Battery abandonment calculation method, system, vehicle, electronic device and storage medium

Abstract

The present application relates to a battery abandonment calculation method, system, vehicle, electronic device and storage medium. The battery abandonment calculation method includes: if there is a battery with a first preset fault in the battery system, the battery with the first preset fault is used as the target battery; the safe ejection area, initial ejection speed and ejection direction of the target battery are selected respectively; the target battery is ejected to the safe ejection area according to the initial ejection speed and ejection direction. According to the battery abandonment calculation method of the present application, by monitoring the status information of each battery in the battery system of the vehicle, such as the battery power, temperature and health status, etc., according to the analysis of the monitored status information, it is determined whether each battery has a preset first fault and needs to be subsequently processed. For the target battery, its safe ejection area, initial ejection speed and ejection direction are determined, so as to safely discard these faulty batteries and prevent the faulty batteries from falling on the bottom of the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of battery abandonment of a vehicle, and in particular to a battery abandonment calculation method, system, vehicle, electronic device and storage medium. Background Art

[0002] Existing vehicles are unable to discard the battery pack when a malfunction occurs and there is a tendency to catch fire. Some vehicles have the function of discarding the battery pack, but such vehicles will discard the battery pack at the bottom of the vehicle. If the vehicle still cannot drive at this time, then the risk of vehicle combustion cannot be avoided, and it will also bring danger to other vehicles on the road. Even if such vehicles carry spare batteries, the safety of the car cannot be guaranteed, because there is no guarantee that the spare battery will be affected when the power battery burns. Secondly, the location where the battery pack is discarded will also affect other vehicles. Therefore, it is necessary to determine a suitable battery discarding location to reduce the impact on the vehicle and surrounding conditions. Summary of the invention

[0003] The present application provides a battery abandonment calculation method to solve the problem that the battery is prone to combustion risk when a failure occurs.

[0004] In a first aspect, the present application provides a battery discard calculation method, including: if there is a battery with a first preset fault in the battery system, the battery with the first preset fault is used as a target battery; a safe ejection area, an initial ejection speed, and an ejection direction of the target battery are selected respectively; and the target battery is ejected to the safe ejection area according to the initial ejection speed and the ejection direction.

[0005] In the second aspect, the present application proposes a battery disposal system, comprising: a support plate, which is movable; a plurality of batteries, which are detachably arranged on the support plate, and a detector is provided on each battery, and the detector is used to monitor the performance parameters of the battery; at least one robotic arm, which is movable to drive at least one battery to detach from the support plate at a preset position and eject the battery at a preset angle and a preset speed; a control module, which is communicatively connected to the support plate, the robotic arm and the detector, and the control module is configured to: receive the performance parameters sent by the detector, use the above-mentioned battery disposal calculation method, and when the battery has a first preset fault, determine the initial ejection speed, ejection direction and safe ejection area of ​​the battery, and control the support plate and the robotic arm to eject the target battery to the safe ejection area at the determined initial ejection speed and ejection direction.

[0006] In a third aspect, the present application proposes a vehicle comprising the above-mentioned battery disposal system.

[0007] In a fourth aspect, the present application proposes an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; wherein: the memory is used to store computer programs; the processor is used to execute the above-mentioned battery disposal calculation method by running the program stored in the memory.

[0008] In a fifth aspect, the present application proposes a storage medium, which includes a stored program, wherein the above-mentioned battery disposal calculation method is executed when the program is run.

[0009] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0010] According to the battery discard calculation method of the present application, by monitoring the status information of each battery in the vehicle's battery system, such as the battery's power level, temperature, and health status, etc., based on the analysis of the monitored status information, it is determined whether each battery has a preset first fault and needs subsequent processing. For the target battery, its safe ejection area, initial ejection speed, and ejection direction are determined, so as to safely discard these faulty batteries and prevent the faulty batteries from falling on the bottom of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention. In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a proportional limitation.

[0012] Figure 1 A schematic diagram of the steps of a method for calculating battery ejection of a vehicle provided in an embodiment of the present application;

[0013] Figure 2 A schematic diagram of a vehicle for calculating a battery ejection of a vehicle provided in an embodiment of the present application;

[0014] Figure 3 A schematic diagram of a vehicle for calculating a battery ejection of a vehicle provided in an embodiment of the present application;

[0015] Figure 4A top view of a battery disposal system provided in an embodiment of the present application;

[0016] Figure 5 A partial side view of a battery disposal system provided in an embodiment of the present application.

[0017] Explanation of the reference numerals: initial area 1 , landing point 2 , battery system 3 , vehicle 4 , unsafe combustion area 5 , support plate 10 , battery 30 , first position limiting member 31 , robotic arm 40 , second position limiting member 41 . DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0019] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0020] For ease of description, spatial relative terms may be used herein to describe the relative positional relationship or movement of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip or a posture change or a motion state change, then these directional indications also change accordingly, for example: an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used herein are interpreted accordingly.

[0021] like Figure 1As shown, according to the battery abandonment calculation method of the vehicle 4 of the embodiment of the present application, the battery system 3 of the vehicle 4 includes a plurality of batteries, and the battery abandonment calculation method includes:

[0022] Step 110: If there is a battery with a first preset fault in the battery system, the battery with the first preset fault is used as a target battery.

[0023] Step 120: Selecting a safe ejection area, an initial ejection speed, and an ejection direction of the target battery respectively.

