Battery replacement action monitoring method and device of battery replacement equipment, storage medium and battery replacement station

Abstract

The invention relates to a battery replacing action monitoring method of battery replacing equipment, a battery replacing action monitoring device of the battery replacing equipment, a storage medium and a battery replacing station. The battery replacement action monitoring method of the battery replacement equipment comprises the steps that motor torque data generated when the battery replacement equipment executes the battery replacement action on a battery replacement battery of a vehicle to be subjected to battery replacement are obtained; performing data processing on motor torque data generated when the same target battery replacement action is executed for multiple times to obtain an alarm threshold range; determining the action state of the target battery replacement action based on motor torque data generated when the target battery replacement action is executed for multiple times and the alarm threshold range; wherein the action state comprises a normal action state or an abnormal action state, so that the real-time monitoring of the battery replacement action in the battery replacement process of the battery replacement equipment is facilitated, the abnormal condition of the battery replacement action is found, and the timely inspection and correction are performed, thereby improving the battery replacement success rate.

Description

Technical Field

[0001] The present disclosure relates to the technical field of new energy vehicles, and in particular to a method for monitoring a battery swapping action of a battery swapping device, a device for monitoring a battery swapping action of a battery swapping device, a storage medium, and a battery swapping station. Background Art

[0002] With the rapid development of new energy vehicles, there are more and more charging and battery swapping stations for electric vehicles. Charging and battery swapping stations are energy stations that provide charging and rapid battery replacement for electric vehicles. In order to continue driving, electric vehicles require their electric energy to be replenished. To this end, charging and battery swapping stations provide charging and battery swapping services for electric vehicles. When a battery swapping station replaces batteries for battery swapping vehicles, it is generally necessary for battery swapping equipment to disassemble or install the battery swapping batteries. During the specific operation process, if the battery swapping action of the battery swapping equipment is abnormal, it will easily cause the battery swapping to fail. Therefore, the battery swapping action of the battery swapping equipment needs to be monitored during the battery swapping process. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure hope to provide a method for monitoring the battery swapping action of a battery swapping device, a device for monitoring the battery swapping action of a battery swapping device, a storage medium and a battery swapping station.

[0004] The technical solution of the present disclosure is achieved as follows:

[0005] In a first aspect, the present disclosure provides a method for monitoring the battery swapping action of a battery swapping device.

[0006] The method for monitoring the battery swapping action of a battery swapping device provided in an embodiment of the present disclosure includes:

[0007] Obtain the motor torque data generated when the battery swapping device performs a battery swapping operation on the battery swapping vehicle;

[0008] The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range;

[0009] Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range, the action state of the target battery swapping action is determined; wherein the action state includes a normal action state or an abnormal action state.

[0010] In some embodiments, the motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected at multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action;

[0011] The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range, including:

[0012] The motor torque data collected at the same collection point when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point.

[0013] In some embodiments, the determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range includes:

[0014] Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range corresponding to each of the acquisition points, determine the action state corresponding to each of the acquisition points when the target battery swapping action is executed;

[0015] Based on the action states corresponding to each collection point when the target battery swapping action is executed, the action state of the target battery swapping action is determined.

[0016] In some embodiments, determining the action state of the target battery swapping action based on the action states corresponding to the respective collection points when the target battery swapping action is executed includes:

[0017] If, in the action states corresponding to the respective collection points when the target battery swapping action is executed for the nth time, the proportion of collection points in the action abnormal state in all collection points when the target battery swapping action is executed for the nth time exceeds a predetermined value, then the action state when the target battery swapping action is executed for the nth time is determined to be the action abnormal state; wherein n≥1.

[0018] In some embodiments, the motor torque data collected at the same collection point when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point, including:

[0019] The motor torque data collected at the i-th collection point when the same target battery replacement action is performed multiple times is processed by the quartile method to obtain the alarm threshold range corresponding to the i-th collection point; wherein the quartile method data processing includes:

[0020] Determine three quartiles and an interquartile range IQR from the motor torque data collected at all i-th collection points during multiple executions; wherein the three quartiles are respectively a lower quartile Q1, a middle quartile Q2, and an upper quartile Q3;

[0021] Based on the three quartiles and the interquartile range IQR, the maximum value max_i and the minimum value min_i corresponding to the i-th collection point during multiple executions are determined; wherein the maximum value max_i=Q3+1.5*IQR, the minimum value min_i=Q1-1.5*IQR, so as to obtain the alarm threshold range corresponding to each collection point.

