Battery replacement method and device of battery swap station, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a battery replacement method and device for a battery replacement station, an electronic device, and a storage medium. At a battery replacement position, a battery to be charged is obtained, and a target empty slot for the battery to be charged is determined according to placement priorities of candidate empty slots in the battery replacement station. The battery to be charged is placed into the target empty slot according to a target placement path corresponding to the target empty slot. At least one candidate full battery slot in the battery replacement station is determined based on the target empty slot and the target placement path. A target full battery slot is determined according to dispatch coefficients of the candidate full battery slots. A full battery is taken out from the target full battery slot and placed into the battery replacement position. Embodiments of the present application improve the efficiency of battery replacement and prolong the service life of the battery and the slots in the battery replacement station.

Description

Technical Field

[0001] This application relates to intelligent control technology, and more particularly to a battery swapping method, apparatus, electronic device, and storage medium for a battery swapping station. Background Technology

[0002] With the increasing popularity of new energy vehicles, battery swapping stations have emerged to ensure the supply of electricity for these vehicles. These stations can provide fully charged batteries for new energy vehicles and charge batteries that need charging.

[0003] In existing technologies, robots in battery swapping stations randomly retrieve or place batteries from the battery storage compartments within the station, or retrieve or place batteries according to a fixed compartment path.

[0004] However, randomly picking up and putting down batteries from the storage compartments in the battery swapping station may increase the path traveled by the battery swapping robot, reducing battery swapping efficiency. On the other hand, picking up and putting down batteries according to a fixed compartment path may cause an imbalance in the usage cycle of batteries and compartments, reducing the lifespan of batteries and compartments. Summary of the Invention

[0005] This application provides a battery replacement method, apparatus, electronic device, and storage medium for a battery swapping station, to improve the efficiency of battery replacement and extend the service life of the battery and the battery compartment in the swapping station.

[0006] In a first aspect, embodiments of this application provide a battery replacement method for a battery swapping station, the battery replacement method for a battery swapping station comprising:

[0007] Obtain the battery to be charged at the battery replacement location, and determine the target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station.

[0008] Based on the target placement path corresponding to the target empty compartment, place the battery to be charged into the target empty compartment;

[0009] Based on the target empty bay and the target placement path, at least one candidate fully charged bay in the battery swapping station is determined;

[0010] The target fully charged warehouse is determined based on the scheduling coefficient of each candidate fully charged warehouse.

[0011] Remove the fully charged battery from the target fully charged compartment and place it in the battery replacement location.

[0012] Secondly, embodiments of this application also provide a battery swapping device for a battery swapping station, the battery swapping device comprising:

[0013] The target empty bay location determination module is used to obtain the battery to be charged at the battery replacement location and determine the target empty bay location of the battery to be charged based on the placement priority of each candidate empty bay location in the battery swapping station.

[0014] The battery placement module is used to place the battery to be charged into the target empty compartment according to the target placement path corresponding to the target empty compartment.

[0015] The candidate fully charged bay location determination module is used to determine at least one candidate fully charged bay location in the battery swapping station based on the target empty bay location and the target placement path.

[0016] The target fully charged warehouse location determination module is used to determine the target fully charged warehouse location based on the scheduling coefficient of each candidate fully charged warehouse location.

[0017] The fully charged battery placement module is used to remove a fully charged battery from the target fully charged compartment and place it in the battery replacement location.

[0018] Thirdly, embodiments of this application also provide an electronic device, which includes:

[0019] One or more processors;

[0020] Storage device for storing one or more programs;

[0021] When one or more programs are executed by one or more processors, the one or more processors implement any of the battery swapping methods provided in the embodiments of this application.

[0022] Fourthly, embodiments of this application also provide a storage medium including computer-executable instructions, which, when executed by a computer processor, are used to perform any of the battery swapping methods provided in embodiments of this application.

[0023] This application obtains the battery to be charged at the battery replacement location and determines the target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station. The selection method of the target empty compartment can be set according to the placement priority. When the priority is set based on the distance to each candidate empty compartment, it can avoid random selection of target empty compartments resulting in long paths, thus improving battery replacement efficiency. When the priority is set based on the usage cycle of reaching the target empty compartment, it can avoid selecting according to a fixed route, thus avoiding uneven usage cycles among candidate empty compartments and improving the lifespan of each candidate empty compartment. The battery to be charged is placed into the target empty compartment according to the target placement path corresponding to the target empty compartment. Based on the target empty compartment and the target placement path, at least one candidate fully charged compartment in the battery swapping station is determined. The target fully charged compartment is determined according to the scheduling coefficient of each candidate fully charged compartment. The scheduling coefficient can balance the usage cycles of each candidate fully charged compartment and the fully charged battery, thus improving the lifespan of each candidate fully charged compartment and the fully charged battery. The fully charged battery is taken from the target fully charged compartment and placed at the battery replacement location, realizing battery replacement in the battery swapping station. Therefore, the technical solution of this application solves the problems of randomly picking and placing batteries from the battery storage compartments in the battery swapping station, which reduces battery swapping efficiency, and picking and placing batteries according to a fixed compartment path, which reduces the service life of batteries and compartments. It achieves the effect of improving battery swapping efficiency and extending the service life of batteries and compartments in the battery swapping station. Attached Figure Description

[0024] Figure 1 This is a flowchart of a battery replacement method at a battery swapping station according to Embodiment 1 of this application;

[0025] Figure 2 This is a flowchart of a battery replacement method at a battery swapping station according to Embodiment 2 of this application;

[0026] Figure 3 This is a flowchart of a battery replacement method at a battery swapping station according to Embodiment 3 of this application;

[0027] Figure 4 This is a schematic diagram of the structure of a battery swapping station battery replacement device according to Embodiment 4 of this application;

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device according to Embodiment 5 of this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart of a battery replacement method for a battery swapping station provided in Embodiment 1 of this application. This embodiment is applicable to the situation where a battery to be charged is replaced with a fully charged battery in a battery swapping station. The method can be executed by a battery replacement device in the battery swapping station. The device can be implemented in software and / or hardware and is specifically configured in the electronic equipment in the battery swapping station, such as a battery swapping robot.

