the present application proposes a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the method described in the first aspect above.

[0038] The docking control method, device, equipment and storage medium of the battery swapping station proposed by the present application obtain a request for battery swapping signal containing the unique identification information of the AGV, so as to determine the pre-compensation amount corresponding to the AGV in advance; after the AGV arrives at the docking position and stops, if the lateral deviation amount is greater than the first preset deviation value, the lateral reference value can be directly adjusted according to the pre-compensation amount to obtain the lateral displacement amount of the servo platform; there is no need to wait for the AGV to arrive at the docking position to calculate the lateral displacement amount, saving the alignment time; thereby improving the battery swapping efficiency of the battery swapping station for the AGV.

[0039] Other features and advantages of the present application will be described in the following specification, and in part will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the specification, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flowchart of the docking control method of the battery swapping station provided by the embodiments of the present application;

[0041] Figure 2 is a schematic structural diagram of the docking control device of the battery swapping station provided by the embodiments of the present application;

[0042] Figure 3 is a schematic hardware structure diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0044] It should be noted that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are for the purpose of describing embodiments of this application only and are not intended to limit this application.

[0046] In addition, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of this application. However, those skilled in the art will realize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of this application.

[0047] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0048] The flowcharts shown in the drawings are only illustrative and do not necessarily include all the content and operations / steps, nor are they necessarily executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0049] To solve the technical problems in the background art, this application provides a docking control method, device, equipment, and storage medium for a battery swapping station, aiming to improve the battery swapping efficiency of the battery swapping station for AGVs.

[0050] Embodiments of this application provide a docking control method, device, equipment, and storage medium for a battery swapping station, which will be specifically described through the following embodiments. First, the docking control method for the battery swapping station in the embodiments of this application will be described.

[0051] Embodiments of the present application can be used in numerous general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0052] The following further elaborates on the embodiments of the present application in conjunction with the accompanying drawings.

[0053] Figure 1 is an optional flowchart of the docking control method for a battery swapping station provided by an embodiment of the present application. The battery swapping station is provided with a servo platform that moves horizontally, the servo platform is provided with a longitudinal track, and a battery swapping mechanism that moves longitudinally is arranged on the longitudinal track;

[0054] Figure 1 The method in may include but is not limited to steps S100 to step S300:

[0055] Step S100, obtaining a request for battery swapping signal sent by the AGV; wherein, the request for battery swapping signal includes the unique identification information of the AGV;

[0056] It should be noted that in step S100 of some embodiments, when the AGV runs near the automatic battery swapping station, prepares to stop and perform docking for battery swapping, the AGV sends a request for battery swapping signal, for example, sends the unique identification information of the AGV in a wireless signal communication manner. By obtaining the request for battery swapping signal containing the unique identification information of the AGV, the AGV that needs to swap batteries can be determined in advance;

[0057] Step S200, determining a pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV;

[0058] It should be noted that in step S200 of some embodiments, after the AGV that needs to swap batteries is determined in advance, based on the characteristics of different AGVs, the AGV has a corresponding pre-compensation amount, so that the pre-compensation amount corresponding to the AGV can be determined in advance when the AGV travels towards the docking position;

[0059] Step S300: After driving the servo platform to traverse based on the pre-compensation amount, control the battery swapping mechanism to replace the battery of the AGV.

[0060] It should be noted that in step S300 of some embodiments, after driving the servo platform to traverse according to the pre-compensation amount, the displacement accuracy of the AGV corresponding to the obtained unique identification information can be compensated, thereby improving the docking accuracy between the battery swapping mechanism and the AGV, accurately controlling the battery swapping mechanism to replace the battery of the AGV, and improving the battery swapping efficiency of the AGV by the battery swapping station.

[0061] It should be noted that in some specific embodiments, an optional method for the docking control method of the battery swapping station provided by the embodiments of the present application may include, but is not limited to, steps S111 to S115:

[0062] Step S111: Obtain a request for battery swapping signal sent by the AGV; wherein, the request for battery swapping signal includes the unique identification information of the AGV.