[0024] Step 130: projecting the target battery to the safe projectile area according to the initial projectile speed and the projectile direction.

[0025] In step S110, when determining the battery with the first preset fault in the battery system, the temperature information of the battery can be detected by a temperature sensor, the air tightness information of the battery (whether there is air leakage) can be detected by a gas sensor, the sealing information of the battery (whether there is liquid leakage) can be detected by a liquid sensor, or a combination of at least two of the three sensors.

[0026] The first preset fault may be electrolyte overflow, which may be caused by battery overcharge, internal battery short circuit or battery damage. Electrolyte overflow may corrode surrounding components. Internal short circuit and overcharge may also cause overheating and fire. The first preset fault may be battery gas leakage, which may cause battery leakage or overheating, thereby causing safety hazards. Overheating of the battery itself may easily cause fire. Therefore, the first preset fault may be at least one of battery overheating, electrolyte leakage or gas leakage. The battery with the first preset fault is determined as the target battery, and subsequent processing is required to reduce the occurrence of vehicle 4 accidents and improve the safety of vehicle 4 and the surrounding environment.

[0027] In step S120, after determining the existence of the target battery, it is necessary to select a safe ejection area for the target battery to ensure that the target battery does not cause harm to innocent people or objects during the ejection process. Usually, a suitable landing point 2 can be selected based on the maximum flight distance of the target battery. When selecting the safe ejection area, the weight, material, shape and external environmental factors of the target battery, such as wind speed and wind direction, can also be considered.

[0028] The initial ejection velocity refers to the speed of the target battery when it leaves the ejection orbit. The initial ejection velocity directly affects the flight altitude, flight distance and flight trajectory of the target battery. The greater the initial ejection velocity, the longer the flight distance is usually. Therefore, it is necessary to determine a suitable initial velocity through calculation to ensure that the target battery can accurately reach the safe ejection area without exceeding the safe area, so as to improve the safety of the target battery after it is abandoned.

[0029] The ejection direction refers to the angle at which the target battery is launched from the ejection track. The ejection direction will affect the flight trajectory and landing point of the target battery. When the ejection direction is actually selected, a fixed launch direction can be preset, or a suitable ejection direction can be determined based on the distance range between the safe ejection area and the target battery combined with the initial ejection speed. It can also be selected based on the surrounding environmental factors to avoid hitting obstacles during flight. In this way, by selecting the safe ejection area, initial ejection speed and ejection direction of the target battery, it can effectively ensure that the target battery reaches the safe ejection area and ensure the safety of the target battery after ejection.

[0030] In step S130, when the battery discard calculation method is applied to a vehicle, the control module controls the battery discard system to discard the target battery to a safe discard area according to the initial discard speed and discard direction determined in step S120.

[0031] According to the battery discard calculation method of the vehicle 4 of the embodiment of the present application, by monitoring the status information of each battery in the battery system 3 of the vehicle 4, such as the battery power, temperature and health status, etc., based on the analysis of the monitored status information, it is determined whether each battery has a preset first fault, such as battery overheating or leakage of liquid or gas, and the battery with the first preset fault is determined as the target battery, which needs to be subsequently processed. For the target battery, its safe ejection area, initial ejection speed and ejection direction are determined, so as to safely discard these faulty batteries and prevent the faulty batteries from falling on the bottom of the vehicle 4, so as to ensure the safety of the vehicle 4 and the surrounding environment.

[0032] In some embodiments, the battery jettisoning calculation method of the vehicle 4 selects a safe ejection area of ​​the target battery, specifically including:

[0033] Step 121: determining the operating state of the battery system 3, where the operating state includes a stationary state and a moving state;

[0034] Step 122: Detecting environmental information around the vehicle 4, the environmental information including at least one of ground material data, obstacle data, living thing data, and moving object data;

[0035] Step 123: Determine the safe ejection area of ​​the target battery in combination with the operating status and environmental information.

[0036] In step S121, since the vehicle 4 is in a stationary state or a moving state, it will affect the ejection of the target battery, especially when the vehicle 4 is in a moving state, the problem of dynamic ejection needs to be considered. Therefore, when selecting a safe ejection area, it is necessary to determine the operating state of the vehicle 4. Sensors can be used to determine the operating state of the vehicle 4, such as accelerometers and gyroscopes. In this way, the real-time state of the vehicle 4 when the target battery needs to be ejected can be judged through parameters such as the speed and acceleration change of the vehicle 4.

[0037] In step 122, when the target battery needs to be ejected, the landing point 2 needs to be a certain distance away from the vehicle 4 to ensure the safety of the vehicle 4, which will cause the landing point 2 to be in the surrounding environment, which may affect pedestrians or other vehicles 4 during the ejection process. Therefore, detecting the environmental information around the vehicle 4 and confirming the surrounding obstacles, pedestrians, animals and other vehicles 4 can better improve safety and avoid obstacles from hindering the ejection of the target battery. Among them, the information of the surrounding environment can be obtained through devices such as laser radar, camera and ultrasonic sensor, and GPS and map data can also be combined to obtain accurate geographic location information and environmental characteristics.

[0038] The environmental information includes at least one of ground material data, obstacle data, living thing data, and moving object data.