[0033] See Figure 1 The battery replacement method shown at the battery swapping station includes the following steps:

[0034] S110. Obtain the battery to be charged at the battery replacement location, and determine the target empty compartment of the battery to be charged according to the placement priority of each candidate empty compartment in the battery swapping station.

[0035] A battery swapping station is an energy station that provides charging and rapid battery replacement for electric vehicles. The station includes a swapping platform for replacing electric vehicle batteries, battery compartments for storing batteries, and swapping robots that transport batteries between the battery compartments and the swapping platform. The battery compartments can charge batteries awaiting charging and store fully charged batteries. The swapping robots have three degrees of freedom in the X, Y, and Z directions to grasp and place batteries in different compartments. The swapping robot retrieves the battery awaiting charging from the user on the swapping platform, places it in an empty compartment for charging, and retrieves a fully charged battery from a fully charged compartment, placing it at the location where the user retrieved the battery awaiting charging from the swapping platform, thus completing the battery swap.

[0036] The battery to be recharged can be a battery placed by the user at the battery replacement location. The battery replacement location can be a position on the battery swapping platform used to place either the battery to be recharged or a fully charged battery. The user places the battery to be recharged at the battery replacement location, and the battery swapping robot retrieves it. Specifically, the battery swapping platform may detect the battery to be recharged and send a retrieval command to the battery swapping robot, which then retrieves the battery upon receiving the command; alternatively, the battery swapping robot may continuously monitor the battery replacement location for a battery to be recharged and retrieve it upon detection. This application does not specifically limit the specific method used in this regard.

[0037] Candidate empty slots can be any slots in the battery compartment that do not currently contain batteries. These slots are used to place and charge batteries awaiting recharge. Placement priority refers to the priority level of empty slot usage, used to determine the target empty slot. The target empty slot can be a candidate empty slot determined based on placement priority, used to place the batteries awaiting recharge. For example, the target empty slot can be the candidate empty slot with the highest placement priority.

[0038] It should be noted that the order of acquiring the battery to be charged and determining the target empty compartment for the battery to be charged is not fixed. The battery swapping robot can determine the target empty compartment for the battery to be charged in real time according to the placement priority of each candidate empty compartment in the battery swapping station before acquiring the battery to be charged. This will allow the battery to be charged to be quickly placed into the target empty compartment after acquisition, thereby improving the efficiency of the battery swapping robot in placing the battery to be charged.

[0039] S120. Based on the target placement path corresponding to the target empty compartment, place the battery to be charged into the target empty compartment.

[0040] The target placement path can be the optimal route for the battery swapping robot to travel from its current position (where it has acquired the battery to be charged) to the target empty compartment. The optimal path can be determined based on its length and current occupancy. For example, the shortest path is determined based on the robot's current position and the target empty compartment. If this shortest path is not occupied by other robots, it is designated as the target placement path, and other robots can be prevented from using it. If the shortest path is already occupied, the next shortest path is determined, and it is checked whether it is occupied by another robot, and so on, until the target placement path is determined. A battery swapping station may have multiple robots. By determining the target placement path based on its length and current occupancy, the overall efficiency of the robots in the station can be improved, thus increasing battery swapping efficiency, while ensuring that collisions are avoided. For example, when there are few robots in the station, such as only one robot, the optimal path can be the shortest path to improve the efficiency of determining the target placement path. The battery swapping robot travels along the target placement path and places the battery to be charged into the target empty compartment.

[0041] S130. Based on the target empty bay and the target placement path, determine at least one candidate fully charged bay in the battery swapping station.

[0042] Candidate fully charged bays can be bays within a certain range that store fully charged batteries, used to determine the target fully charged bay. The fully charged batteries can be those that are already fully charged. The gripping mechanism on the battery swapping robot can move in three spatial dimensions, so at the same parking location, the robot can acquire fully charged batteries from bays within a certain area. For example, the bays in the battery swapping station can be divided into multiple bay areas based on the operable range of the gripping device on the battery swapping robot.

[0043] If a fully charged battery exists in any of the storage areas traversed along the target placement path, then that fully charged storage area can be designated as a candidate fully charged storage area. The battery swapping robot only needs to return along the original target placement path to obtain a fully charged battery, eliminating the need to replan the path, thus improving the robot's efficiency and reducing computational resource consumption. If not, the fully charged storage area with the shortest distance from the target empty storage area to the storage area containing a fully charged storage area and then to the battery replacement location can be designated as a candidate fully charged storage area. Determining candidate fully charged storage areas based on path distance reduces computational load, and because the path distance is the shortest, it can improve the robot's efficiency and increase battery replacement efficiency.

[0044] S140. Determine the target fully charged warehouse based on the scheduling coefficient of each candidate fully charged warehouse.