[0063] Step S112: Determine the pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV.

[0064] Step S113: When it is determined that the AGV reaches the docking position, determine the lateral deviation amount between the AGV and the battery swapping mechanism.

[0065] It should be noted that a map of the driving area of the AGV is constructed to determine the docking position where the AGV should be located in the real world when the AGV docks with the battery swapping station, and the docking position is mapped to the constructed map to obtain the position information of the docking position; and the driving path of the AGV is planned in the constructed map. It can be understood that since it is necessary to control the AGV to dock with the battery swapping station, the position information of the docking position is on the driving path; then, control the AGV to travel towards the position information along the pre-planned path. When it is detected that the AGV is at the position where the position information is located, it is determined that the AGV has reached the docking position; it should be understood that since the AGV travels along the driving path in the constructed map, when the AGV is at the position information, it only theoretically reaches the docking position, and there may be a certain deviation between its actual position and the docking position. Therefore, it is necessary to detect this deviation as the lateral deviation amount; when the AGV reaches the docking position, determine the lateral deviation amount of the AGV; in some embodiments, the lateral reference value of the battery swapping mechanism in the battery swapping station is manually set in the initial state. After the AGV reaches the docking position and stops, it sends the information that it has reached the docking position to trigger the battery swapping action of the battery swapping station.

[0066] Step S114: If it is determined that the lateral deviation amount is greater than the first preset deviation value, determine the lateral displacement amount of the servo platform based on the pre-compensation amount.

[0067] It should be noted that in step S400 of some embodiments, if the lateral deviation amount is small, it does not affect the docking of the AGV and the battery swapping station. If the deviation (lateral deviation amount) between the AGV and the battery swapping mechanism in the lateral direction is greater than the first preset deviation value, it is necessary to compensate for the lateral deviation amount of the servo platform. Since the pre-compensation amount of the AGV has been determined in advance, the lateral reference value can be directly adjusted according to this pre-compensation amount to obtain the lateral displacement amount of the servo platform; there is no need to wait for the AGV to reach the docking position to calculate the lateral displacement amount, saving the alignment time.

[0068] Step S115, after driving the servo platform to laterally move the lateral displacement amount, control the battery swapping mechanism to move longitudinally to replace the battery in the AGV.

[0069] It should be noted that in step S500 of some embodiments, first drive the servo platform to move laterally to perform displacement compensation, and drive the servo platform to laterally move according to the compensated lateral displacement amount, so as to adjust the battery swapping mechanism to a position opposite to the battery in the AGV, saving the alignment time; after completing the lateral position calibration, the battery swapping mechanism moves longitudinally, pulls out the battery in the AGV, and replaces it with a battery that has been swapped, realizing the replacement of the battery in the battery compartment of the AGV.

[0070] In the embodiments provided by the present application, by obtaining a battery swapping request signal containing the unique identification information of the AGV, the pre-compensation amount of the AGV is determined in advance; after the AGV reaches the docking position and stops, if the lateral deviation amount is greater than the first preset deviation value, the lateral reference value can be directly adjusted according to this pre-compensation amount to obtain the lateral displacement amount of the servo platform; there is no need to wait for the AGV to reach the docking position to calculate the lateral displacement amount, saving the alignment time; thereby improving the battery swapping efficiency of the battery swapping station for the AGV.

[0071] It should be noted that another optional method for the docking control method of the battery swapping station provided by the embodiments of the present application may include but is not limited to steps S101 to S105:

[0072] Step S101, obtain a battery swapping request signal sent by the AGV; wherein, the battery swapping request signal includes the unique identification information of the AGV;

[0073] Step S102, determine the pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV;

[0074] Step S103, determine the lateral displacement amount of the servo platform based on the pre-compensation amount, and drive the servo platform to laterally move the lateral displacement amount;

[0075] Step S104, when it is determined that the AGV reaches the docking position, determine the lateral deviation amount between the AGV and the battery swapping mechanism;

[0076] In step S105, if it is determined that the lateral deviation amount is less than the first preset deviation value, the battery swapping mechanism is controlled to move longitudinally to replace the battery in the AGV.