[0039] Specifically, ground material data includes identifying ground materials, such as asphalt, soil or lawn, etc. Different ground materials have different resistance to the target battery after landing. Therefore, determining ground material data is more conducive to enabling the target battery to accurately reach the safe ejection area; obstacle data can be fixed obstacles around the target battery, such as buildings, trees, wheels of vehicles 4, etc., to avoid collision between the target battery and obstacles during the ejection process; living creature data refers to surrounding animals or pedestrians to avoid causing harm to them; moving object data refers to identifying surrounding moving objects such as other moving vehicles 4, etc., to ensure the safety of the safe ejection area. In this way, the environment around the vehicle 4 can be comprehensively detected, and the ejection landing point 2 of the target battery can be dynamically adjusted according to the surrounding environment, thereby enhancing the adaptability of the vehicle 4 and improving the intelligence and reliability of the vehicle 4.

[0040] In step 123, the safe ejection area is calculated by combining the operating status and environmental information using algorithms (such as path planning, obstacle avoidance algorithms), which can quickly respond to changes by real-time monitoring of the vehicle 4 status and the surrounding environment, thereby improving the ability to adapt to complex environments.

[0041] According to the battery ejection calculation method of the vehicle 4 of the embodiment of the present application, it can adapt to different environmental changes, make timely adjustments, accurately identify the safe ejection area, reduce the possibility of accidents, enhance the safety of the battery, avoid potential dangers, and at the same time reduce the risk of accidents caused by battery ejection and improve the reliability of the operation of the vehicle 4.

[0042] like Figure 2 and Figure 3 As shown, in some embodiments, the safe ejection area of ​​the target battery is determined in combination with the operating status and environmental information, specifically including:

[0043] Step 1231: determining an initial area 1 for discarding the target battery according to the operating state of the vehicle 4 and the range of the target battery;

[0044] Step 1232: Determine the optional drop point 2 range of the target battery in the initial area 1 according to the environmental information;

[0045] Step 1233: Select a safe ejection area for the target battery within the range of optional landing point 2.

[0046] In step S1231, the initial area 1 can be determined more accurately by comprehensively considering the running state of the vehicle 4 and the range of the target battery, thereby improving the accuracy of the delivery and ensuring that the target battery can effectively reach the safe launch area. For example, according to the position and range of the vehicle 4, a circular or elliptical area is determined as the initial area 1, and the initial area 1 should be within the range of the target battery, so that the target battery can reach the selected position.

[0047] In step 1232, within the initial area 1, unsuitable landing point 2 areas are excluded based on environmental information, such as avoiding obvious obstacles and dangerous areas, so as to determine the range of optional landing point 2 and ensure that any location selected within the range of optional landing point 2 has good accessibility and safety.

[0048] In step 1233, the safe ejection range can be selected within the optional landing point 2 range based on factors such as the range that may be affected when the target battery burns or explodes. For example, a more appropriate or optimal safe ejection area can be selected through safety and risk level assessment.

[0049] In some embodiments, step 1231 specifically includes:

[0050] Step 12311: Determine the coordinates (X0, Y0) of the first position where the target battery is currently located;

[0051] Step 12312: When the battery system 3 is in a stationary state, determine the initial area 1 of the target battery with the coordinates (X0, Y0) of the first position as the circle point and the range distance of the target battery as the radius.

[0052] When the battery system 3 is in a moving state, the coordinates (X, Y) of the second position of the target battery when projected are predicted, and the initial area 1 of the target battery is determined with the second position coordinates (X, Y) and the range of the target battery as the radius.

[0053] Where X = X0 + X f ,Y=Y0+X f , the distance X that the target battery moves forward from the first position to the second position f =V e xt p , V e is the current moving speed of the battery system 3, t p It is the sum of the calculation time of the battery system 3 and the time required for the target battery to be separated from the battery system 3 .

[0054] In step 12311, the coordinates (X0, Y0) of the current first position of the target battery are determined. The first position provides a clear starting point, so that subsequent analysis and calculation can have a basis, and by determining the current position of the target battery, its position changes can be monitored in real time, thereby dynamically adjusting the initial area 1 and the safe ejection range, wherein the current first position coordinates can be determined by obtaining the GPS coordinates of the vehicle 4 or other positioning systems, which can be achieved through the navigation system, sensors or other positioning devices of the vehicle 4.

[0055] In step 12312, when the battery system 3 is in a stationary state, the initial area 1 is established with the first position as the center and the range distance as the radius, which can clearly define the effective ejection range of the target battery, thereby simplifying the determination and calculation of the initial area 1, reducing repeated calculations and unnecessary trials, and improving the efficiency, safety and accuracy of the target battery ejection. When the battery system 3 is in a mobile state, the coordinates (X, Y) of the second position of the target battery at the time of ejection are predicted, and the initial area 1 of the target battery is determined with the second position coordinates (X, Y) and the range distance of the target battery as the radius. The initial area 1 can be updated in real time according to the movement of the vehicle 4 to ensure that environmental changes can be effectively processed and responded to in various operating states, where X = X0 + X f ,Y=Y0+X f , the distance X that the target battery moves forward from the first position to the second position f =V e xt p , V e is the current moving speed of the battery system 3, tp It is the sum of the calculation time of the battery system 3 and the time required for the target battery to detach from the battery system 3, which means that the coordinates of the second position are calculated based on the coordinates of the first position and the moving speed and time of the battery system 3. In this way, it can be ensured that the initial area 1 of the target battery is updated based on the current state, thereby improving the accuracy of the ejection.