[0045] The scheduling coefficient is a parameter used to measure the turnover cycle of battery bays and batteries, and is used to determine the target fully charged bay. Turnover cycle can be understood as usage frequency. For battery bays in a battery swapping station, an excessively long turnover cycle leads to reduced utilization of bay resources, while an excessively short turnover cycle results in prolonged high load on the bay, reducing its lifespan. For batteries, an excessively long turnover cycle causes prolonged battery storage, leading to self-consumption of battery resources and reducing the vehicle's utilization of battery resources. Conversely, an excessively short turnover cycle results in frequent charging and discharging of the battery, keeping it in a working state for extended periods and reducing its lifespan.

[0046] The target fully charged storage location can be the location used to acquire a fully charged battery. Based on the scheduling coefficient of each candidate fully charged storage location, the target fully charged storage location is determined from among them. For example, the candidate fully charged storage location with the highest scheduling coefficient can be determined as the target fully charged storage location.

[0047] S150. Remove the fully charged battery from the target fully charged compartment and place it in the battery replacement location.

[0048] When a candidate fully charged compartment is identified, the path back to the battery replacement location is determined. The battery swapping robot retrieves a fully charged battery from the target fully charged compartment according to this path and places the retrieved fully charged battery at the battery replacement location to complete the replacement of the battery to be charged.

[0049] The technical solution of this embodiment involves obtaining the battery to be charged at the battery replacement location and determining the target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station. The selection method for the target empty compartment can be set according to the placement priority. When the priority is set based on the distance to each candidate empty compartment, it avoids random selection of target empty compartments, which would result in a longer path and improves battery replacement efficiency. When the priority is set based on the usage cycle of reaching the target empty compartment, it avoids selection according to a fixed route, which would cause an imbalance in the usage cycles of each candidate empty compartment and improves the lifespan of each candidate empty compartment. The battery to be charged is placed into the target empty compartment according to the target placement path corresponding to the target empty compartment. Based on the target empty compartment and the target placement path, at least one candidate fully charged compartment in the battery swapping station is determined. The target fully charged compartment is determined according to the scheduling coefficient of each candidate fully charged compartment. The scheduling coefficient can balance the usage cycles of each candidate fully charged compartment and the fully charged battery, improving the lifespan of each candidate fully charged compartment and the fully charged battery. The fully charged battery is taken from the target fully charged compartment and placed at the battery replacement location, thus realizing battery replacement in the battery swapping station. Therefore, the technical solution of this application solves the problems of randomly picking and placing batteries from the battery storage compartments in the battery swapping station, which reduces battery swapping efficiency, and picking and placing batteries according to a fixed compartment path, which reduces the service life of batteries and compartments. It achieves the effect of improving battery swapping efficiency and extending the service life of batteries and compartments in the battery swapping station.

[0050] Example 2

[0051] Figure 2 This is a flowchart of a battery replacement method for a battery swapping station provided in Embodiment 2 of this application. The technical solution of this embodiment is further refined based on the above technical solution.

[0052] Furthermore, based on the above embodiments, the following is added: "Obtain the vacancy duration of each candidate empty compartment and determine the target placement path from the battery replacement location to the parking location corresponding to each candidate empty compartment; determine the placement priority of each candidate empty compartment based on the vacancy duration of each candidate empty compartment and the corresponding target placement path", to determine the placement priority of the candidate empty compartments.

[0053] See Figure 2 The battery replacement method shown at a battery swapping station includes:

[0054] S210. Obtain the vacancy duration of each candidate empty bay and determine the target placement path from the battery replacement location to the parking location corresponding to each candidate empty bay.

[0055] The idle time can be the duration from the moment the battery is removed from a candidate empty compartment to the current moment, used to determine the placement priority of that candidate empty compartment. Once a battery is placed in a candidate empty compartment, the calculation of the idle time stops. When a battery is removed from a fully charged compartment, that compartment is marked as a candidate empty compartment, and the idle time is calculated starting from the current time and sent to the battery swapping robot. Alternatively, the battery swapping robot can obtain the idle time of each candidate empty compartment at a certain frequency; this application does not specifically limit this.

[0056] The parking location can be the parking location for the battery swapping robot corresponding to the candidate empty bay, used for parking the battery swapping robot. The battery swapping robot can perform battery retrieval and placement operations in three dimensions of space. For bays in a certain area, they can correspond to the same parking location to facilitate the planning of the battery swapping robot's travel path. The shortest path from the battery swapping robot to the parking location corresponding to each candidate empty bay is determined, and this path is determined as the target placement path. For example, when the number of battery swapping robots in the battery swapping station is less than a certain threshold, the shortest path from the battery swapping station to the parking location corresponding to each candidate empty bay is determined as the target placement path; when the number of battery swapping robots in the battery swapping station is greater than a certain threshold, in order to avoid robot collisions, if other battery swapping robots are traveling on the shortest path from the battery swapping station to the parking location corresponding to each candidate empty bay, the second shortest path can be used as the target placement path.

[0057] S220. Based on the vacancy duration of each candidate empty position and the corresponding target placement path, determine the placement priority of each candidate empty position.

[0058] Longer idle time equates to higher placement priority, preventing candidate empty slots from remaining vacant for extended periods and improving their utilization rate. Shorter target placement paths also result in higher placement priority, minimizing the travel distance of the battery swapping robot and improving its efficiency. To balance slot utilization and robot efficiency, the weighted sum of the inverse of the idle time and the corresponding target placement path length for each candidate empty slot can be used as its placement priority. Specifically, the weighting coefficient for this ratio can be determined experimentally or empirically, and this application does not impose specific limitations on it.

[0059] It should be noted that S210-S220 can be performed before S230 or simultaneously with S230, that is, after obtaining the battery to be charged in S230. This embodiment is only an optional example.