[0077] In another optional embodiment provided by the present application, during the process of the AGV traveling towards the docking position, the servo platform is synchronously driven to traverse a lateral displacement amount, thereby performing a pre-compensation action in advance to prepare for battery swapping, which can reduce the compensation time of the lateral platform of the battery swapping station; after the AGV reaches the docking position and docks with the docking head, if the lateral deviation amount is within the range of the first preset deviation value, it is determined that the pre-compensation action performed in the early stage can ensure that the lateral deviation between the battery swapping mechanism and the AGV is within the allowable range, and the battery swapping mechanism in the battery swapping station is controlled to perform a battery swapping action.

[0078] In some embodiments, step S200 includes but is not limited to steps S210 to S220:

[0079] Step S210, obtain a pre-compensation model pre-trained in advance;

[0080] It should be noted that in step S210 of some embodiments, the pre-compensation model is pre-trained based on a probabilistic matrix factorization model. The input data of the pre-compensation model is the unique identification information of the AGV, and the output data is the pre-compensation amount;

[0081] Step S220, input the unique identification information of the AGV into the pre-compensation model to obtain the pre-compensation amount corresponding to the AGV.

[0082] It should be noted that in step S220 of some embodiments, the pre-compensation amount of the AGV can be quickly determined through the pre-compensation model. Since the pre-compensation model is obtained through a pre-training method, it can accurately reflect the driving characteristics of the AGV, and the generated pre-compensation amount has high accuracy. There is no need to measure the distance between the AGV and the lateral reference value and then perform position compensation on the AGV. It can be seen that the method of using the pre-compensation model to determine the pre-compensation amount can greatly save the alignment time.

[0083] In some embodiments, before step S200, it includes but is not limited to steps S201 to S203:

[0084] Step S201, construct a probabilistic matrix factorization model;

[0085] Step S202, use the unique identification information of the AGV as input data and the pre-compensation amount corresponding to the unique identification information of the AGV as output data to establish a training sample;

[0086] Step S203: Form a sample data set from multiple training samples, input the sample data set into the probabilistic matrix factorization model for iterative training, and use the trained probabilistic matrix factorization model as the pre-compensation model.

[0087] It should be noted that in steps S201 to S203 of some embodiments, the input data for training the probabilistic matrix factorization model includes the unique identification information of the AGV, and the output data includes the pre-compensation amount for each AGV.

[0088] By continuously iteratively training the probabilistic matrix factorization model using multiple training samples, self-learning from a large number of training samples, and optimizing the probabilistic matrix factorization model, the pre-compensation amount output by the probabilistic matrix factorization model can be made as close as possible to the lateral deviation amount of the corresponding AGV. The trained pre-compensation model can accurately compensate for the lateral deviation amount between each AGV and the lateral reference value.

[0089] Thus, according to the docking action habits of different AGVs, after receiving a request docking signal each time, the swapping station generates a pre-judged pre-compensation amount for the unique identification information of different AGVs. After the AGV is docked with the docking head, the servo platform generates a pre-compensation action, which can reduce the compensation time of the lateral platform of the swapping station.

[0090] The probabilistic matrix factorization model is an AI algorithm. Artificial intelligence (AI): is a new technical science that studies, develops theories, methods, technologies, and application systems for simulating, extending, and expanding human intelligence; artificial intelligence is a branch of computer science. Artificial intelligence attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a way similar to human intelligence. The research in this field includes robots, speech recognition, image recognition, natural language processing, and expert systems, etc. Artificial intelligence can simulate the information process of human consciousness and thinking. Artificial intelligence also uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, sense the environment, acquire knowledge, and use knowledge to obtain the best results in terms of theories, methods, technologies, and application systems.