[0056] According to the battery ejection calculation method of vehicle 4 in the embodiment of the present application, initial area 1 refers to a circular area starting from the position of the battery system 3 and taking the position as the center in combination with the range of the target battery. When the vehicle 4 is stationary, the center is the current position and the radius is the ejection distance (rated maximum) of the target battery. When the vehicle 4 is moving, it is necessary to predict the position of the target battery when various calculations and ejection preparations are completed. A circular area with the position, i.e., the second position, as the center and a radius of the ejection distance (rated maximum) of the target battery is formed. This helps to ensure that the target battery can be effectively delivered within a predetermined range during the ejection process to avoid exceeding the range.

[0057] In some embodiments, step 1232 determines the optional drop point 2 range of the target battery in the initial area 1 according to the environmental information, specifically including:

[0058] Step 12321: Determine the unsafe combustion area 5 of the target battery;

[0059] Step 12322: Determine the obstacle blocking area in the initial area 1 according to the environmental information;

[0060] Step 12323: Remove the unsafe combustion area 5 and the obstacle blocking area in the initial area 1 to use the remaining area as the optional landing point 2 range of the target battery.

[0061] In step S13321, the unsafe combustion area 5 of the target battery refers to the area where the target battery, when burning, will cause a safety accident of the vehicle 4, such as the bottom of the vehicle 4, or a certain area around the vehicle 4. For example, the target battery is a dangerous area within 1m when burning, and the target battery needs to be at least 1m away from the vehicle. Therefore, it is necessary to determine the unsafe combustion area 5 of the target battery.

[0062] In step 12322, an obstacle blocking area within the initial area 1 is determined based on environmental information. For example, the wheels of the vehicle 4 may hinder the ejection of the target battery. For example, there is a wall, public facilities, other moving vehicles 4, etc. in the initial area 1. If the target battery is ejected into the obstacle blocking area, it may cause unexpected risks such as causing fire, damaging equipment and infrastructure, etc.

[0063] In step 12323, by eliminating the unsafe combustion area 5 and the obstacle blocking area in the target environment, the range of the optional landing point 2 is determined, which can improve the success rate of ejecting the target battery and reduce the impact on the safety of the vehicle 4 and the surrounding environment after ejection.

[0064] In some embodiments, step 1233 selects a safe ejection area of ​​the target battery within the optional drop point 2, specifically including:

[0065] Step 12331: determining a plurality of candidate ejection regions within the range of the optional landing point 2, wherein the area of ​​the candidate ejection region is greater than or equal to the area of ​​the combustion impact range of the target battery;

[0066] Step 12332: Select the candidate ejection area with the largest area as the safe ejection area of ​​the target battery.

[0067] In step 12331, multiple alternative ejection areas are determined within the range of optional landing point 2 as optional ejection areas, and the area of ​​the alternative ejection area is greater than or equal to the area of ​​the combustion impact range of the target battery, which means that when the target battery is ejected to any alternative ejection area, the area of ​​the alternative ejection area can cover the risk area when the target battery burns, reducing the potential hazards when an accident occurs, thereby ensuring that the ejected target battery will not cause a safety accident.

[0068] In step 12332, the alternative ejection area with the largest area is selected because the larger the area, the more space can be left to isolate the target battery, and the higher the safety factor, which can effectively reduce the risks to the surrounding environment and personnel when the battery fails, thereby ensuring safety.

[0069] In some embodiments, the alternative projection area is R S is the circular area with radius R S is the unsafe distance when the target battery burns. It can be understood that R S The circular area with a radius of is used as the basis for determining the candidate projectile area. It is based on the principle of geometry. The circle can evenly cover a certain distance in all directions, which simplifies the definition and calculation of the candidate projectile area.

[0070] In some embodiments, step 120 selects an initial projection speed and a projection direction, specifically including:

[0071] Step 124: selecting a landing point 2 in the safe projectile area and determining the coordinates of the landing point 2;

[0072] Step 125: Determine the third position coordinates of the target battery when ejected;

[0073] Step 126: When there is no obstacle on the line connecting the third position coordinates and the coordinates of the landing point 2, the horizontal projection direction determined by the line connecting the third position coordinates and the coordinates of the landing point is used as the projection direction of the target battery.

[0074] In step 124, a landing point 2 is selected in the safe projectile area and the coordinates (X2, Y2) of the landing point 2 are determined. The landing point 2 is the final target of the target battery projectile movement, ensuring that no damage is caused to people or objects in this area. The coordinates of the landing point 2 can be measured and determined by sensor data and in combination with a geographic information system (GIS).

[0075] In step 125, the third position coordinate of the target battery at the time of ejection is determined to be (X3, Y3). This is to determine the position of the target battery at the time of ejection. When the target battery is in a stationary state, the third position coordinate is the first position coordinate mentioned above. When the target battery is in a moving state, the third position coordinate is the second position coordinate mentioned above. That is to say, when the target battery is in a moving state, the third position coordinate is the predicted position coordinate of the target battery when it starts to eject.

[0076] The third position coordinate can be measured and determined by sensor data and in combination with a geographic information system (GIS). It can be understood that by determining the third position coordinate, it is convenient to calculate the moving trajectory and effective projection of the target battery.