[0022] In some embodiments, based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range corresponding to each collection point, determining the action state corresponding to each collection point when the target battery swapping action is executed includes:

[0023] If the motor torque data collected at the i-th collection point when the n-th target battery swapping action is executed is not within the alarm threshold range, then the action state corresponding to the i-th collection point when the n-th target battery swapping action is executed is determined to be an abnormal action state; wherein, n≥1, i≥1.

[0024] In some embodiments, the motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected at multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action;

[0025] The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range, including:

[0026] The motor torque data collected in the same collection interval when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection interval; wherein, one collection interval contains multiple collection points, and the number of collection points contained in different collection intervals is the same.

[0027] In some embodiments, the determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range includes:

[0028] Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold ranges corresponding to the respective acquisition intervals, determine the action states corresponding to the respective acquisition intervals when the target battery swapping action is executed;

[0029] Based on the action states corresponding to each collection interval, the action state of the target battery replacement action is determined.

[0030] In a second aspect, the present disclosure provides a battery swapping action monitoring device for a battery swapping device, comprising:

[0031] A data acquisition module is used to obtain the motor torque data generated when the battery swapping device performs a battery swapping operation on the battery swapping battery of the vehicle to be swapped;

[0032] A data processing module is used to process the motor torque data generated when the same target battery replacement action is performed multiple times to obtain an alarm threshold range;

[0033] A state determination module is used to determine the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range; wherein the action state includes a normal action state or an abnormal action state.

[0034] In a third aspect, the present disclosure provides a computer-readable storage medium on which a battery swapping action monitoring program of a battery swapping device is stored. When the battery swapping action monitoring program of the battery swapping device is executed by a processor, the battery swapping action monitoring method of the battery swapping device described in the first aspect above is implemented.

[0035] In a fourth aspect, the present disclosure provides a battery swap station, comprising a memory, a processor, and a battery swap action monitoring program for a battery swap equipment stored in the memory and executable on the processor, wherein when the processor executes the battery swap action monitoring program for the battery swap equipment, the battery swap action monitoring method for the battery swap equipment described in the first aspect above is implemented.

[0036] According to the battery swapping action monitoring method of the battery swapping equipment of the embodiment of the present disclosure, the method includes obtaining the motor torque data generated when the battery swapping equipment performs the battery swapping action on the battery swapping battery of the vehicle to be battery swapped; processing the motor torque data generated when the same target battery swapping action is performed multiple times to obtain an alarm threshold range; determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is performed multiple times, and the alarm threshold range; wherein the action state includes a normal action state or an abnormal action state. In the present application, by processing the motor torque data generated when the same target battery swapping action is performed multiple times to obtain an alarm threshold range; determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is performed multiple times, and the alarm threshold range, it is beneficial to perform real-time monitoring of the battery swapping action during the battery swapping process of the battery swapping equipment, and to detect abnormal battery swapping actions, and to conduct timely inspections and corrections, thereby improving the success rate of battery swapping.

[0037] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flow chart of a method for monitoring a battery swapping action of a battery swapping device according to an exemplary embodiment;

[0039] Figure 2 It is a schematic diagram of the structure of a battery swapping action monitoring device for a battery swapping device according to an exemplary embodiment. DETAILED DESCRIPTION

[0040] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0041] With the rapid development of new energy vehicles, there are more and more charging and battery swapping stations for electric vehicles. Charging and battery swapping stations are energy stations that provide charging and rapid battery replacement for electric vehicles. In order to continue driving, electric vehicles require their electric energy to be replenished. To this end, charging and battery swapping stations provide charging and battery swapping services for electric vehicles. When a battery swapping station replaces batteries for battery swapping vehicles, it is generally necessary for battery swapping equipment to disassemble or install the battery swapping batteries. During the specific operation process, if the battery swapping action of the battery swapping equipment is abnormal, it will easily cause the battery swapping to fail. Therefore, the battery swapping action of the battery swapping equipment needs to be monitored during the battery swapping process.

[0042] In view of the above situation, the present disclosure provides a method for monitoring the battery swapping action of a battery swapping device. Figure 1 FIG. 1 is a flow chart of a method for monitoring a battery swapping operation of a battery swapping device according to an exemplary embodiment. Figure 1 As shown, the battery swapping action monitoring method of the battery swapping device includes:

[0043] Step 10: Obtain the motor torque data generated when the battery swapping device performs a battery swapping operation on the battery swapping battery of the vehicle to be swapped;

[0044] Step 11: Process the motor torque data generated when the same target battery replacement action is performed multiple times to obtain an alarm threshold range;

[0045] Step 12: Based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range, determine the action state of the target battery swapping action; wherein the action state includes a normal action state or an abnormal action state.