[0060] S230: Obtain the battery to be charged at the battery replacement location, and determine the target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station.

[0061] S240. Based on the target placement path corresponding to the target empty bay, place the battery to be charged into the target empty bay.

[0062] S250. Based on the target empty bay and the target placement path, determine at least one candidate fully charged bay in the battery swapping station.

[0063] S260. Determine the target fully charged warehouse based on the scheduling coefficient of each candidate fully charged warehouse.

[0064] S270. Remove the fully charged battery from the target fully charged compartment and place it in the battery replacement location.

[0065] The technical solution of this embodiment obtains the vacancy duration of each candidate empty compartment and determines the target placement path from the battery replacement location to the corresponding parking position of each candidate empty compartment. Considering the vacancy duration of each candidate empty compartment, the system avoids long periods of vacancy, thereby improving the utilization rate of the candidate empty compartments. Considering the target placement path of each candidate empty compartment, the system avoids long travel paths for the battery swapping robot, thereby improving the working efficiency of the battery swapping robot and the battery replacement efficiency. Based on the vacancy duration of each candidate empty compartment and the corresponding target placement path, the system determines the placement priority of each candidate empty compartment, so that the target empty compartment determined according to the placement priority can ensure both the utilization rate of the compartment and the efficiency of the robot in replacing batteries.

[0066] Example 3

[0067] Figure 3This is a flowchart of a battery replacement method for a battery swapping station provided in Embodiment 3 of this application. The technical solution of this embodiment is further refined based on the above technical solution.

[0068] Furthermore, the step of "determining at least one candidate fully charged battery compartment based on the target empty compartment and the target placement path" is refined as follows: "After determining the first return distance from the target empty compartment to the parking location corresponding to each candidate fully charged battery compartment area in the battery swapping station to obtain a fully charged battery, the first return distance is determined; based on the first return distance, the first priority of each candidate fully charged battery compartment area is determined; based on whether the parking location corresponding to each candidate fully charged battery compartment area is located in the target placement path, the second priority of each candidate fully charged battery compartment area is generated; based on the first priority and second priority of each candidate fully charged battery compartment area, the target fully charged battery compartment area is determined, and the fully charged battery compartments in the target fully charged battery compartment area are used as candidate fully charged battery compartments," thus determining the candidate fully charged battery compartments.

[0069] See Figure 3 The battery replacement method shown at a battery swapping station includes:

[0070] S310. Obtain the battery to be charged at the battery replacement location, and determine the target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station.

[0071] S320. Based on the target placement path corresponding to the target empty compartment, place the battery to be charged into the target empty compartment.

[0072] S330: After determining the parking location corresponding to each candidate fully charged battery area in the battery swapping station from the target empty battery location to obtain a fully charged battery, return to the battery swapping location at the first return distance.

[0073] The candidate fully charged compartment area can be an area that includes at least one candidate fully charged compartment. Each candidate fully charged compartment area corresponds to a parking position. The battery swapping robot can retrieve fully charged batteries from all compartments in the candidate fully charged compartment area at the parking position corresponding to that candidate fully charged compartment area.

[0074] The first return distance can be the path distance from the target empty bay to the parking position corresponding to each candidate fully charged bay area in the battery swapping station, after obtaining a fully charged battery, and then returning to the battery replacement position. This distance is used to determine the first priority of each candidate fully charged bay area.

[0075] S340. Based on the first return distance, determine the first priority of each candidate fully charged tank area.

[0076] The first priority can be the priority level of each candidate fully charged battery area determined based on the first return distance. Specifically, the smaller the first return distance, the higher the first priority.

[0077] S350. Based on whether the parking location corresponding to each candidate fully charged storage area is located in the target placement path, generate the second priority of each candidate fully charged storage area.

[0078] The second priority can be determined based on the judgment result of whether the parking position corresponding to each candidate fully charged tank area is located in the target placement path. Specifically, if the judgment result is yes, that is, the parking position corresponding to the candidate fully charged tank area is located in the target placement path, then the second priority is high; if the judgment result is no, that is, the parking position corresponding to the candidate fully charged tank area is not located in the target placement path, then the second priority is low.

[0079] In one optional embodiment, the parking location corresponding to the candidate fully charged compartment area is in the second priority of the target placement path, which is higher than the second priority of the parking location corresponding to the candidate fully charged compartment area not being in the target placement path.

[0080] The parking position corresponding to the candidate fully charged compartment area is within the target placement path. At this time, the battery swapping robot returns along the original path according to the target placement path. During the return journey, it can obtain a fully charged battery from any candidate fully charged compartment in the candidate fully charged compartment area. Since the distance of the path has been considered in the determination process of the target placement path, the target placement path is a relatively short path. Therefore, the target placement path can be used as the return path, which means that it is not necessary to determine the first return distance. This ensures that the path distance is small and that the path does not need to be replanned, thus reducing the consumption of computing resources for the battery swapping robot.

[0081] If the parking location corresponding to a candidate fully charged battery compartment is not within the target placement path, the battery swapping robot needs to plan a return path based on the parking location corresponding to each candidate fully charged battery compartment, i.e., determine the first return distance. Therefore, the parking location corresponding to a candidate fully charged battery compartment has the second priority within the target placement path, which is higher than the second priority of a parking location not being within the target placement path.