[0077] In step 126, a straight line is drawn between the coordinates of the third position and the coordinates of the landing point. The direction of this straight line is used as the ejection direction of the target battery when it is ejected, that is, the direction when the target battery leaves the ejection track. When there is no obstacle on the line connecting the coordinates of the third position and the landing point, the horizontal throwing direction determined by the line connecting the coordinates of the third position and the landing point is used as the ejection direction. This can simplify the calculation of the physical model. The trajectory of the horizontal throwing motion is a parabola, and the calculation is relatively simple. Among them, horizontal throwing refers to horizontal throwing, which can greatly reduce the influence of gravity, so that the battery can fly longer in the air, so that it has a greater flying ability to reach the landing point 2. At the same time, in the absence of obstacles, the horizontal throwing direction can be considered as a better ejection angle, which can be more easily controlled and adjusted, for example, by changing the initial ejection speed to achieve different landing points 2. It can be understood that reducing the movement path of the load can reduce the risk of accidents and improve efficiency.

[0078] In some embodiments, selecting the initial projectile velocity includes:

[0079] Step 128: Determine the initial ejection velocity of the target battery according to the acceleration of the target battery sliding on the ground, the acceleration of gravity, the height of the ejection track exit from the ground, and the distance between the ejection track exit and the landing point in the horizontal direction.

[0080] In step 128, when there is no obstacle on the line connecting the third position coordinate and the coordinate of the landing point 2, the target battery will first fly a distance from the ejection track exit and slide on the ground for a distance after landing. Therefore, the initial ejection speed needs to consider the acceleration of the target battery sliding on the ground so that it can finally reach the landing point 2. During the ejection process, gravity will cause the target battery to fall. Therefore, the influence of gravity acceleration on the object needs to be considered when determining the initial ejection speed. The height of the ejection track above the ground will directly affect the flight time and flight trajectory of the target battery, thereby affecting its displacement in the horizontal direction. Therefore, the influence of the height of the ejection track exit above the ground needs to be considered when determining the initial ejection speed. The farther the distance between the ejection track exit and the landing point 2 in the horizontal direction, the greater the required initial ejection speed. Therefore, when calculating the initial ejection speed, it is necessary to ensure that the target battery can cover this distance during the flight process, so as to ensure that the target battery can move to the landing point 2 position.

[0081] In a specific embodiment, Where a is the acceleration of the battery pack sliding on the ground, g is the acceleration of gravity, h is the height of the ejection track exit from the ground, and x is the horizontal distance between the ejection track exit and the selected landing point 2.

[0082] In some embodiments, the battery abandonment calculation method of the vehicle 4 further includes:

[0083] Step 140: Select a landing point in the safe ejection area and determine the coordinates of the landing point; determine the third position coordinates of the target battery when ejected, and when there is an obstacle on the line connecting the third position coordinates and the coordinates of the landing point 2, determine the running state of the vehicle 4;

[0084] Step 141: When the vehicle 4 is in a stationary state, the third position coordinate is the first position coordinate. The first component velocity of the target battery in the horizontal direction and the second component velocity in the vertical direction are determined according to the acceleration of the target battery sliding on the ground, the gravitational acceleration of the target battery, the height of the ejection track exit from the ground, the horizontal distance between the ejection track exit and the landing point 2, and the maximum elevation angle of the ejection track exit. The initial ejection velocity is synthesized according to the first component velocity and the second component velocity.

[0085] In step 140 , when there is an obstacle on the line connecting the third position coordinate and the coordinate of the landing point 2 , it is necessary to consider projecting the target battery in the vertical direction at an elevation angle, and therefore the moving state of the vehicle 4 needs to be determined.

[0086] In step 141, the movement of the target battery can be regarded as two independent movements, one is a uniform motion in the horizontal direction, and the other is a free fall motion in the vertical direction. When the vehicle 4 is in a stationary state, the movement trajectory of the target battery can be analyzed more clearly by decomposing the initial ejection velocity into a horizontal component and a vertical component. The horizontal component velocity determines the movement distance of the target battery in the horizontal direction, while the vertical component velocity affects the flight time and obstacle crossing ability of the target battery in the vertical direction. Therefore, in different application scenarios, the initial ejection velocity and ejection direction of the target battery can be adaptively adjusted according to the location of the landing point 2 and the height and location of the obstacle, so as to ensure that the target battery can cross the obstacle and land at the designated landing point 2. After determining the first component velocity of the target battery in the horizontal direction and the second component velocity in the vertical direction, the first component velocity and the second component velocity are synthesized to determine the initial ejection velocity.

[0087] In a specific embodiment, the calculation formulas for each velocity component are:

[0088]

[0089] Where a is the acceleration of the battery pack sliding on the ground, g is the acceleration of gravity, h is the height of the ejection track exit from the ground, x is the horizontal distance between the ejection track exit and the selected landing point 2, v1 represents the vertical component velocity during ejection, v2 represents the horizontal component velocity during ejection, θ represents the maximum elevation angle of the ejection port, and l represents the height of the obstacle.

[0090] The projectile angle θ0 in the vertical direction is:

[0091] In some embodiments, the battery jettisoning calculation method of vehicle 4 also includes: selecting a landing point in the safe ejection area and determining the coordinates of the landing point; determining the third position coordinates of the target battery at the time of ejection; when there is an obstacle on the line connecting the third position coordinates and the coordinates of the landing point, judging the running state of the vehicle; when there is an obstacle on the line connecting the third position coordinates and the coordinates of the landing point 2 and the vehicle 4 is in a moving state, the third position coordinates are the second position coordinates, and the target battery is determined according to the acceleration of the target battery sliding on the ground, the gravity acceleration of the target battery, the height of the ejection track exit from the ground, the horizontal distance between the ejection track exit and the landing point 2, the maximum elevation angle of the ejection track exit and the driving speed of the vehicle 4. The third component speed of the target battery in the horizontal direction perpendicular to the moving direction of the vehicle 4, the fourth component speed in the horizontal direction parallel to the moving direction of the vehicle 4, and the fifth component speed in the vertical direction are synthesized according to the third component speed, the fourth component speed and the fifth component speed.

