Battery swapping station control method, device, system and battery swapping station

Abstract

The present invention relates to the field of battery swapping, and provides a control method, device, system and battery swapping station for a battery swapping station. The method includes: setting the relative position between a first target position and a battery swapping cart when the battery swapping cart in the battery swapping station needs to horizontally move along a battery swapping track to the first target position; controlling a first servo motor in the battery swapping cart to drive the battery swapping cart to move along the battery swapping track based on the set relative position; obtaining a moving distance based on an encoder of the first servo motor during the process of the battery swapping cart moving to the first target position; if the moving distance is inconsistent with a first actual distance obtained based on a first distance measuring sensor, determining that the battery swapping cart needs to perform position compensation; resetting the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart; and continuing to control the first servo motor to drive the battery swapping cart to move along the battery swapping track based on the reset relative position. The problem that the battery swapping cart cannot accurately reach the target position due to slipping is solved, and the positioning is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swapping, and in particular, to a control method, device, system and battery swapping station for a battery swapping station. Background Art

[0002] At present, electric vehicles are gradually widely used. For electric vehicles such as heavy-duty trucks (i.e., heavy trucks), when swapping batteries at a battery swapping station, it is necessary to use a battery swapping trolley to grab the battery on the electric vehicle, lift it and move it along the track to the battery compartment for storage, and then grab a fully charged battery and move it along the track to install it on the electric vehicle. During the movement of the battery swapping trolley along the track, slipping inevitably occurs, resulting in the battery swapping trolley being unable to accurately reach the target position and affecting the success rate of battery swapping. Summary of the Invention

[0003] The present invention provides a control method, device, system and battery swapping station for a battery swapping station, which can solve the defect that the battery swapping trolley in the prior art cannot accurately reach the target position due to slipping, and can control the battery swapping trolley to accurately reach the target position to achieve accurate positioning.

[0004] The present invention provides a control method for a battery swapping station, including:

[0005] When the battery swapping trolley in the battery swapping station needs to horizontally move along the battery swapping track to the first target position, set the relative position between the first target position and the battery swapping trolley, where the battery swapping trolley is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base;

[0006] Based on the set relative position, control the first servo motor in the battery swapping trolley to drive the battery swapping trolley to move along the battery swapping track;

[0007] During the movement of the battery swapping trolley to the first target position, obtain the moving distance based on the encoder of the first servo motor;

[0008] If the moving distance is inconsistent with the first actual distance obtained based on the first distance sensor, determine that the battery swapping trolley needs to perform position compensation, where the first actual distance is the actual moving distance of the battery swapping trolley;

[0009] Based on the first actual distance and the moving distance, reset the relative position to perform position compensation on the battery swapping trolley;

[0010] Based on the reset relative position, continue to control the first servo motor to drive the battery swapping trolley to move along the battery swapping track.

[0011] According to a control method provided by the present invention, it further includes:

[0012] The distance from the first distance measuring sensor provided on the battery swapping trolley to the first marker on the battery swapping track is measured to obtain a first measured distance;

[0013] Based on the change amount of the first measured distance, the first actual distance is obtained.

[0014] According to a battery swapping station control method provided by the present invention, the relative position is reset based on the first actual distance and the moving distance to perform position compensation on the battery swapping trolley, including:

[0015] The relative position is reset based on the difference between the moving distance and the first actual distance to perform position compensation on the battery swapping trolley.

[0016] According to a battery swapping station control method provided by the present invention, it further includes:

[0017] During the process of the battery swapping trolley lowering the battery to the second base through the spreader, the lowering speed of the battery by the battery swapping trolley is controlled based on the second actual distance measured by the second distance measuring sensor, and the second actual distance is the actual distance between the battery swapping trolley and the spreader.

[0018] According to a battery swapping station control method provided by the present invention, the control of the lowering speed of the battery by the battery swapping trolley based on the second actual distance measured by the second distance measuring sensor includes:

[0019] When the battery swapping trolley starts to lower the battery through the spreader, the battery swapping trolley is controlled to lower the battery with the reference lowering speed as the target;

[0020] When the second actual distance represents that the battery reaches the height of the first guiding post of the second base, the battery swapping trolley is controlled to lower the battery at a first lowering speed, and the first lowering speed is the product of the second actual distance and a first preset coefficient;

[0021] When the second actual distance represents that the battery reaches the height of the second guiding post of the second base, the battery swapping trolley is controlled to lower the battery at a second lowering speed, and the second lowering speed is the product of the second actual distance and a second preset coefficient, and the height of the second guiding post is less than the height of the first guiding post;

[0022] When the second actual distance represents that the battery reaches the height of the connector of the second base, the battery swapping trolley is controlled to lower the battery at a third lowering speed, and the third lowering speed is determined based on the magnitude relationship between a fourth lowering speed and a preset minimum speed, and the fourth lowering speed is the product of the second actual distance and a third preset coefficient, and the height of the connector is less than the height of the second guiding post.