[0082] If the parking position corresponding to the candidate fully charged battery compartment is in the target placement path with the second priority, which is higher than the second priority if the parking position corresponding to the candidate fully charged battery compartment is not in the target placement path, then the route will not be replanned if the parking position corresponding to the candidate fully charged battery compartment is in the target placement path. This reduces the consumption of computing resources for the battery swapping robot, improves the working efficiency of the battery swapping robot, and improves the battery replacement efficiency.

[0083] S360. Based on the first and second priorities of each candidate fully charged storage area, determine the target fully charged storage area and use the fully charged storage units in the target fully charged storage area as candidate fully charged storage units.

[0084] Based on the first and second priorities of each candidate fully charged battery compartment area, the candidate fully charged battery compartment area with the higher priority is determined as the target fully charged battery compartment area. Since the battery swapping robot can perform the operation of removing fully charged batteries from all fully charged battery compartments in the target fully charged battery compartment area from its parking position, the fully charged battery compartments in the target fully charged battery compartment area are used as candidate fully charged battery compartments.

[0085] It should be noted that the determination of the first and second priorities is not sequential; they can be performed simultaneously, or the second priority can be determined first. This can be determined based on the specific method used to determine the target fully charged battery area, and this application does not impose specific limitations on this. For example, if the second priority is high, the corresponding candidate fully charged battery area can be directly determined as the target fully charged battery area, in which case the second priority can be determined first. Alternatively, if the target fully charged battery area is determined based on the weighted sum of the first and second priorities of each candidate fully charged battery area, then the first and second priorities can be determined simultaneously, or the first priority can be determined first.

[0086] In one optional embodiment, determining the target fully charged battery region based on the first priority and the second priority of each candidate fully charged battery region includes: determining the retrieval priority of the corresponding candidate fully charged battery region based on the second priority and the first priority of each candidate fully charged battery region; and selecting the candidate fully charged battery region with the higher retrieval priority as the target fully charged battery region.

[0087] The extraction priority can be a weighted sum of the second and first priorities corresponding to the candidate fully charged battery areas, used to determine the target fully charged battery area. For example, the candidate fully charged battery area with the highest extraction priority can be used as the target fully charged battery area.

[0088] The weighting coefficients for the second priority and the first priority can be set as needed, and this application does not impose specific limitations on them. For example, the first priority can be updated based on the second priority of each candidate fully charged tank area to obtain the extraction priority. For instance, when the second priority is high, the first priority can be increased by a preset number of levels. For instance, when the second priority is low, the corresponding first priority can be set to zero, and the candidate fully charged tank area with the high second priority is determined as the target fully charged tank area.

[0089] By determining the extraction priority of each candidate fully charged battery compartment area based on its second and first priorities, and using the candidate fully charged battery compartment area with the higher extraction priority as the target fully charged battery compartment area, the computational workload of the battery swapping robot's travel path and path determination can be reduced, thereby improving the working efficiency of the battery swapping robot and the efficiency of battery replacement.

[0090] S370. Determine the target fully charged warehouse based on the scheduling coefficient of each candidate fully charged warehouse.

[0091] In an optional embodiment, determining the target fully charged compartment based on the scheduling coefficient of each candidate fully charged compartment includes: determining the scheduling coefficient of each candidate fully charged compartment based on the compartment scheduling coefficient of each candidate fully charged compartment and the battery scheduling coefficient of the fully charged battery placed in each candidate fully charged compartment; and selecting the candidate fully charged compartment with the higher scheduling coefficient as the target fully charged compartment.

[0092] The storage space scheduling coefficient is a parameter used to measure the turnover cycle of a fully charged storage space and to determine the target fully charged storage space. A fully charged storage space needs to charge the batteries to be charged. If the turnover cycle is short, the fully charged storage space will be used too frequently, potentially keeping it under high load and reducing its lifespan. Conversely, if the turnover cycle is long, the fully charged storage space will remain idle for extended periods, reducing its utilization rate and increasing the probability of natural damage, further shortening its lifespan. Specifically, a piecewise function can be established based on the turnover cycle of the fully charged storage space and the storage space scheduling coefficient. The maximum value of the storage space scheduling coefficient corresponds to a certain range within which the turnover cycle falls. Outside this range, the storage space scheduling coefficient decreases as the turnover cycle increases or decreases.

[0093] The battery scheduling coefficient is a parameter used to measure the turnover cycle of a fully charged battery and to determine the target fully charged bay. A fully charged battery can power a vehicle. When the turnover cycle is short, the battery is charged and discharged too frequently, potentially keeping it under high load and reducing its lifespan. Conversely, when the turnover cycle is long, the charge in the battery remains inactive for extended periods, reducing its utilization rate and potentially increasing the probability of aging, thus shortening its lifespan. Specifically, a piecewise function can be established based on the battery turnover cycle and the battery scheduling coefficient. The maximum value of the battery scheduling coefficient is defined within a certain range of the turnover cycle; outside this range, the battery scheduling coefficient decreases as the turnover cycle increases or decreases.

[0094] The scheduling coefficient for each candidate fully charged storage unit is determined based on the weighted sum of the storage unit scheduling coefficient and the battery scheduling coefficient. The weighted coefficients for the storage unit scheduling coefficient and the battery scheduling coefficient can be determined experimentally or empirically, and this application does not impose specific limitations on them. The candidate fully charged storage unit with the higher scheduling coefficient is selected as the target fully charged storage unit. For example, the candidate fully charged storage unit with the highest scheduling coefficient is selected as the target fully charged storage unit.