[0092] Specifically, in order to facilitate the determination of the initial ejection velocity of the target battery, the initial ejection velocity is decomposed into components in three directions, a vertical component and two horizontal components. The fourth velocity of the two horizontal components is parallel to the moving direction of the vehicle 4, and the third component velocity is perpendicular to the moving direction of the vehicle 4. In the presence of obstacles, determining the component velocities in different directions (the third component velocity, the fourth component velocity, and the fifth component velocity) can help predict the moving trajectory of the target battery, thereby determining whether it will collide with the obstacle.

[0093] According to the battery ejection calculation method of the vehicle 4 of the embodiment of the present application, the initial ejection speed of the target battery is accurately calculated by calculating three components, which can increase the obstacle avoidance ability of the target battery in the mobile vehicle 4 and obstacle environment. At the same time, ejection is performed in a dynamic environment to ensure that the trajectory of the target battery will not intersect with obstacles, which can reduce the risk of accidents and damages, realize real-time calculation and adjustment of the initial ejection speed, and ensure that a good ejection effect can still be maintained in a dynamic environment.

[0094] In a specific embodiment,

[0095]

[0096]

[0097] v1 represents the vertical velocity component during ejection, v2 represents the horizontal velocity component perpendicular to the moving direction of vehicle 4, and v3 represents the horizontal velocity component parallel to the moving direction of vehicle 4, where a is the acceleration of the battery pack sliding on the ground, g is the acceleration of gravity, h is the height of the ejection track exit from the ground, x is the horizontal distance between the ejection track exit and the selected landing point 2, θ represents the maximum elevation angle of the ejection port, and l represents the height of the obstacle. v is the distance between the target point and the landing point 2, v c Indicates the current speed of vehicle 4.

[0098] In some embodiments, determining whether there is a battery with a first fault in the battery system specifically includes: monitoring status information of multiple batteries in real time; and determining whether each of the batteries has a first preset fault based on the status information.

[0099] When monitoring the status information of multiple batteries, the temperature information of the battery can be detected by a temperature sensor, the air tightness information of the battery (whether there is air leakage) can be detected by a gas sensor, the sealing information of the battery (whether there is liquid leakage) can be detected by a liquid sensor, or a combination of at least two of the three sensors can be used.

[0100] like Figure 4 and Figure 5As shown, the battery disposal system according to the embodiment of the present application includes a support plate 10, a plurality of batteries 30, at least one robotic arm 40 and a control module.

[0101] Specifically, the support plate 10 is movable; a plurality of batteries 30 are detachably arranged on the support plate 10, and a detector is provided on each battery 30, and the detector is used to monitor the performance parameters of the battery 30; the robotic arm 40 is movable to drive at least one battery 30 to detach from the support plate 10 at a preset position and eject the battery 30 at a preset angle and a preset speed; the control module is communicatively connected with the support plate 10, the robotic arm 40 and the detector, and the control module is configured to: receive the performance parameters sent by the detector, adopt the above-mentioned battery abandonment calculation method, and when the battery 30 has a first preset fault, determine the initial ejection speed, ejection direction and safe ejection area of ​​the battery 30, and control the support plate 10 and the robotic arm 40 to eject the target battery 30 to the safe ejection area at the determined initial ejection speed and ejection direction.

[0102] To elaborate, the support tray 10 is movable, and a plurality of batteries 30 are arranged on the support tray 10. The movement of the support tray 10 is used to drive the movement of the plurality of batteries 30, so that when a battery 30 fails, the failed battery 30 is moved to a preset position. The plurality of batteries 30 are detachably arranged on the support tray 10, and can be removed from the support tray 10 when one or several of the batteries 30 need to be replaced or discarded. The detector is used to monitor the performance parameters of the corresponding battery 30, such as monitoring the temperature of the battery 30, monitoring whether the battery 30 leaks liquid or gas, and sending the monitored performance parameters to the control module to determine whether the battery 30 fails. When the control module finds that one or several batteries 30 fail during the process of fault monitoring of the performance parameters, the support tray 10 and the mechanical arm 40 are controlled to drive the support tray 10 to move to the preset position, and the initial ejection speed and ejection direction determined by the battery discard calculation method are used to control the mechanical arm 40 to eject the failed battery 30 into the safe ejection area.

[0103] Among them, a preset position can be specified by the system. When a battery 30 is detected to be faulty, the control module controls the support plate 10 to drive the faulty battery 30 to move to the specified ejection position. Then the control module controls the movement of the robotic arm 40 so that the faulty battery 30 can be detached from the support plate 10 and ejected outward at the initial ejection speed and ejection direction.

[0104] Alternatively, the system may specify a preset position, and when a battery 30 is detected to be faulty, if the faulty battery 30 is at the preset position, there is no need to move the support plate 10 .