[0046] In an exemplary embodiment, the battery swapping actions that can be performed by the battery swapping equipment include the action of taking out the battery in the vehicle to be swapped, the action of taking out the battery swapping battery in the charging compartment, the action of placing the battery in the vehicle to be swapped, the action of placing the battery swapping battery in the charging compartment, the action of returning to the standby position without load, the action of returning the left front wheel to the center clamping position, the action of returning the right front wheel to the center clamping position, the action of the stacker walking, the action of the stacker lifting, and so on. Among them, the corresponding motor torque data will be collected during the execution of each action, and the above-mentioned battery swapping action will be included in each battery swapping process. Among them, the above-mentioned battery swapping actions are only examples, and other actions are also included in addition to this, which will not be cited one by one here. The multiple executions of the target battery swapping action can be understood as including the same target battery swapping action in multiple battery swaps, and the collected motor torque data is the motor torque data during the execution of the same target battery swapping action in multiple battery swaps.

[0047] According to the battery swapping action monitoring method of the battery swapping equipment of the embodiment of the present disclosure, it includes obtaining the motor torque data generated by the battery swapping equipment when performing the battery swapping action on the battery swapping battery of the vehicle to be battery swapped; processing the motor torque data generated when the same target battery swapping action is performed multiple times to obtain an alarm threshold range; determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is performed multiple times, and the alarm threshold range; wherein the action state includes a normal action state or an abnormal action state. In the present application, by processing the motor torque data generated when the same target battery swapping action is performed multiple times to obtain an alarm threshold range; determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is performed multiple times, and the alarm threshold range, it is beneficial to perform real-time monitoring of the battery swapping action during the battery swapping process of the battery swapping equipment, discover abnormal battery swapping actions, and perform timely inspections and corrections, thereby improving the success rate of battery swapping.

[0048] In some embodiments, the motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected at multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action;

[0049] The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range, including:

[0050] The motor torque data collected at the same collection point when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point.

[0051] In an exemplary embodiment, the starting collection point and the ending collection point of the motor torque data in the same target battery swapping action execution process correspond respectively. That is, the duration T of the target battery swapping action execution process contains multiple collection points. The number of collection points in each execution process is the same when multiple executions are performed, and the starting collection point and the ending collection point in each execution process correspond respectively when multiple executions are performed. In this way, the motor torque data collected during multiple executions correspond respectively. For example, when the first execution is performed, the number of collection points is 199, then when the second execution is performed, the number of collection points is also 199, and when the nth execution is performed, the number of collection points is also 199, and the starting collection point of the first execution corresponds to the starting collection point of the nth execution, and the ending collection point of the first execution corresponds to the ending collection point of the nth execution.

[0052] In an exemplary embodiment, each predetermined time interval may be 200ms, that is, when an action is executed to collect motor torque data, the motor torque data is collected every 200ms. For example, the stacker lifting action requires T1 time to execute, and each time the stacker lifting action is executed during power replacement, m collection points are collected within T1 time, thereby obtaining the motor torque data of n executions.

[0053]

[0054] In an exemplary embodiment, the motor torque data collected at the same collection point when the target battery swapping action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point. For example, the motor torque data collected at the T001 collection point when the target battery swapping action is performed multiple times is processed to obtain the alarm threshold range corresponding to the T001 collection point. The motor torque data collected at the T002 collection point when the target battery swapping action is performed multiple times is processed to obtain the alarm threshold range corresponding to the T002 collection point.

[0055] In some embodiments, the determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range includes:

[0056] Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range corresponding to each of the acquisition points, determine the action state corresponding to each of the acquisition points when the target battery swapping action is executed;

[0057] Based on the action states corresponding to each collection point when the target battery swapping action is executed, the action state of the target battery swapping action is determined.

[0058] In an exemplary embodiment, the determining the action state of the target battery swapping action based on the action states corresponding to the respective collection points includes:

[0059] If the proportion of abnormal action states in the action states corresponding to each collection point exceeds a predetermined value, the action state of the target battery replacement action is determined to be an abnormal action state.