[0023] A control method for a battery swapping station, wherein the first base is an on-vehicle base of an electric vehicle, and the control method for the battery swapping station further includes:

[0024] When the hook for locking the battery on the first base is in an unlocked state, if the output torque of the driving mechanism of the lifting device in the battery swapping cart is greater than or equal to the lifting torque of the battery and less than a preset torque, control the driving mechanism to drive the lifting device to lift the battery;

[0025] If the output torque of the driving mechanism is greater than or equal to the preset torque, control the driving mechanism to stop outputting torque.

[0026] A control method for a battery swapping station according to the present invention further includes:

[0027] Taking the preset maximum driving current of the driving mechanism as a limit, control the driving mechanism to output torque.

[0028] The present invention also provides a control device for a battery swapping station, including:

[0029] A position setting module, configured to set the relative position between the first target position and the battery swapping cart when the battery swapping cart in the battery swapping station needs to horizontally move along the battery swapping track to the first target position. The battery swapping cart is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base;

[0030] A motor control module, configured to control the first servo motor in the battery swapping cart to drive the battery swapping cart to move along the battery swapping track based on the set relative position;

[0031] A distance obtaining module, configured to obtain the moving distance based on the encoder of the first servo motor during the process of the battery swapping cart moving to the first target position;

[0032] A compensation determination module, configured to determine that the battery swapping cart needs to perform position compensation if the moving distance is inconsistent with the first actual distance obtained based on the first ranging sensor, where the first actual distance is the actual moving distance of the battery swapping cart;

[0033] The position setting module is further configured to reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart;

[0034] The motor control module is further configured to continue to control the first servo motor to drive the battery swapping cart to move along the battery swapping track based on the reset relative position.

[0035] The present invention also provides a control system for a battery swapping station, including:

[0036] The battery swapping cart in the battery swapping station is used to lift the battery of the first base, horizontally move it above the second base, and then lower it onto the second base.

[0037] The controller is configured to, when the battery swapping cart needs to horizontally move along the battery swapping track to a first target position, set the relative position between the first target position and the battery swapping cart, and based on the set relative position, control the first servo motor in the battery swapping cart to drive the battery swapping cart to move along the battery swapping track; during the process of the battery swapping cart moving to the first target position, obtain the moving distance based on the encoder of the first servo motor; if the moving distance is inconsistent with the first actual distance obtained based on the first ranging sensor, determine that the battery swapping cart needs position compensation, where the first actual distance is the actual moving distance of the battery swapping cart; reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart; and based on the reset relative position, continue to control the first servo motor to drive the battery swapping cart to move along the battery swapping track.

[0038] The present invention also provides a battery swapping station, including the battery swapping station control system as described in any one of the above.

[0039] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the battery swapping station control method as described in any one of the above.

[0040] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the battery swapping station control method as described in any one of the above.

[0041] For the battery swapping station control method provided by the present invention, when the battery swapping cart in the battery swapping station needs to horizontally move along the battery swapping track to a first target position, the relative position between the first target position and the battery swapping cart is set. Based on the set relative position, a first servo motor in the battery swapping cart is controlled to drive the battery swapping cart to move along the battery swapping track. In the case where the moving distance obtained by the encoder of the first servo motor in the battery swapping cart is inconsistent with the actual distance measured by a first distance measuring sensor between the battery swapping cart and the first target position, the relative position can be reset based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart. The position compensation is used to eliminate the deviation between the moving distance and the first actual distance. Thus, based on the reset relative position, the first servo motor is continuously controlled to drive the battery swapping cart to move along the battery swapping track until the first target position is reached, reducing the positioning error of the battery swapping cart, thereby making the position where the spreader of the battery swapping cart grabs the battery more accurate and the battery more stable during the hoisting and lowering processes, and improving the success rate of battery swapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 is a schematic flowchart of the battery swapping station control method provided by the present invention;

[0044] Figure 2 is a schematic diagram of the battery swapping process of the battery swapping station provided by the present invention;

[0045] Figure 3 is a schematic structural diagram of the battery swapping station control device provided by the present invention;

[0046] Figure 4 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0048] The following will be described in conjunction with Figures 1 to 2Describe the control method of the battery swapping station of the present invention.

[0049] This embodiment provides a control method for a battery swapping station. As Figure 1 shown, the method at least includes the following steps:

[0050] Step 110: When the battery swapping trolley in the battery swapping station needs to horizontally move along the battery swapping track to the first target position, set the relative position between the first target position and the battery swapping trolley. The battery swapping trolley is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base.