[0105] The following is a detailed description of each component: the support plate 10 is movable, which can be either translational or rotational. When the battery disposal system is applied to a vehicle, the vehicle has at least two wheels. If the faulty battery 30 needs to be ejected to a safe position, it needs to avoid the wheels so that it can be ejected to the outside of the vehicle instead of remaining at the bottom of the vehicle. Therefore, the support plate 10 is movable to adjust the initial ejection position of the faulty battery 30.

[0106] Multiple batteries 30 can be detachably arranged on the support plate 10, wherein the batteries 30 and the support plate 10 can be at least one or a combination of several of the following: snap-on limit, latch limit and magnetic limit. Multiple batteries 30 can be arranged in one row or several rows, or in a specific shape such as in a circle, and the number, shape and distribution of the batteries 30 can be set as needed.

[0107] The detector may include one or more sensors. For example, a temperature sensor may be used to detect the temperature of the battery 30 , a gas sensor may be used to detect whether the battery 30 is leaking, and a liquid sensor may be used to detect whether the battery 30 is leaking.

[0108] The number of the robotic arms 40 may be one or more. The battery 30 may be ejected after the faulty battery 30 moves to a preset position, and then the battery 30 is driven to move to the preset position and then ejected. Alternatively, two robotic arms 40 may be provided, one for use and the other for backup. Alternatively, the number of robotic arms 40 may correspond to the number of batteries 30. In this case, the robotic arm 40 may be provided on the support plate 10 and rotate with the support plate 10. In this case, the robotic arm 40 may be spaced from the battery 30 under normal circumstances, or it may be engaged with the battery 30 under normal circumstances, and drive the battery 30 to move when ejection is required (the process of engaging the robotic arm 40 with the battery 30 is omitted).

[0109] The communication connection between the control module and the support plate 10 can be a wired connection such as a serial port, USB, and Ethernet wired mode, it can be a wireless connection, such as Bluetooth, WIFI and other wireless communications, it can also be CAN bus or Modbus communication, and this application does not limit it.

[0110] The communication connection between the control module and the robotic arm 40 can be a wired connection such as a serial port, USB, and Ethernet wired method, or a wireless connection such as Bluetooth, WIFI and other wireless communications, or a CAN bus or Modbus communication, which is not limited in this application.

[0111] The communication connection between the control module and the detector can be a wired connection such as a serial port, USB, and Ethernet light wired method, it can be a wireless connection, such as Bluetooth, WIFI and other wireless communications, or it can be CAN bus or Modbus communication, which is not limited in this application.

[0112] According to the battery discarding system of the embodiment of the present application, the detector can be used to monitor the performance parameters of the battery 30 and send them to the control module. When the control module monitors that the performance parameters of the corresponding battery 30 reach the fault judgment, it can control the support plate 10 to move to drive the faulty battery 30 to move to the preset launch position. After the faulty battery 30 moves to the preset launch position, the control module controls the mechanical arm 40 to move so as to eject the faulty battery 30 from the support plate 10 at a preset angle and preset speed. In this way, each battery 30 can be monitored in real time, and when the battery 30 fails, the corresponding battery 30 is ejected at an appropriate position at an initial ejection speed and ejection direction. When the battery discarding system is applied to a vehicle, the faulty battery 30 can be ejected into a safe ejection area without obstacles, thereby avoiding the battery 30 burning and causing the entire vehicle to burn. At the same time, when the battery fails, only the faulty battery 30 can be ejected, and all batteries 30 can be avoided from being discarded.

[0113] In some embodiments, a first limit member 31 is provided on the battery 30, and a second limit member 41 is provided on the robotic arm 40. The robotic arm 40 can move to drive the second limit member 41 to engage or space the first limit member 31, thereby driving the battery 30 to detach from the support plate 10 when the second limit member 41 engages with the first limit member 31.

[0114] The vehicle according to the embodiment of the present application includes the above-mentioned battery disposal system.

[0115] An electronic device according to an embodiment of the present application includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the above-mentioned battery abandonment calculation method for vehicle 4 by running the program stored in the memory.

[0116] The memory can be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to a battery abandonment calculation method of a vehicle 4 in an embodiment of the present application. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, implementing the above method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the computer via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0117] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0118] In some embodiments, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0119] According to the storage medium of the embodiment of the present application, the storage medium includes a stored program, wherein the above-mentioned battery abandonment calculation method of the vehicle 4 is executed when the program is run.

[0120] In some embodiments, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0121] The computer may include one or more processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory for storing data. In some embodiments, the above-mentioned computer may also include a transmission device and input and output devices for communication functions.

[0122] It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments, and are not intended to be limited. Unless the context clearly indicates otherwise, the singular forms "one", "one" and "said" used in the text can also be expressed as including plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore indicate the existence of the stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or their combinations. The method steps, processes, and operations described in the text are not interpreted as requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps can be used. Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer, or section from another region, layer, or section. Unless the context clearly indicates otherwise, terms such as "first", "second", and other numerical terms do not imply a sequence or order when used herein. Thus, a first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section without departing from the teachings of the exemplary embodiments.

[0123] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A battery abandonment calculation method, applied to a vehicle, characterized in that: include: If there is a battery with a first preset fault in the battery system, the battery with the first preset fault is used as a target battery; Selecting a safe ejection area, an initial ejection speed, and an ejection direction of the target battery respectively; The target battery is ejected to the safe ejection area according to the initial ejection speed and the ejection direction.