[0091] In some embodiments, the swapping station is provided with a telescopic docking head. The telescopic direction of the docking head is consistent with the longitudinal movement direction of the battery swapping mechanism. A ranging sensor is provided on the docking head, and a calibration board is provided on the AGV. The orientation of the calibration board is consistent with the driving direction of the AGV. When the AGV reaches the docking position, the ranging sensor faces the calibration board. The determination of the lateral deviation amount between the AGV and the battery swapping mechanism when it is determined that the AGV reaches the docking position includes, but is not limited to, steps S310 to S330:

[0092] Step S310: When receiving the information sent by the AGV indicating its arrival at the docking position, drive the docking head to dock with the AGV.

[0093] It should be noted that in step S310 of some embodiments, when the AGV arrives at the docking position, it sends information including the arrival at the docking position. If this information is received, it is determined that the AGV has arrived at the docking position, and the docking head is driven to extend, so as to dock with the AGV.

[0094] Step S320: Obtain the distance value measured by the ranging sensor from the calibration board.

[0095] It should be noted that in step S320 of some embodiments, after the docking head docks with the AGV, the ranging sensor measures the distance value between it and the calibration board.

[0096] Step S330: Obtain the lateral reference value, and take the deviation between the distance value and the lateral reference value as the lateral deviation amount; the lateral reference value is the distance difference between the ranging sensor and the battery swapping mechanism in the lateral direction.

[0097] It should be noted that in step S330 of some embodiments, the position of the ranging sensor in the lateral direction remains unchanged, and it only moves longitudinally following the docking head. The lateral reference value can be adjusted manually. The way to adjust the lateral reference value is to set the size of the lateral reference value. By adjusting the size of the lateral reference value, the difference between the ranging sensor and the lateral reference value is changed, and thus the lateral reference value is changed.

[0098] In steps S310 to S330 of some embodiments, when it is determined that the AGV has arrived at the docking position, the ranging sensor in the battery swapping station detects that the AGV is already in the docking position, and the ranging sensor feeds back the actually measured distance value. By calculating the difference between the distance value and the lateral reference value, the lateral deviation amount is obtained.

[0099] In some embodiments, the ranging sensor can adopt a laser ranging sensor, and a PLC is used for calculation and control. Specifically, the PLC is respectively connected to the ranging sensor and the servo motor, and the servo motor is connected to the servo platform. When it is determined that the AGV has arrived at the docking position, the ranging sensor in the battery swapping station detects that the AGV is already in the docking position, and the actually measured distance value is fed back by the ranging sensor to the memory of the PLC. The PLC calculates the difference between the distance value and the lateral reference value to obtain the lateral deviation amount.

[0100] In some embodiments, determining the lateral displacement amount of the servo platform based on the pre-compensation amount includes, but is not limited to:

[0101] After compensating the pre-compensation amount to the lateral reference value, the lateral displacement amount is obtained.

[0102] It should be noted that in some embodiments, the magnitudes of the distance value and the lateral reference value are determined, as well as the relative movement relationship between the AGV and the battery swapping mechanism in the lateral direction, so as to determine whether to add or subtract the pre-compensation amount to the lateral reference value to obtain the lateral displacement amount. For example, generally, when the displacement directions of the AGV and the battery swapping mechanism in the lateral direction are the same, if the lateral deviation amount is negative, that is, when the distance value is within the range of the lateral reference value, if the pre-compensation amount is subtracted from the lateral reference value as the lateral displacement amount. It can be understood that when the displacement directions of the AGV and the battery swapping mechanism are different, or the magnitude relationship between the lateral reference value and the distance value changes, the addition and subtraction methods of the lateral reference value and the pre-compensation amount are adaptively adjusted to make the battery swapping mechanism as close as possible to the AGV in the lateral direction.