[0060] In an exemplary embodiment, when the i-th target battery swapping action is executed, a total of m collection points collect data. If the number of collection points with abnormal action status is k among the m collection points, k / m is compared with a predetermined value. If k / m exceeds the predetermined value, the action status of the i-th target battery swapping action is determined to be an abnormal action status. For example, it is determined that the action status of the stacker lifting action is abnormal. At this time, it is necessary to check the battery swapping equipment stacker to determine whether the stacker itself has a fault or the abnormal action status of the stacker lifting action is caused by other factors.

[0061] In some embodiments, determining the action state of the target battery swapping action based on the action states corresponding to the respective collection points when the target battery swapping action is executed includes:

[0062] If, in the action states corresponding to the respective collection points when the target battery swapping action is executed for the nth time, the proportion of collection points in the action abnormal state in all collection points when the target battery swapping action is executed for the nth time exceeds a predetermined value, then the action state when the target battery swapping action is executed for the nth time is determined to be the action abnormal state; wherein n≥1.

[0063] In an exemplary embodiment, when the target battery swapping action is executed multiple times and the action state during at least one execution is an abnormal action state, it is necessary to check the action state of the battery swapping equipment to determine whether the abnormal battery swapping action state is caused by a failure of the battery swapping equipment or other reasons, so as to conduct timely inspection and correction, thereby improving the success rate of battery swapping.

[0064] In some embodiments, the motor torque data collected at the same collection point when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point, including:

[0065] The motor torque data collected at the i-th collection point when the same target battery replacement action is performed multiple times is processed by the quartile method to obtain the alarm threshold range corresponding to the i-th collection point; wherein the quartile method data processing includes:

[0066] Determine three quartiles and an interquartile range IQR from the motor torque data collected at all i-th collection points during multiple executions; wherein the three quartiles are respectively a lower quartile Q1, a middle quartile Q2, and an upper quartile Q3;

[0067] Based on the three quartiles and the interquartile range IQR, the maximum value max_i and the minimum value min_i corresponding to the i-th collection point during multiple executions are determined; wherein the maximum value max_i=Q3+1.5*IQR, the minimum value min_i=Q1-1.5*IQR, so as to obtain the alarm threshold range corresponding to each collection point.

[0068] In an exemplary embodiment, the alarm threshold range can be determined by the quartile method. For example, a column of data is n motor torque data collected at the first collection point when the stacker lift action is performed n times. In this column of n data, three quartiles are determined according to the order of repeated execution of the action, namely the lower quartile Q1, the middle quartile Q2, the upper quartile Q3, and the quartile difference IQR. Among them, the quartile difference IQR = Q3-Q1. Then, according to the maximum value max_i = Q3+1.5*IQR and the minimum value min_i = Q1-1.5*IQR, the alarm threshold range corresponding to the first collection point is determined. In this way, the alarm threshold range corresponding to each collection point when the action is performed n times can be obtained.

[0069] In some embodiments, based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range corresponding to each collection point, determining the action state corresponding to each collection point when the target battery swapping action is executed includes:

[0070] If the motor torque data collected at the i-th collection point when the n-th target battery swapping action is executed is not within the alarm threshold range, then the action state corresponding to the i-th collection point when the n-th target battery swapping action is executed is determined to be an abnormal action state; wherein, n≥1, i≥1.

[0071] In an exemplary embodiment, after obtaining the alarm threshold range when n actions are executed corresponding to each collection point, it can be determined by the alarm threshold range whether the action state corresponding to each collection point when n target battery replacement actions are executed is an abnormal action state.

[0072] In some embodiments, the motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected at multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action;

[0073] The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range, including:

[0074] The motor torque data collected in the same collection interval when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection interval; wherein, one collection interval contains multiple collection points, and the number of collection points contained in different collection intervals is the same.

[0075] In an exemplary embodiment, in order to take into account the scope of the alarm and reduce the volatility of a single point, the alarm threshold may be determined according to the interval. For example, 5 points every 1 second are used as a collection interval to set the alarm threshold. For example, if a total of 199 points of data are collected in one action execution, then every 5 points are averaged in sequence as the collected data of a collection interval, thereby obtaining the collected data of 40 collection intervals. Among them, when there are less than 5 collection points at the end, the data of the last 4 collection points can be averaged as the collected data of the last collection interval. In this way, the alarm threshold range corresponding to each collection interval when the action is executed n times is obtained.

[0076] In some embodiments, the determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range includes:

[0077] Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold ranges corresponding to the respective acquisition intervals, determine the action states corresponding to the respective acquisition intervals when the target battery swapping action is executed;

[0078] Based on the action states corresponding to each collection interval when the target battery swapping action is performed multiple times, the action state of the target battery swapping action is determined.