[0051] Step 120: Based on the set relative position, control the first servo motor in the battery swapping trolley to drive the battery swapping trolley to move along the battery swapping track.

[0052] Step 130: During the process of the battery swapping trolley moving to the first target position, obtain the moving distance based on the encoder of the first servo motor.

[0053] Step 140: If the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, determine that the battery swapping trolley needs to perform position compensation, where the first actual distance is the actual moving distance of the battery swapping trolley.

[0054] Step 150: Based on the first actual distance and the moving distance, reset the relative position to perform position compensation on the battery swapping trolley.

[0055] Step 160: Based on the reset relative position, continue to control the first servo motor to drive the battery swapping trolley to move along the battery swapping track.

[0056] The battery swapping station of this embodiment is used to swap the battery of an electric vehicle. The electric vehicle can be a heavy truck. Then, the battery swapping station can be a heavy truck battery swapping station. Exemplarily, the battery swapping station can include a bracket, on which a first battery swapping track along the first horizontal direction and a second battery swapping track along the second horizontal direction are provided. The first horizontal direction and the second horizontal direction are perpendicular to each other. Correspondingly, the battery swapping trolley includes two first servo motors. The battery swapping trolley can move along the first battery swapping track under the drive of the first servo motor corresponding to the first horizontal direction, and move along the second battery swapping track under the drive of the first servo motor corresponding to the second horizontal direction. A spreader connected by a rope is arranged below the battery swapping trolley. As Figure 2As shown in the figure, the battery swapping trolley 210 can lift the battery 230 on the first base 220 through the spreader 211 (indicated by an upward arrow in the figure), and horizontally move it (indicated by a leftward arrow in the figure) to above the second base 240 through the first battery swapping track and the second battery swapping track, and then lower it (indicated by a downward arrow in the figure) to the second base 240. The first base can be the on-vehicle base of an electric vehicle. Then, the second base can be the base of the battery compartment in the battery swapping station. The first base can also be the base of the battery compartment in the battery swapping station. Then, the second base can be the on-vehicle base of an electric vehicle.

[0057] For the specific structures of the battery swapping station and the battery swapping trolley, reference can be made to the related technologies, which will not be elaborated here.

[0058] The solution of this embodiment can be executed by the controller of the battery swapping trolley.

[0059] The battery swapping track in step 110 can be the first battery swapping track or the second battery swapping track.

[0060] The first target position is the position on the battery swapping track that the battery swapping trolley needs to reach. In the scenario of battery swapping, the electric vehicle can be positioned within the set battery swapping area. The first target position of the battery swapping trolley can be obtained in advance according to the set battery swapping area. The battery swapping trolley in this embodiment is driven by a servo motor, and the servo motor can drive the battery swapping trolley to move according to the relative position (i.e., relative distance) between the set battery swapping trolley and the first target position. The servo motor includes an encoder, and the moving distance can be characterized by the value of the encoder. However, during the process of the servo motor driving the battery swapping trolley to move along the battery swapping track, slipping will inevitably occur, especially when the battery swapping trolley uses steel wheels, it is easier to slip, resulting in a large deviation between the moving distance characterized by the value of the encoder of the servo motor and the actual moving distance of the battery swapping trolley on the battery swapping track, which will affect the success rate of battery swapping.

[0061] The operation stage of the battery swapping trolley includes an acceleration stage, a constant speed stage, and a deceleration stage. Slipping mainly occurs when the battery swapping trolley is accelerating or decelerating. When the battery swapping trolley is in the acceleration stage, the battery swapping trolley can not perform position compensation. When the battery swapping trolley enters the constant speed stage from the acceleration stage, the battery swapping trolley can perform position compensation to avoid running past the first target position due to large speed deviation caused by slipping. When the battery swapping trolley is in the deceleration stage, the battery swapping trolley can perform position compensation to accurately stop at the first target position.

[0062] In this embodiment, when the moving distance is inconsistent with the actual distance between the battery swapping vehicle and the first target position measured by the first distance measuring sensor, the relative position can be reset based on the first actual distance and the moving distance to perform position compensation on the battery swapping vehicle. The position compensation is used to eliminate the deviation between the moving distance and the first actual distance. Thus, based on the reset relative position, the first servo motor is continuously controlled to drive the battery swapping vehicle to move along the battery swapping track until it reaches the first target position, reducing the positioning error of the battery swapping vehicle. As a result, the position where the spreader of the battery swapping vehicle grabs the battery is more accurate, and the battery is more stable during the lifting and lowering processes, improving the success rate of battery swapping.