[0103] In some embodiments, the method includes but is not limited to the following steps:

[0104] If it is determined that the lateral deviation amount does not exceed the first preset deviation value, after driving the servo platform to laterally move the lateral displacement amount, the battery swapping mechanism is controlled to move longitudinally to replace the battery in the AGV.

[0105] It should be noted that in some embodiments, if the lateral deviation amount is very small, no lateral displacement compensation is required.

[0106] Please refer to Figure 2 , the embodiment of the present application further provides a docking control device for a battery swapping station, which can implement the above docking control method for the battery swapping station. The device includes:

[0107] The first module 100 is used to obtain the battery swapping request signal sent by the AGV; wherein, the battery swapping request signal includes the unique identification information of the AGV;

[0108] The second module 200 is used to determine the pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV;

[0109] The third module 300 is used to drive the servo platform to laterally move based on the pre-compensation amount, and then control the battery swapping mechanism to replace the battery of the AGV.

[0110] The specific implementation manner of the docking control device of the battery swapping station is basically the same as the specific embodiments of the above docking control method for the battery swapping station, and will not be elaborated here.

[0111] The embodiment of the present application further provides an electronic device, which includes: a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for realizing the connection and communication between the processor and the memory. When the program is executed by the processor, the above docking control method for the battery swapping station is implemented. The electronic device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0112] Please refer to Figure 3 , Figure 3 which schematically shows the hardware structure of an electronic device according to another embodiment. The electronic device includes:

[0113] A processor 301, which can be implemented in ways such as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0114] A memory 302, which can be implemented in forms such as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 302 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 302 and are called by the processor 301 to execute the docking control method of the battery swapping station in the embodiments of the present application;

[0115] An input / output interface 303, which is used to implement information input and output;

[0116] A communication interface 304, which is used to implement communication interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0117] A bus 305, which transmits information between various components of the device (such as the processor 301, the memory 302, the input / output interface 303, and the communication interface 304);

[0118] Among them, the processor 301, the memory 302, the input / output interface 303, and the communication interface 304 are communicatively connected to each other inside the device through the bus 305.

[0119] The embodiments of the present application also provide a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-mentioned docking control method of the battery swapping station.

[0120] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include memories remotely located relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0121] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figures, or combine certain steps, or different steps.

[0122] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0124] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0125] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0126] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0127] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] In addition, each functional unit in various embodiments of this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0129] When an integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0130] The preferred embodiments of the embodiments of this application have been described above with reference to the accompanying drawings, and thus do not limit the scope of the rights of the embodiments of this application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of this application shall be within the scope of the rights of the embodiments of this application.

Claims

1. A docking control method for a battery swapping station, characterized in that, The battery swapping station is provided with a servo platform that moves horizontally, and the servo platform is provided with a battery swapping mechanism; the method includes: Obtain a request for battery swapping signal sent by the AGV; wherein, the request for battery swapping signal includes the unique identification information of the AGV; Determine a pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV; After driving the servo platform to move horizontally based on the pre-compensation amount, control the battery swapping mechanism to replace the battery of the AGV; The servo platform is provided with a longitudinal track, and a battery swapping mechanism that moves longitudinally is arranged on the longitudinal track; after driving the servo platform to move horizontally based on the pre-compensation amount, controlling the battery swapping mechanism to replace the battery of the AGV includes: When it is determined that the AGV reaches the docking position, determine the lateral deviation amount between the AGV and the battery swapping mechanism; If it is determined that the lateral deviation amount is greater than a first preset deviation value, determine the lateral displacement amount of the servo platform based on the pre-compensation amount; After driving the servo platform to move horizontally by the lateral displacement amount, control the battery swapping mechanism to move longitudinally to replace the battery in the AGV; Or, Determine the lateral displacement amount of the servo platform based on the pre-compensation amount, and drive the servo platform to move horizontally by the lateral displacement amount; When it is determined that the AGV reaches the docking position, determine the lateral deviation amount between the AGV and the battery swapping mechanism; If it is determined that the lateral deviation amount is less than the first preset deviation value, control the battery swapping mechanism to move longitudinally to replace the battery in the AGV.