[0079] In an exemplary embodiment, after obtaining the alarm threshold range corresponding to each collection interval when the target battery swapping action is executed for n times, the action state corresponding to each collection interval when the target battery swapping action is executed for n times can be determined according to the alarm threshold range corresponding to each collection interval. Secondly, the action state of the nth target battery swapping action is determined according to the action state corresponding to each collection interval when the target battery swapping action is executed for the nth time. Then, according to the action state of each time when the target battery swapping action is executed multiple times, it is determined whether the battery swapping equipment has a fault, or whether there are other reasons causing the abnormal state of the battery swapping action. Among them, the method for determining the alarm threshold range corresponding to each collection interval is the same as the method for determining the alarm threshold range corresponding to each collection point in the above embodiment. The method for determining the action state corresponding to each collection interval is the same as the method for determining the action state corresponding to each collection point in the above embodiment. At the same time, the method for determining the action state of the nth target battery swapping action based on the judgment of the collection area is the same as the method for determining the action state of the nth target battery swapping action based on the judgment of the collection point in the above embodiment. It will not be repeated here one by one. That is, the collected data corresponding to each collection point in the above method is equivalent to the data average value corresponding to each collection interval.

[0080] The present disclosure provides a battery swapping action monitoring device for a battery swapping device. Figure 2 FIG. 1 is a schematic diagram of a battery swapping action monitoring device for a battery swapping device according to an exemplary embodiment. Figure 2 As shown, the battery swapping action monitoring device of the battery swapping equipment includes:

[0081] The data acquisition module 20 is used to acquire the motor torque data generated when the battery swapping device performs a battery swapping operation on the battery swapping battery of the vehicle to be swapped;

[0082] The data processing module 21 is used to process the motor torque data generated when the same target battery replacement action is performed multiple times to obtain the alarm threshold range;

[0083] The state determination module 22 is used to determine the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range; wherein the action state includes a normal action state or an abnormal action state.

[0084] In an exemplary embodiment, the battery swapping actions that can be performed by the battery swapping equipment include taking out the battery in the vehicle to be swapped, taking out the battery swapping battery in the charging compartment, placing the battery in the vehicle to be swapped, placing the battery swapping battery in the charging compartment, returning to the standby position without load, returning the left front wheel to the center clamping position, returning the right front wheel to the center clamping position, stacker walking action, stacker lifting action, etc. Among them, the corresponding motor torque data will be collected during the execution of each action, and the above-mentioned battery swapping action will be included in each battery swapping process. Among them, the above-mentioned battery swapping actions are only examples, and other actions are also included in addition to this, which will not be cited one by one here. The multiple executions of the target battery swapping action can be understood as including the same target battery swapping action in multiple battery swaps, and the collected motor torque data is the motor torque data during the execution of the same target battery swapping action in multiple battery swaps.

[0085] The battery swapping action monitoring device of the battery swapping device according to the embodiment of the present disclosure is used to obtain the motor torque data generated when the battery swapping device performs a battery swapping action on the battery swapping battery of the vehicle to be battery swapped; the motor torque data generated when the same target battery swapping action is performed multiple times is processed to obtain an alarm threshold range; based on the motor torque data generated when the target battery swapping action is performed multiple times, and the alarm threshold range, the action state of the target battery swapping action is determined; wherein the action state includes a normal action state or an abnormal action state. In the present application, by processing the motor torque data generated when the same target battery swapping action is performed multiple times, an alarm threshold range is obtained; based on the motor torque data generated when the target battery swapping action is performed multiple times, and the alarm threshold range, the action state of the target battery swapping action is determined, which is conducive to real-time monitoring of the battery swapping action during the battery swapping process of the battery swapping device, and timely inspection and correction when abnormal battery swapping actions are discovered, thereby improving the success rate of battery swapping.

[0086] In some embodiments, the motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected at multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action;

[0087] The data processing module 21 is used to

[0088] The motor torque data collected at the same collection point when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point.

[0089] In an exemplary embodiment, the starting collection point and the ending collection point of the motor torque data in the same target battery swapping action execution process correspond respectively. That is, the duration T of the target battery swapping action execution process contains multiple collection points. The number of collection points in each execution process is the same when multiple executions are performed, and the starting collection point and the ending collection point in each execution process correspond respectively when multiple executions are performed. In this way, the motor torque data collected during multiple executions correspond respectively. For example, when the first execution is performed, the number of collection points is 199, then when the second execution is performed, the number of collection points is also 199, and when the nth execution is performed, the number of collection points is also 199, and the starting collection point of the first execution corresponds to the starting collection point of the nth execution, and the ending collection point of the first execution corresponds to the ending collection point of the nth execution.