[0063] In this embodiment, the positioning accuracy of the battery swapping vehicle can reach ±5 mm.

[0064] In an exemplary embodiment, the battery swapping station control method provided in this embodiment may further include: measuring the distance to the first marker on the battery swapping track by the first distance measuring sensor disposed on the battery swapping vehicle to obtain a first measured distance; and obtaining the first actual distance based on the change amount of the first measured distance.

[0065] In practical applications, a first marker with a fixed position can be set on the battery swapping track, and a first distance measuring sensor can be set on the battery swapping vehicle. The first distance measuring sensor is used to measure the distance to the first marker as the first measured distance. When the battery swapping vehicle moves, the first measured distance measured by the first distance measuring sensor also changes. After setting the relative position, the change amount of the first measured distance before and after the battery swapping vehicle moves can represent the first actual distance. For example, before the battery swapping vehicle moves, the first measured distance obtained by the first distance measuring sensor is 1000 mm. After the battery swapping vehicle moves, the first measured distance obtained by the first distance measuring sensor is 600 mm. The change amount of the first measured distance is 400 mm, indicating that the battery swapping vehicle has actually moved 400 mm.

[0066] The first distance measuring sensor can be a laser distance measuring sensor. In this case, the first marker can be a reflector. Of course, it can also be other distance measuring sensors, such as a radar distance measuring sensor, etc.

[0067] In this embodiment, by measuring the distance to the first marker on the battery swapping track by the first distance measuring sensor disposed on the battery swapping vehicle, the actual moving distance of the battery swapping vehicle can be accurately obtained, facilitating accurately determining whether position compensation is required in combination with the moving distance obtained by the encoder of the servo motor.

[0068] In an exemplary embodiment, re-setting the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping vehicle may specifically include: re-setting the relative position based on the difference between the moving distance and the first actual distance to perform position compensation on the battery swapping vehicle.

[0069] Exemplarily, the difference between the moving distance and the first actual distance is set as the relative position to perform position compensation on the battery swapping vehicle.

[0070] Still taking an example, the relative setting between the first target position and the battery swapping vehicle is a position 450 mm away. If the battery swapping vehicle actually moves 400 mm due to slipping and is still 50 mm short of reaching the first target position, position compensation can be performed on this 50 mm, and the relative position is re-set to 50 mm. The encoder of the first servo motor can be encoded according to the re-set relative position, so as to accurately drive the battery swapping vehicle to reach the first target position.

[0071] In this embodiment, re-setting the relative position based on the difference between the moving distance and the first actual distance to perform position compensation on the battery swapping vehicle can accurately eliminate the deviation between the moving distance and the first actual distance, and the positioning is more accurate.

[0072] In an exemplary embodiment, the battery swapping station control method may further include: during the process of the battery swapping vehicle lowering the battery to the second base through the spreader, controlling the lowering speed of the battery by the battery swapping vehicle based on the second actual distance measured by the second distance measuring sensor, where the second actual distance is the actual distance between the battery swapping vehicle and the spreader.

[0073] In practical applications, a second marker with a fixed position may be set on the side of the spreader close to the battery swapping vehicle, and a second distance measuring sensor may be set on the battery swapping vehicle. The second distance measuring sensor is used to measure the distance to the second marker as the second measured distance. When the battery swapping vehicle lowers the battery to the second base through the spreader, the second measured distance measured by the second distance measuring sensor will also change. The second measured distance can represent the lowering distance of the battery. The larger the second measured distance, the smaller the distance between the battery and the second base, that is, the closer the battery is to the second base. When the battery is installed on the second base, the position reached by the second marker is the second target position. In implementation, taking the second target position as the target, controlling the battery swapping vehicle to lower the battery to the second base through the spreader.

[0074] The second distance measuring sensor therein may be a laser distance measuring sensor, and the second marker may be a reflector. Of course, it may also be other distance measuring sensors, such as a radar distance measuring sensor, etc.

[0075] In the related art, when the battery swapping trolley lowers the battery through the spreader, the speed is directly switched between high speed and low speed, resulting in uneven speed switching. The sudden speed change causes the descending speed of the battery to be uncontrollable and non-uniformly decelerated. In this embodiment, the descending speed of the battery by the battery swapping trolley is controlled based on the second actual distance measured by the second ranging sensor, so as to associate the descending speed of the battery with the descending distance, solve the problem of uncontrollable descending speed when the spreader lowers the battery, make the descending speed of the battery stable and controllable, and make the descending speed switching smooth. On the premise of ensuring the battery swapping operation time, the effect of gently taking and placing the battery is achieved.