2. The method according to claim 1, characterized in that, The determining the pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV includes: Obtain a pre-compensation model obtained by pre-training; Input the unique identification information of the AGV into the pre-compensation model to obtain the pre-compensation amount corresponding to the AGV.

3. The method according to claim 2, characterized in that Before determining the pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV, it includes: Construct a probabilistic matrix factorization model; Use the unique identification information of the AGV as input data, and use the pre-compensation amount corresponding to the unique identification information of the AGV as output data to establish a training sample; Form a sample data set from multiple training samples, input the sample data set into the probabilistic matrix factorization model for iterative training, and use the trained probabilistic matrix factorization model as the pre-compensation model.

4. The method according to claim 1, wherein The battery swapping station is provided with a telescopic docking head, the telescopic direction of the docking head is the same as the longitudinal movement direction of the battery swapping mechanism, a distance measuring sensor is arranged on the docking head, the AGV is provided with a calibration plate, the orientation of the calibration plate is the same as the driving direction of the AGV, and when the AGV reaches the docking position, the distance measuring sensor faces the calibration plate; the determining the lateral deviation amount between the AGV and the battery swapping mechanism when it is determined that the AGV reaches the docking position includes: When receiving the information that the AGV reaches the docking position, drive the docking head to dock with the AGV; Obtain the distance value measured by the distance measuring sensor for the calibration plate; Obtain a lateral reference value, and use the deviation between the distance value and the lateral reference value as the lateral deviation amount.

5. The method according to claim 4, characterized in that, The determining the lateral displacement amount of the servo platform based on the pre-compensation amount includes: After compensating the pre-compensation amount to the lateral reference value, a lateral displacement amount is obtained.

6. A docking control device for a battery swapping station, characterized in that, The battery swapping station is provided with a servo platform that moves horizontally, and the servo platform is provided with a battery swapping mechanism; the device includes: A first module, configured to obtain a battery swapping request signal sent by an AGV; wherein, the battery swapping request signal includes the unique identification information of the AGV; A second module, configured to determine a pre-compensation amount corresponding to the AGV based on the unique identification information of the AGV; A third module, configured to drive the servo platform to move horizontally based on the pre-compensation amount, and then control the battery swapping mechanism to replace the battery of the AGV; The servo platform is provided with a longitudinal track, and the longitudinal track is provided with a battery swapping mechanism that moves longitudinally; after driving the servo platform to move horizontally based on the pre-compensation amount, controlling the battery swapping mechanism to replace the battery of the AGV includes: When it is determined that the AGV reaches the docking position, determining the lateral deviation amount between the AGV and the battery swapping mechanism; If it is determined that the lateral deviation amount is greater than a first preset deviation value, determining the lateral displacement amount of the servo platform based on the pre-compensation amount; After driving the servo platform to move horizontally by the lateral displacement amount, controlling the battery swapping mechanism to move longitudinally to replace the battery in the AGV; Or, Determining the lateral displacement amount of the servo platform based on the pre-compensation amount, and driving the servo platform to move horizontally by the lateral displacement amount; When it is determined that the AGV reaches the docking position, determining the lateral deviation amount between the AGV and the battery swapping mechanism; If it is determined that the lateral deviation amount is less than the first preset deviation value, controlling the battery swapping mechanism to move longitudinally to replace the battery in the AGV.

7. An electronic device, characterized in that, The electronic device includes a memory, a processor, a program stored on the memory and executable on the processor, and a data bus for realizing the connection and communication between the processor and the memory. When the program is executed by the processor, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium for computer-readable storage, characterized in that, The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the method according to any one of claims 1 to 5.

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