[0090] In an exemplary embodiment, each predetermined time interval may be 200ms, that is, when an action is executed to collect motor torque data, the motor torque data is collected every 200ms. For example, the stacker lifting action requires T1 time to execute, and each time the stacker lifting action is executed during power replacement, m collection points are collected within T1 time, thereby obtaining the motor torque data of n executions.

[0091]

[0092] In an exemplary embodiment, the motor torque data collected at the same collection point when the target battery swapping action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point. For example, the motor torque data collected at the T001 collection point when the target battery swapping action is performed multiple times is processed to obtain the alarm threshold range corresponding to the T001 collection point. The motor torque data collected at the T002 collection point when the target battery swapping action is performed multiple times is processed to obtain the alarm threshold range corresponding to the T002 collection point.

[0093] In some embodiments, the state determination module 22 is used to

[0094] Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range corresponding to each of the acquisition points, determine the action state corresponding to each of the acquisition points when the target battery swapping action is executed;

[0095] Based on the action states corresponding to each collection point when the target battery swapping action is executed, the action state of the target battery swapping action is determined.

[0096] In an exemplary embodiment, the determining the action state of the target battery swapping action based on the action states corresponding to the respective collection points includes:

[0097] If the proportion of abnormal action states in the action states corresponding to each collection point exceeds a predetermined value, the action state of the target battery replacement action is determined to be an abnormal action state.

[0098] In an exemplary embodiment, when the i-th target battery swapping action is executed, a total of m collection points collect data. If the number of collection points with abnormal action status is k among the m collection points, k / m is compared with a predetermined value. If k / m exceeds the predetermined value, the action status of the i-th target battery swapping action is determined to be an abnormal action status. For example, it is determined that the action status of the stacker lifting action is abnormal. At this time, it is necessary to check the battery swapping equipment stacker to determine whether the stacker itself has a fault or the abnormal action status of the stacker lifting action is caused by other factors.

[0099] In some embodiments, the state determination module 22 is used to

[0100] If, in the action states corresponding to the respective collection points when the target battery swapping action is executed for the nth time, the proportion of collection points in the action abnormal state in all collection points when the target battery swapping action is executed for the nth time exceeds a predetermined value, then the action state when the target battery swapping action is executed for the nth time is determined to be the action abnormal state; wherein n≥1.

[0101] In an exemplary embodiment, when the target battery swapping action is executed multiple times and the action state during at least one execution is an abnormal action state, it is necessary to check the action state of the battery swapping equipment to determine whether the abnormal battery swapping action state is caused by a failure of the battery swapping equipment or other reasons, so as to conduct timely inspection and correction, thereby improving the success rate of battery swapping.

[0102] In some embodiments, the data processing module 21 is used to

[0103] The motor torque data collected at the i-th collection point when the same target battery replacement action is performed multiple times is processed by the quartile method to obtain the alarm threshold range corresponding to the i-th collection point; wherein the quartile method data processing includes:

[0104] Determine three quartiles and an interquartile range IQR from the motor torque data collected at all i-th collection points during multiple executions; wherein the three quartiles are respectively a lower quartile Q1, a middle quartile Q2, and an upper quartile Q3;

[0105] Based on the three quartiles and the interquartile range IQR, the maximum value max_i and the minimum value min_i corresponding to the i-th collection point during multiple executions are determined; wherein the maximum value max_i=Q3+1.5*IQR, the minimum value min_i=Q1-1.5*IQR, so as to obtain the alarm threshold range corresponding to each collection point.

[0106] In an exemplary embodiment, the alarm threshold range can be determined by the quartile method. For example, a column of data is n motor torque data collected at the first collection point when the stacker lift action is performed n times. In this column of n data, three quartiles are determined according to the order of repeated execution of the action, namely the lower quartile Q1, the middle quartile Q2, the upper quartile Q3, and the quartile difference IQR. Among them, the quartile difference IQR = Q3-Q1. Then, according to the maximum value max_i = Q3+1.5*IQR and the minimum value min_i = Q1-1.5*IQR, the alarm threshold range corresponding to the first collection point is determined. In this way, the alarm threshold range corresponding to each collection point when the action is performed n times can be obtained.