[0076] In an exemplary embodiment, the controlling the descending speed of the battery by the battery swapping trolley based on the second actual distance measured by the second ranging sensor may specifically include:

[0077] When the battery swapping trolley starts to lower the battery through the spreader, the battery swapping trolley is controlled to lower the battery with the reference descending speed as the target;

[0078] When the second actual distance represents that the battery reaches the height of the first guiding post of the second base, the battery swapping trolley is controlled to lower the battery at a first descending speed, and the first descending speed is the product of the second actual distance and a first preset coefficient;

[0079] When the second actual distance represents that the battery reaches the height of the second guiding post of the second base, the battery swapping trolley is controlled to lower the battery at a second descending speed, and the second descending speed is the product of the second actual distance and a second preset coefficient, and the height of the second guiding post is less than the height of the first guiding post;

[0080] When the second actual distance represents that the battery reaches the height of the connector of the second base, the battery swapping trolley is controlled to lower the battery at a third descending speed, and the third descending speed is determined based on the magnitude relationship between a fourth descending speed and a preset minimum speed. The fourth descending speed is the product of the second actual distance and a third preset coefficient, and the height of the connector is less than the height of the second guiding post.

[0081] As Figure 2 shown, the second base includes a first guiding post 241, a second guiding post 242 and a connector 243 with gradually decreasing heights. The first guiding post 241 and the second guiding post 242 are used to guide and position the battery. The connector 243 can be connected to the positive and negative electrodes of the battery. The structure of the first base is the same as that of the second base.

[0082] The battery swapping cart can drive the spreader through a driving mechanism such as a second servo motor. When the battery is lowered to contact the second base, the battery contacts the first guide post 241, the second guide post 242, and the connector 243 in sequence, and correspondingly, different lowering speeds are adopted. The lowering speed is also the speed at which the battery is lowered. The reference lowering speed is the maximum lowering speed achieved during uniform lowering. When starting to lower the battery, the reference lowering speed is first reached, and then it is successively reduced to the first lowering speed, the second lowering speed, and the third lowering speed.

[0083] Among them, the first preset coefficient, the second preset coefficient, and the third preset coefficient can be obtained in advance through testing.

[0084] The reference lowering speed and the preset minimum speed can also be set according to the actual situation. Exemplarily, the preset minimum speed is 10 mm / s. The reference lowering speed is greater than the first lowering speed, the second lowering speed, the third lowering speed, and the fourth lowering speed. When the fourth lowering speed is less than the preset minimum speed, the third lowering speed is the preset minimum speed. When the fourth lowering speed is greater than or equal to the preset minimum speed, the third lowering speed is the fourth lowering speed. In this way, by restricting the lowering speed through the preset minimum speed, the duration of battery lowering can be reduced, and the problem of the second servo motor stalling due to too small a lowering speed can also be avoided.

[0085] The solution of this embodiment can perform closed-loop control according to the second actual distance feedback, solve the problem of too fast battery lowering speed, which causes knocking and damage to the connector. During the process of lowering the battery to the vehicle-mounted base, it smoothly enters the first guide post, the second guide post, and the connector through different lowering speeds, effectively avoiding the serious knocking of the battery against the first guide post and the second guide post when approaching the vehicle-mounted base, and also avoiding the situation where the connector is damaged due to too fast a lowering speed, resulting in the inability of the electric vehicle to drive.

[0086] In an exemplary embodiment, the first base is the vehicle-mounted base of an electric vehicle, and the battery swapping station control method further includes:

[0087] When the hook for locking the battery on the first base is in the unlocked state, if the output torque of the driving mechanism of the spreader in the battery swapping cart is greater than or equal to the lifting torque of the battery and less than the preset torque, control the driving mechanism to drive the spreader to lift the battery;

[0088] If the output torque of the driving mechanism is greater than or equal to the preset torque, control the driving mechanism to stop outputting torque.

[0089] Among them, the preset torque is greater than the lifting torque of the battery. For example, it can be 1.5 times the lifting torque of the battery. In practical applications, the vehicle state can be monitored through the control terminal of the battery swapping station. The vehicle state includes the locking state of the locking hook. If the locking state is the unlocked state, the battery can be lifted. To avoid lifting the electric vehicle during the process of lifting the battery, when the output torque of the driving mechanism of the lifting device is greater than or equal to the lifting torque of the battery and less than the preset torque, the driving mechanism is controlled to drive the lifting device to lift the battery. The output torque of the battery swapping trolley is greater than or equal to the preset torque, and the driving mechanism is controlled to stop outputting torque. Specifically, the second servo motor is controlled to stop outputting torque. Thereby, the battery swapping risk can be reduced, the battery swapping equipment can be protected, and the battery swapping safety can be ensured.