[0095] The scheduling coefficient of each candidate fully charged compartment is determined based on the compartment scheduling coefficient and the battery scheduling coefficient of the fully charged batteries placed in each candidate fully charged compartment. The candidate fully charged compartment with the higher scheduling coefficient is selected as the target fully charged compartment. By considering the compartment scheduling coefficient and the battery scheduling coefficient of the candidate fully charged compartment, the utilization efficiency of the fully charged compartment and the fully charged battery can be improved. At the same time, the usage frequency can be controlled to remain within a certain range, thereby improving the lifespan of the candidate fully charged compartment and the fully charged battery placed in it.

[0096] In an optional embodiment, the scheduling coefficient of each candidate fully charged compartment is determined based on the compartment scheduling coefficient of each candidate fully charged compartment and the battery scheduling coefficient of the fully charged battery placed in each candidate fully charged compartment. This includes: determining the corresponding compartment scheduling coefficient based on the usage frequency of each candidate fully charged compartment; determining the corresponding battery scheduling coefficient based on the remaining charge, usage frequency, and attribute parameters of the fully charged battery placed in each candidate fully charged compartment; and determining the corresponding scheduling coefficient based on the weighted sum of the compartment scheduling coefficient and the battery scheduling coefficient of each candidate fully charged compartment.

[0097] The usage frequency of each candidate fully charged battery compartment can be the number of times it is used within a certain period of time, used to determine the corresponding compartment scheduling coefficient. For example, the usage frequency can be the number of times used per month, per ten days, or per week. Specifically, a piecewise function relationship between usage frequency and compartment scheduling coefficient can be established. When the usage frequency is within a certain range, the corresponding compartment scheduling coefficient is at its maximum value; outside this range, the corresponding battery scheduling coefficient decreases as the usage frequency increases or decreases.

[0098] The remaining power capacity can be the available power of the fully charged batteries placed in each candidate fully charged compartment. Batteries naturally degrade after being fully charged, so the remaining power in a fully charged battery may vary. Optionally, when the remaining power is below a certain range, the use of the fully charged battery can be prohibited to avoid frequent battery replacements and improve the user experience. For example, when the remaining power is above a certain range, the lower the remaining power, the higher the battery scheduling coefficient should be to improve the utilization rate of the power in the fully charged battery and reduce natural degradation. The number of uses can be the number of times the fully charged batteries in each candidate fully charged compartment are used within a certain period of time. For example, the number of uses can be the number of times used per month, per ten days, or per week. Specifically, a piecewise function relationship between the number of uses and the compartment scheduling coefficient can be established. When the number of uses is within a certain range, the corresponding battery scheduling coefficient is at its maximum value; outside this range, the corresponding battery scheduling coefficient decreases as the number of uses increases or decreases. Attribute parameters can be the inherent attribute parameters of the fully charged batteries placed in each candidate fully charged compartment. For example, the attribute parameter could be the degree of aging. The better the attribute status corresponding to the attribute parameters of a fully charged battery, the larger the battery scheduling coefficient. The corresponding battery scheduling coefficient is determined based on the weighted sum of the remaining capacity, usage count, and attribute parameters of the fully charged batteries placed in each candidate fully charged compartment. The weighting coefficients for remaining capacity, usage count, and attribute parameters can be determined based on experiments or experience, and this application does not impose specific limitations on them. The corresponding scheduling coefficient is determined based on the weighted sum of the compartment scheduling coefficient and the battery scheduling coefficient for each candidate fully charged compartment.

[0099] By determining the corresponding storage compartment scheduling coefficient based on the usage frequency of each candidate fully charged compartment, the system considers the usage frequency of fully charged compartments to prevent overuse or prolonged idleness, thereby extending the lifespan of fully charged compartments. Similarly, by determining the corresponding battery scheduling coefficient based on the remaining charge, usage count, and attribute parameters of the fully charged batteries placed in each candidate fully charged compartment, the system considers the remaining charge and attribute parameters of fully charged batteries to improve user experience, and considers the usage count of fully charged batteries to avoid frequent charging and discharging, thus extending battery lifespan. Finally, by weighted summing the storage compartment scheduling coefficient and battery scheduling coefficient for each candidate fully charged compartment, the system determines the corresponding scheduling coefficient, balancing user experience with extending the lifespan of both fully charged compartments and fully charged batteries.

[0100] S380: Remove the fully charged battery from the target fully charged compartment and place it in the battery replacement location.

[0101] The technical solution of this embodiment determines the first return distance from the target empty bay to the parking position corresponding to each candidate fully charged bay area in the battery swapping station to obtain a fully charged battery, and then returns to the battery replacement position. Based on the first return distance, a first priority is determined for each candidate fully charged bay area. The first priority is used to measure the distance of the return path for the battery swapping robot to retrieve the fully charged battery. By setting the first priority, a shorter return path is ensured, improving the working efficiency of the battery swapping robot and the battery replacement efficiency. A second priority is generated for each candidate fully charged bay area based on whether the parking position corresponding to each candidate fully charged bay area is located in the target placement path. The second priority allows for route replanning when the parking position corresponding to a candidate fully charged bay area is in the target placement path, reducing the computational resource consumption of the battery swapping robot. Based on the first and second priorities of each candidate fully charged bay area, a target fully charged bay area is determined, and the fully charged bays in the target fully charged bay area are used as candidate fully charged bays. This ensures a shorter return path for the battery swapping robot, improving its working efficiency and the battery replacement efficiency.