[0107] In some embodiments, the state determination module 22 is used to

[0108] If the motor torque data collected at the i-th collection point when the n-th target battery swapping action is executed is not within the alarm threshold range, then the action state corresponding to the i-th collection point when the n-th target battery swapping action is executed is determined to be an abnormal action state; wherein, n≥1, i≥1.

[0109] In an exemplary embodiment, after obtaining the alarm threshold range when n actions are executed corresponding to each collection point, it can be determined by the alarm threshold range whether the action state corresponding to each collection point when n target battery replacement actions are executed is an abnormal action state.

[0110] In some embodiments, the motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected at multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action;

[0111] The data processing module 21 is used to

[0112] The motor torque data collected in the same collection interval when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection interval; wherein, one collection interval contains multiple collection points, and the number of collection points contained in different collection intervals is the same.

[0113] In an exemplary embodiment, in order to take into account the scope of the alarm and reduce the volatility of a single point, the alarm threshold may be determined according to the interval. For example, 5 points every 1 second are used as a collection interval to set the alarm threshold. For example, if a total of 199 points of data are collected in one action execution, then every 5 points are averaged in sequence as the collected data of a collection interval, thereby obtaining the collected data of 40 collection intervals. Among them, when there are less than 5 collection points at the end, the data of the last 4 collection points can be averaged as the collected data of the last collection interval. In this way, the alarm threshold range corresponding to each collection interval when the action is executed n times is obtained.

[0114] In some embodiments, the state determination module 22 is used to

[0115] Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold ranges corresponding to the respective acquisition intervals, determine the action states corresponding to the respective acquisition intervals when the target battery swapping action is executed;

[0116] Based on the action states corresponding to each collection interval when the target battery swapping action is performed multiple times, the action state of the target battery swapping action is determined.

[0117] In an exemplary embodiment, after obtaining the alarm threshold range corresponding to each collection interval when the target battery swapping action is executed for n times, the action state corresponding to each collection interval when the target battery swapping action is executed for n times can be determined according to the alarm threshold range corresponding to each collection interval. Secondly, the action state of the nth target battery swapping action is determined according to the action state corresponding to each collection interval when the target battery swapping action is executed for the nth time. Then, according to the action state of each time when the target battery swapping action is executed multiple times, it is determined whether the battery swapping equipment has a fault, or whether there are other reasons causing the abnormal state of the battery swapping action. Among them, the method for determining the alarm threshold range corresponding to each collection interval is the same as the method for determining the alarm threshold range corresponding to each collection point in the above embodiment. The method for determining the action state corresponding to each collection interval is the same as the method for determining the action state corresponding to each collection point in the above embodiment. At the same time, the method for determining the action state of the nth target battery swapping action based on the judgment of the collection area is the same as the method for determining the action state of the nth target battery swapping action based on the judgment of the collection point in the above embodiment. It will not be repeated here one by one. That is, the collected data corresponding to each collection point in the above method is equivalent to the data average value corresponding to each collection interval.

[0118] The present disclosure provides a computer-readable storage medium, on which a battery swapping action monitoring program of a battery swapping device is stored. When the battery swapping action monitoring program of the battery swapping device is executed by a processor, the battery swapping action monitoring method of the battery swapping device described in the above embodiments is implemented.

[0119] The present disclosure provides a battery swap station, including a memory, a processor, and a battery swap action monitoring program for a battery swap device stored in the memory and executable on the processor. When the processor executes the battery swap action monitoring program for the battery swap device, the battery swap action monitoring method for the battery swap device described in the above-mentioned embodiments is implemented.

[0120] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0121] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0122] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0123] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0124] In addition, the terms "first", "second", etc. used in the embodiments of the present disclosure are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present disclosure may explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present disclosure, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0125] In the present disclosure, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific implementation situation.

[0126] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0127] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A method for monitoring the battery swapping action of a battery swapping device, characterized in that: include: Obtain the motor torque data generated when the battery swapping device performs a battery swapping operation on the battery swapping vehicle; The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range; Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range, the action state of the target battery swapping action is determined; wherein the action state includes a normal action state or an abnormal action state.

2. The method for monitoring the battery swapping action of the battery swapping equipment according to claim 1, characterized in that: The motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected by multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action; The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range, including: The motor torque data collected at the same collection point when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point.