[0090] In an exemplary embodiment, the battery swapping station control method may further include: controlling the output torque of the driving mechanism with the preset maximum driving current of the driving mechanism as a limit.

[0091] The driving current of the driving mechanism of the lifting device can be the driving current of the second servo motor. In implementation, the driving current of the driving mechanism can be limited, and thus the output torque can be limited. In this way, the risk of lifting the electric vehicle can be reduced, and the battery swapping safety can be further ensured.

[0092] Next, the battery swapping station control device provided by the present invention will be described. The battery swapping station control device described below can be correspondingly referred to the battery swapping station control method described above.

[0093] This embodiment provides a battery swapping station control device, as Figure 3 shown, including:

[0094] A position setting module 301, configured to set the relative position between the first target position and the battery swapping trolley when the battery swapping trolley in the battery swapping station needs to horizontally move along the battery swapping track to the first target position. The battery swapping trolley is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base;

[0095] A motor control module 302, configured to control the first servo motor in the battery swapping trolley to drive the battery swapping trolley to move along the battery swapping track based on the set relative position;

[0096] A distance obtaining module 303, configured to obtain the moving distance based on the encoder of the first servo motor during the process of the battery swapping trolley moving to the first target position;

[0097] A compensation determination module 304, configured to determine that the battery swapping trolley needs to perform position compensation if the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, where the first actual distance is the actual moving distance of the battery swapping trolley;

[0098] The position setting module 301 is further configured to reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping vehicle.

[0099] The motor control module 302 is further configured to continue to control the first servo motor to drive the battery swapping vehicle to move along the battery swapping track based on the reset relative position.

[0100] In an exemplary embodiment, the distance obtaining module is further configured to measure the distance to the first marker on the battery swapping track through the first distance measuring sensor disposed on the battery swapping vehicle to obtain a first measured distance; and obtain the first actual distance based on the change amount of the first measured distance.

[0101] In an exemplary embodiment, the position setting module 301 is specifically configured to:

[0102] Reset the relative position based on the difference between the moving distance and the first actual distance to perform position compensation on the battery swapping vehicle.

[0103] In an exemplary embodiment, the battery swapping station control device further includes:

[0104] A spreader control module, configured to control the lowering speed of the battery of the battery swapping vehicle based on a second actual distance measured by a second distance measuring sensor during the process of the battery swapping vehicle lowering the battery to the second base through the spreader, where the second actual distance is the actual distance between the battery swapping vehicle and the spreader.

[0105] In an exemplary embodiment, the spreader control module is specifically configured to:

[0106] When the battery swapping vehicle starts to lower the battery through the spreader, control the battery swapping vehicle to lower the battery with a reference lowering speed as the target;

[0107] When the second actual distance indicates that the battery reaches the height of the first guide post of the second base, control the battery swapping vehicle to lower the battery at a first lowering speed, where the first lowering speed is the product of the second actual distance and a first preset coefficient;

[0108] When the second actual distance indicates that the battery reaches the height of the second guide post of the second base, control the battery swapping vehicle to lower the battery at a second lowering speed, where the second lowering speed is the product of the second actual distance and a second preset coefficient, and the height of the second guide post is less than the height of the first guide post;

[0109] When the second actual distance represents the height of the battery reaching the connector of the second base, control the battery swapping trolley to lower the battery at a third lowering speed, where the third lowering speed is determined based on the magnitude relationship between a fourth lowering speed and a preset minimum speed, the fourth lowering speed is the product of the second actual distance and a third preset coefficient, and the height of the connector is less than the height of the second guiding column.

[0110] In an exemplary embodiment, the spreader control module is further configured to, when the locking hook for locking the battery on the first base is in an unlocked state, if the output torque of the driving mechanism of the spreader in the battery swapping trolley is greater than or equal to the lifting torque of the battery and less than a preset torque, control the driving mechanism to drive the spreader to lift the battery;

[0111] If the output torque of the driving mechanism is greater than or equal to the preset torque, control the driving mechanism to stop outputting torque.

[0112] In an exemplary embodiment, the spreader control module is further configured to control the output torque of the driving mechanism with the preset maximum driving current of the driving mechanism as a limit.

[0113] The battery swapping station control system provided by the present invention will be described below. The battery swapping station control system described below can be correspondingly referred to the battery swapping station control method described above.

[0114] This embodiment provides a battery swapping station control system, including:

[0115] A battery swapping trolley in the battery swapping station, configured to lift the battery on the first base and horizontally move it above the second base and then lower it to the second base;

[0116] A controller, configured to, when the battery swapping trolley needs to horizontally move along the battery swapping track to a first target position, set the relative position between the first target position and the battery swapping trolley, and based on the set relative position, control the first servo motor in the battery swapping trolley to drive the battery swapping trolley to move along the battery swapping track; during the process of the battery swapping trolley moving to the first target position, obtain the moving distance based on the encoder of the first servo motor; if the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, determine that the battery swapping trolley needs to perform position compensation, where the first actual distance is the actual moving distance of the battery swapping trolley; reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping trolley; and based on the reset relative position, continue to control the first servo motor to drive the battery swapping trolley to move along the battery swapping track.