[0102] Example 4

[0103] Figure 4 The diagram shown is a structural schematic of a battery replacement device for a battery swapping station according to Embodiment 4 of this application. This embodiment is applicable to the situation of replacing a battery to be charged with a fully charged battery in a battery swapping station, and is configured in a battery swapping robot. The specific structure of the battery replacement device for the battery swapping station is as follows:

[0104] The target empty bay location determination module 410 is used to obtain the battery to be charged at the battery replacement location and determine the target empty bay location of the battery to be charged according to the placement priority of each candidate empty bay location in the battery swapping station.

[0105] The battery placement module 420 is used to place the battery to be charged into the target empty compartment according to the target placement path corresponding to the target empty compartment.

[0106] The candidate fully charged bay location determination module 430 is used to determine at least one candidate fully charged bay location in the battery swapping station based on the target empty bay location and the target placement path.

[0107] The target fully charged warehouse location determination module 440 is used to determine the target fully charged warehouse location based on the scheduling coefficient of each candidate fully charged warehouse location;

[0108] The fully charged battery placement module 450 is used to remove a fully charged battery from the target fully charged compartment and place it in the battery replacement location.

[0109] The technical solution of this embodiment involves obtaining the battery to be charged at the battery replacement location and determining the target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station. The selection method for the target empty compartment can be set according to the placement priority. When the priority is set based on the distance to each candidate empty compartment, it avoids random selection of target empty compartments, which would result in a longer path and improves battery replacement efficiency. When the priority is set based on the usage cycle of reaching the target empty compartment, it avoids selection according to a fixed route, which would cause an imbalance in the usage cycles of each candidate empty compartment and improves the lifespan of each candidate empty compartment. The battery to be charged is placed into the target empty compartment according to the target placement path corresponding to the target empty compartment. Based on the target empty compartment and the target placement path, at least one candidate fully charged compartment in the battery swapping station is determined. The target fully charged compartment is determined according to the scheduling coefficient of each candidate fully charged compartment. The scheduling coefficient can balance the usage cycles of each candidate fully charged compartment and the fully charged battery, improving the lifespan of each candidate fully charged compartment and the fully charged battery. The fully charged battery is taken from the target fully charged compartment and placed at the battery replacement location, thus realizing battery replacement in the battery swapping station. Therefore, the technical solution of this application solves the problems of randomly picking and placing batteries from the battery storage compartments in the battery swapping station, which reduces battery swapping efficiency, and picking and placing batteries according to a fixed compartment path, which reduces the service life of batteries and compartments. It achieves the effect of improving battery swapping efficiency and extending the service life of batteries and compartments in the battery swapping station.

[0110] Optionally, the battery swapping station battery replacement device also includes:

[0111] The candidate empty bay parameter acquisition module is used to obtain the vacancy time of each candidate empty bay and determine the target placement path from the battery replacement location to the corresponding parking location of each candidate empty bay.

[0112] The placement priority determination module is used to determine the placement priority of each candidate empty space based on the vacancy duration of each candidate empty space and the corresponding target placement path.

[0113] Optionally, the candidate fully charged bay location determination module 430 includes:

[0114] The first return distance determination unit is used to determine the first return distance from the target empty bay to the parking position corresponding to each candidate fully charged bay area in the battery swapping station after obtaining a fully charged battery and returning to the battery replacement position.

[0115] The first priority determination unit is used to determine the first priority of each candidate fully charged battery area based on the first return distance.

[0116] The second priority generation unit is used to generate the second priority of each candidate fully charged battery area based on whether the parking position corresponding to each candidate fully charged battery area is located in the target placement path.

[0117] The target fully charged storage area determination unit is used to determine the target fully charged storage area based on the first priority and the second priority of each candidate fully charged storage area, and to use the fully charged storage locations in the target fully charged storage area as candidate fully charged storage locations.

[0118] Optionally, the parking location corresponding to the candidate fully charged storage area is in the second priority of the target placement path, which is higher than the second priority of the parking location corresponding to the candidate fully charged storage area not being in the target placement path.

[0119] Optionally, the target fully charged battery area determination unit includes:

[0120] The priority determination subunit is used to determine the extraction priority of the corresponding candidate fully charged battery area based on the second priority and the first priority of each candidate fully charged battery area.

[0121] The target fully charged battery area determination sub-unit is used to select the candidate fully charged battery areas with higher priority as the target fully charged battery area.

[0122] Optional, the target fully charged bay location determination module 440 includes:

[0123] The scheduling coefficient determination unit is used to determine the scheduling coefficient of each candidate fully charged compartment based on the compartment scheduling coefficient of each candidate fully charged compartment and the battery scheduling coefficient of the fully charged batteries placed in each candidate fully charged compartment.

[0124] The scheduling coefficient comparison unit is used to select the candidate fully charged warehouse with the higher scheduling coefficient as the target fully charged warehouse.

[0125] Optionally, the scheduling coefficient determination unit includes:

[0126] The warehouse scheduling coefficient determination subunit is used to determine the corresponding warehouse scheduling coefficient based on the usage frequency of each candidate fully charged warehouse.

[0127] The battery scheduling coefficient determination subunit is used to determine the corresponding battery scheduling coefficient based on the remaining capacity, usage count, and attribute parameters of the fully charged batteries placed in each candidate fully charged compartment.

[0128] The scheduling coefficient determination subunit is used to determine the corresponding scheduling coefficient based on the weighted sum of the scheduling coefficients of each candidate fully charged bay and the battery scheduling coefficient.

[0129] The battery swapping device provided in this application can execute the battery swapping method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing the battery swapping method.