3. The method for monitoring the battery swapping operation of the battery swapping equipment according to claim 2, characterized in that: The determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range includes: Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range corresponding to each of the acquisition points, determine the action state corresponding to each of the acquisition points when the target battery swapping action is executed; Based on the action states corresponding to each collection point when the target battery swapping action is executed, the action state of the target battery swapping action is determined.

4. The method for monitoring the battery swapping operation of the battery swapping equipment according to claim 3, characterized in that: The determining the action state of the target battery swapping action based on the action states corresponding to the respective collection points when the target battery swapping action is executed includes: If, in the action states corresponding to the respective collection points when the target battery swapping action is executed for the nth time, the proportion of collection points in the action abnormal state in all collection points when the target battery swapping action is executed for the nth time exceeds a predetermined value, then the action state when the target battery swapping action is executed for the nth time is determined to be the action abnormal state; wherein n≥1.

5. The method for monitoring the battery swapping operation of the battery swapping equipment according to claim 3, characterized in that: The motor torque data collected at the same collection point when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection point, including: The motor torque data collected at the i-th collection point when the same target battery replacement action is performed multiple times is processed by the quartile method to obtain the alarm threshold range corresponding to the i-th collection point; wherein the quartile method data processing includes: Determine three quartiles and an interquartile range IQR from the motor torque data collected at all i-th collection points during multiple executions; wherein the three quartiles are respectively a lower quartile Q1, a middle quartile Q2, and an upper quartile Q3; Based on the three quartiles and the interquartile range IQR, the maximum value max_i and the minimum value min_i corresponding to the i-th collection point during multiple executions are determined; wherein the maximum value max_i=Q3+1.5*IQR, the minimum value min_i=Q1-1.5*IQR, so as to obtain the alarm threshold range corresponding to each collection point.

6. The method for monitoring the battery swapping operation of the battery swapping equipment according to claim 5, characterized in that: The motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold range corresponding to each acquisition point, are used to determine the action state corresponding to each acquisition point when the target battery swapping action is executed, including: If the motor torque data collected at the i-th collection point when the n-th target battery swapping action is executed is not within the alarm threshold range, then the action state corresponding to the i-th collection point when the n-th target battery swapping action is executed is determined to be an abnormal action state; wherein, n≥1, i≥1.

7. The method for monitoring the battery swapping operation of a battery swapping device according to claim 1, characterized in that: The motor torque data generated when the same target battery swapping action is executed multiple times includes the motor torque data collected by multiple collection points each time the target battery swapping action is executed; wherein the multiple collection points are time points determined at intervals of a predetermined time during the execution of the target battery swapping action; The motor torque data generated when the same target battery replacement action is executed multiple times is processed to obtain the alarm threshold range, including: The motor torque data collected in the same collection interval when the target battery replacement action is performed multiple times is processed to obtain the alarm threshold range corresponding to each collection interval; wherein, one collection interval contains multiple collection points, and the number of collection points contained in different collection intervals is the same.

8. The method for monitoring the battery swapping operation of the battery swapping equipment according to claim 7, characterized in that: The determining the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range includes: Based on the motor torque data generated when the target battery swapping action is executed multiple times, and the alarm threshold ranges corresponding to the respective acquisition intervals, determine the action states corresponding to the respective acquisition intervals when the target battery swapping action is executed; Based on the action states corresponding to each collection interval, the action state of the target battery replacement action is determined.

9. A battery swapping action monitoring device for a battery swapping device, characterized in that: include: A data acquisition module is used to obtain the motor torque data generated when the battery swapping device performs a battery swapping operation on the battery swapping battery of the vehicle to be swapped; A data processing module is used to process the motor torque data generated when the same target battery replacement action is performed multiple times to obtain an alarm threshold range; A state determination module is used to determine the action state of the target battery swapping action based on the motor torque data generated when the target battery swapping action is executed multiple times and the alarm threshold range; wherein the action state includes a normal action state or an abnormal action state.

10. A computer-readable storage medium, characterized in that: A battery swapping action monitoring program for a battery swapping device is stored thereon. When the battery swapping action monitoring program for the battery swapping device is executed by a processor, the battery swapping action monitoring method for the battery swapping device described in any one of claims 1-8 is implemented.

11. A battery swap station, characterized in that: It includes a memory, a processor, and a battery swapping action monitoring program for a battery swapping device stored in the memory and executable on the processor. When the processor executes the battery swapping action monitoring program for the battery swapping device, it implements the battery swapping action monitoring method for the battery swapping device described in any one of claims 1 to 8.

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