[0117] Among them, a first marker with a fixed position is set on the battery swapping track, and a first distance measuring sensor is set on the battery swapping trolley. The first distance measuring sensor is used to measure the distance to the first marker, obtain a first measured distance, and based on the change amount of the first measured distance, obtain the first actual distance.

[0118] For the specific implementation manner of the controller, reference can be made to the embodiments of the above battery swapping station control method, which will not be elaborated here.

[0119] In an exemplary embodiment, the battery swapping trolley may further include: a second servo motor for driving the spreader.

[0120] In an exemplary embodiment, a second marker with a fixed position is set on the side of the spreader close to the battery swapping trolley, and the battery swapping trolley may further include: a second distance measuring sensor for measuring the distance to the second marker.

[0121] This embodiment also provides a battery swapping station, including the battery swapping station control system provided in any of the above embodiments.

[0122] Figure 4 An exemplary physical structure diagram of an electronic device is shown as Figure 4 shown. The electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440. Among them, the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call the logical instructions in the memory 430 to execute the battery swapping station control method, and the method includes:

[0123] When the battery swapping trolley in the battery swapping station needs to horizontally move along the battery swapping track to a first target position, set the relative position between the first target position and the battery swapping trolley. The battery swapping trolley is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base;

[0124] Based on the set relative position, control the first servo motor in the battery swapping trolley to drive the battery swapping trolley to move along the battery swapping track;

[0125] During the process of the battery swapping trolley moving to the first target position, obtain the moving distance based on the encoder of the first servo motor;

[0126] If the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, it is determined that the battery swapping trolley needs to perform position compensation, where the first actual distance is the actual moving distance of the battery swapping trolley;

[0127] Reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart;

[0128] Based on the reset relative position, continue to control the first servo motor to drive the battery swapping cart to move along the battery swapping track.

[0129] In addition, when the logical instructions in the above-mentioned memory 430 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a 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 several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0130] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the battery swapping station control method provided by the above-mentioned various methods. The method includes:

[0131] When the battery swapping cart in the battery swapping station needs to horizontally move along the battery swapping track to the first target position, set the relative position between the first target position and the battery swapping cart. The battery swapping cart is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base;

[0132] Based on the set relative position, control the first servo motor in the battery swapping cart to drive the battery swapping cart to move along the battery swapping track;

[0133] During the process of the battery swapping cart moving to the first target position, obtain the moving distance based on the encoder of the first servo motor;

[0134] If the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, determine that the battery swapping cart needs to perform position compensation, where the first actual distance is the actual moving distance of the battery swapping cart;

[0135] Reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart;

[0136] Based on the reset relative position, continue to control the first servo motor to drive the battery swapping cart to move along the battery swapping track.

[0137] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the battery swapping station control method provided above. The method includes:

[0138] When the battery swapping cart in the battery swapping station needs to horizontally move along the battery swapping track to a first target position, set the relative position between the first target position and the battery swapping cart. The battery swapping cart is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base;

[0139] Based on the set relative position, control the first servo motor in the battery swapping cart to drive the battery swapping cart to move along the battery swapping track;

[0140] During the process of the battery swapping cart moving to the first target position, obtain the moving distance based on the encoder of the first servo motor;

[0141] If the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, determine that the battery swapping cart needs to perform position compensation, where the first actual distance is the actual moving distance of the battery swapping cart;

[0142] Reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart;

[0143] Based on the reset relative position, continue to control the first servo motor to drive the battery swapping cart to move along the battery swapping track.