[0130] Example 5

[0131] Figure 5This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of this application, as shown below. Figure 5 As shown, the electronic device includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the electronic device can be one or more. Figure 5 Taking a processor 510 as an example; the processor 510, memory 520, input device 530, and output device 540 in the electronic device can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0132] The memory 520, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the battery replacement method at the battery swapping station in this embodiment (e.g., the target empty bay determination module 410, the battery to be charged placement module 420, the candidate fully charged bay determination module 430, the target fully charged bay determination module 440, and the fully charged battery placement module 450). The processor 510 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 520, thereby implementing the aforementioned battery replacement method at the battery swapping station.

[0133] The memory 520 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 520 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include memory remotely located relative to the processor 510, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0134] Input device 530 can be used to receive input character information and generate key signal inputs related to user settings and function control of the electronic device. Output device 540 may include display devices such as a display screen.

[0135] Example 6

[0136] Embodiment Six of this application also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform a battery replacement method at a battery swapping station. The method includes: obtaining a battery to be charged at a battery replacement location, and determining a target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station; placing the battery to be charged into the target empty compartment according to the target placement path corresponding to the target empty compartment; determining at least one candidate fully charged compartment in the battery swapping station based on the target empty compartment and the target placement path; and determining a target fully charged compartment based on the scheduling coefficient of each candidate fully charged compartment, taking a fully charged battery from the target fully charged compartment, and placing it at the battery replacement location.

[0137] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the method operations described above, but can also perform related operations in the battery replacement method of the battery swapping station provided in any embodiment of this application.

[0138] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this application can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0139] It is worth noting that in the embodiments of the search device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this application.

[0140] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for replacing batteries at a battery swapping station, characterized in that, include: Obtain the battery to be charged at the battery replacement location, and determine the target empty compartment for the battery to be charged based on the placement priority of each candidate empty compartment in the battery swapping station. According to the target placement path corresponding to the target empty compartment, the battery to be charged is placed into the target empty compartment; Based on the target empty bay and the target placement path, at least one candidate fully charged bay in the battery swapping station is determined; The target fully charged warehouse is determined based on the scheduling coefficient of each candidate fully charged warehouse. Remove the fully charged battery from the target fully charged compartment and place it in the battery replacement location; The step of determining the target fully charged bay based on the scheduling coefficient of each of the candidate fully charged bays includes: The scheduling coefficient of each candidate fully charged compartment is determined based on the compartment scheduling coefficient of each candidate fully charged compartment and the battery scheduling coefficient of the fully charged battery placed in each candidate fully charged compartment. The candidate fully charged warehouse with the higher scheduling coefficient is selected as the target fully charged warehouse. The step of determining the scheduling coefficient of each candidate fully charged compartment based on the compartment scheduling coefficient of each candidate fully charged compartment and the battery scheduling coefficient of the fully charged batteries placed in each candidate fully charged compartment includes: Based on the usage frequency of each candidate fully charged warehouse, determine the corresponding warehouse scheduling coefficient; Based on the remaining charge, usage count, and attribute parameters of the fully charged batteries placed in each of the candidate fully charged bays, the corresponding battery scheduling coefficient is determined. The corresponding scheduling coefficient is determined by weighted sum of the scheduling coefficient of each candidate fully charged bay and the scheduling coefficient of the battery.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the vacancy duration of each candidate empty compartment and determine the target placement path from the battery replacement location to the parking location corresponding to each candidate empty compartment; Based on the vacancy duration of each candidate empty space and the corresponding target placement path, the placement priority of each candidate empty space is determined.

3. The method according to claim 1, characterized in that, The step of determining at least one candidate fully charged storage location based on the target empty storage location and the target placement path includes: After determining the parking location corresponding to each candidate fully charged battery area in the battery swapping station from the target empty bay to obtain a fully charged battery, return to the battery swapping location by the first return distance. Based on the first return distance, determine the first priority of each of the candidate fully charged battery areas; Based on whether the parking location corresponding to each candidate fully charged storage area is located in the target placement path, a second priority is generated for each candidate fully charged storage area. Based on the first priority and the second priority of each candidate fully charged battery area, a target fully charged battery area is determined, and the fully charged battery compartments in the target fully charged battery area are selected as candidate fully charged battery compartments.

4. The method according to claim 3, characterized in that, in, The parking location corresponding to the candidate fully charged compartment area is in the second priority of the target placement path, which is higher than the parking location corresponding to the candidate fully charged compartment area not being in the second priority of the target placement path.

5. The method according to claim 3, characterized in that, The step of determining the target fully charged battery region based on the first priority and the second priority of each of the candidate fully charged battery regions includes: The retrieval priority of each candidate fully charged battery region is determined based on the second priority and the first priority of each candidate fully charged battery region. The candidate fully charged battery regions with higher priority are selected as the target fully charged battery regions.

6. A battery swapping device for a battery swapping station, used to perform the battery swapping method as described in any one of claims 1-5, characterized in that, include: The target empty bay location determination module is used to obtain the battery to be charged at the battery replacement location and determine the target empty bay location of the battery to be charged based on the placement priority of each candidate empty bay location in the battery swapping station. A battery placement module is used to place the battery to be charged into the target empty compartment according to the target placement path corresponding to the target empty compartment. The candidate fully charged bay location determination module is used to determine at least one candidate fully charged bay location in the battery swapping station based on the target empty bay location and the target placement path. The target fully charged bay location determination module is used to determine the target fully charged bay location based on the scheduling coefficient of each of the candidate fully charged bay locations. A fully charged battery placement module is used to remove a fully charged battery from the target fully charged compartment and place it in the battery replacement location.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the battery replacement method for a battery swapping station as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the battery replacement method for the battery swapping station as described in any one of claims 1-5.

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