[0144] The device embodiments described above are merely illustrative. 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 may be located in one place or 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. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0145] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, 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 ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a battery swapping station, characterized in that Including: When the battery replacement trolley in the battery replacement station needs to horizontally move along the battery replacement track to the first target position, set the relative position between the first target position and the battery replacement trolley, where the battery replacement trolley is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base; Based on the set relative position, control the first servo motor in the battery replacement trolley to drive the battery replacement trolley to move along the battery replacement track; During the process of the battery replacement trolley moving to the first target position, obtain the moving distance based on the encoder of the first servo motor; If the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, determine that the battery replacement trolley needs position compensation, where the first actual distance is the actual distance that the battery replacement trolley moves; Based on the first actual distance and the moving distance, reset the relative position to perform position compensation on the battery replacement trolley; Based on the reset relative position, continue to control the first servo motor to drive the battery replacement trolley to move along the battery replacement track; The method further includes: During the process of the battery replacement trolley lowering the battery to the second base through the lifting device, control the lowering speed of the battery replacement trolley for the battery based on the second actual distance measured by the second distance measuring sensor, where the second actual distance is the actual distance between the battery replacement trolley and the lifting device; The controlling the lowering speed of the battery replacement trolley for the battery based on the second actual distance measured by the second distance measuring sensor includes: When the battery replacement trolley starts to lower the battery through the lifting device, control the battery replacement trolley to lower the battery with the reference lowering speed as the target; When the second actual distance indicates that the battery reaches the height of the first guiding post of the second base, control the battery replacement trolley to lower the battery at the first lowering speed, where the first lowering speed is the product of the second actual distance and the first preset coefficient; When the second actual distance indicates that the battery reaches the height of the second guiding post of the second base, control the battery replacement trolley to lower the battery at the second lowering speed, where the second lowering speed is the product of the second actual distance and the second preset coefficient, and the height of the second guiding post is less than the height of the first guiding post; When the second actual distance indicates that the battery reaches the height of the connector of the second base, control the battery replacement trolley to lower the battery at the third lowering speed, where the third lowering speed is determined based on the magnitude relationship between the fourth lowering speed and the preset minimum speed, the fourth lowering speed is the product of the second actual distance and the third preset coefficient, and the height of the connector is less than the height of the second guiding post.

2. The control method of the battery swapping station according to claim 1, wherein Further including: Measure the distance to the first marker on the battery replacement track through the first distance measuring sensor provided on the battery replacement trolley to obtain the first measured distance; Based on the change amount of the first measured distance, obtain the first actual distance.

3. The control method of the battery swapping station according to claim 2, wherein The resetting the relative position based on the first actual distance and the moving distance to perform position compensation on the battery replacement trolley includes: Reset the relative position based on the difference between the moving distance and the first actual distance to perform position compensation on the battery swapping cart.

4. The battery swapping station control method according to any one of claims 1 to 3, characterized in that, The first base is an on-vehicle base of an electric vehicle, and the battery swapping station control method further includes: When the hook for locking the battery on the first base is in an unlocked state, if the output torque of the driving mechanism of the spreader in the battery swapping cart is greater than or equal to the lifting torque of the battery and less than a preset torque, control the driving mechanism to drive the spreader to lift the battery; If the output torque of the driving mechanism is greater than or equal to the preset torque, control the driving mechanism to stop outputting torque.

5. The swapping station control method according to claim 4, characterized in that, It further includes: Control the output torque of the driving mechanism with the preset maximum driving current of the driving mechanism as a limit.

6. A swapping station control device for implementing the swapping station control method according to claim 1, characterized in that, It includes: A position setting module, configured to set the relative position between the first target position and the battery swapping cart when the battery swapping cart in the battery swapping station needs to horizontally move along the battery swapping track to the first target position. The battery swapping cart is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base; A motor control module, configured to control the first servo motor in the battery swapping cart to drive the battery swapping cart to move along the battery swapping track based on the set relative position; A distance obtaining module, configured to obtain the moving distance based on the encoder of the first servo motor during the process of the battery swapping cart moving to the first target position; A compensation determination module, configured to determine that the battery swapping cart needs to perform position compensation if the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, where the first actual distance is the actual moving distance of the battery swapping cart; The position setting module is further configured to reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart; The motor control module is further configured to continue to control the first servo motor to drive the battery swapping cart to move along the battery swapping track based on the reset relative position.

7. A swapping station control system for implementing the swapping station control method according to claim 1, characterized in that, It includes: The battery swapping cart in the battery swapping station, which is used to lift the battery of the first base and horizontally move it above the second base and then lower it to the second base; A controller, configured to set the relative position between the first target position and the battery swapping cart when the battery swapping cart needs to horizontally move along the battery swapping track to the first target position, and control the first servo motor in the battery swapping cart to drive the battery swapping cart to move along the battery swapping track based on the set relative position; During the process of the battery swapping cart moving to the first target position, obtain the moving distance based on the encoder of the first servo motor; if the moving distance is inconsistent with the first actual distance obtained based on the first distance measuring sensor, determine that the battery swapping cart needs to perform position compensation, where the first actual distance is the actual moving distance of the battery swapping cart; reset the relative position based on the first actual distance and the moving distance to perform position compensation on the battery swapping cart; continue to control the first servo motor to drive the battery swapping cart to move along the battery swapping track based on the reset relative position.

8. A battery swapping station, characterized in that, Comprising a power exchange station control system as described in claim 7.

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