2. The battery discard calculation method according to claim 1, characterized in that: The safe ejection area of ​​the target battery is selected, specifically including: determining an operating state of the battery system, the operating state comprising a stationary state and a moving state; Detecting environmental information around the vehicle, the environmental information including at least one of ground material data, obstacle data, living thing data, and moving object data; The safe ejection area of ​​the target battery is determined by combining the operating status and the environmental information.

3. The battery discard calculation method according to claim 2, characterized in that: The step of determining the safe ejection area of ​​the target battery in combination with the operating state and the environmental information specifically includes: Determining an initial area for discarding the target battery according to the operating state of the vehicle and the range of the target battery; Determining an optional landing point range of the target battery in the initial area according to the environmental information; A safe ejection area of ​​the target battery is selected within the optional drop point range.

4. The battery discard calculation method according to claim 3, characterized in that: The determining the initial area of ​​the target battery according to the running state of the vehicle and the range of the target battery specifically includes: Determine the coordinates (X0, Y0) of the first position of the target battery; When the battery system is in a stationary state, the initial area of ​​the target battery is determined with the coordinates (X0, Y0) of the first position as a circle point and the range distance of the target battery as a radius, When the battery system is in a moving state, the coordinates (X, Y) of the second position of the target battery at the time of projection are predicted, and the initial area of ​​the target battery is determined with the second position coordinates (X, Y) and the range of the target battery as the radius, Where X = X0 + X f ,Y=Y0+X f , the distance X that the target battery moves forward from the first position to the second position f =V e xt p , V e is the current moving speed of the battery system, t p It is the sum of the calculation time of the battery system and the time required for the target battery to be separated from the battery system.

5. The battery discard calculation method according to claim 4, characterized in that: The determining of the optional landing point range of the target battery in the initial area according to the environmental information specifically includes: determining an unsafe combustion area of ​​the target battery; Determine an obstacle blocking area within the initial area according to the environmental information; The remaining area after removing the unsafe combustion area and the obstacle blocking area from the initial area is used as the optional landing point range of the target battery.

6. The battery discard calculation method according to claim 5, characterized in that: Selecting a safe ejection area of ​​the target battery within the optional drop point range specifically includes: Determine a plurality of candidate projection areas within the optional landing point range, wherein the area of ​​the candidate projection areas is greater than or equal to the area of ​​the combustion impact range of the target battery; The candidate ejection area with the largest area is selected as the safe ejection area of ​​the target battery.

7. The battery discard calculation method according to claim 6, characterized in that: The alternative ejection area is R S is the circular area with radius R S The unsafe distance when the target battery burns.

8. The battery discard calculation method according to claim 5, characterized in that: Selecting the projection direction specifically includes: Select a landing point in the safe projectile area and determine the coordinates of the landing point; Determining a third position coordinate of the target battery when ejected; When there is no obstacle on the line connecting the third position coordinate and the coordinate of the landing point, the horizontal projection direction determined by the line connecting the third position coordinate and the coordinate of the landing point is used as the projection direction of the target battery.

9. The battery discard calculation method according to claim 8, characterized in that: Selecting the initial ejection velocity includes: When there is no obstacle on the line connecting the third position coordinate and the coordinate of the landing point, the initial ejection speed of the target battery is determined according to the acceleration of the target battery sliding on the ground, the acceleration of gravity, the height of the ejection track exit from the ground, and the distance between the ejection track exit and the landing point in the horizontal direction.

10. The battery discard calculation method according to claim 5, characterized in that: Also includes: Select a landing point in the safe projectile area and determine the coordinates of the landing point; Determining a third position coordinate of the target battery when ejected; When there is an obstacle on the line connecting the third position coordinates and the coordinates of the landing point, determining the running state of the vehicle; When the vehicle is in a stationary state, the third position coordinate is the first position coordinate, and the first component velocity of the target battery in the horizontal direction and the second component velocity in the vertical direction are determined according to the acceleration of the target battery sliding on the ground, the gravity acceleration of the target battery, the height of the ejection track exit from the ground, the horizontal distance between the ejection track exit and the landing point, and the maximum elevation angle of the ejection track exit; The initial projection velocity is synthesized according to the first component velocity and the second component velocity.

11. The battery discard calculation method according to claim 5, characterized in that: Also includes: Select a landing point in the safe projectile area and determine the coordinates of the landing point; Determining a third position coordinate of the target battery when ejected; When there is an obstacle on the line connecting the third position coordinates and the coordinates of the landing point, determining the running state of the vehicle; When there is an obstacle on the coordinate line connecting the third position coordinate and the landing point and the vehicle is in a moving state, the third position coordinate is the second position coordinate, and a third component speed of the target battery in the horizontal direction perpendicular to the moving direction of the vehicle, a fourth component speed in the horizontal direction parallel to the moving direction of the vehicle, and a fifth component speed in the vertical direction are determined according to the acceleration of the target battery sliding on the ground, the gravity acceleration of the target battery, the height of the ejection track exit from the ground, the horizontal distance between the ejection track exit and the landing point, the maximum elevation angle of the ejection track exit, and the driving speed of the vehicle; The initial projection velocity is synthesized according to the third component velocity, the fourth component velocity, and the fifth component velocity.

12. The battery discard calculation method according to any one of claims 1 to 11, characterized in that: The determining whether there is a battery with a first preset fault specifically includes: Real-time monitoring of multiple battery status information; It is determined whether each of the batteries has a first preset fault according to the status information.

13. A battery disposal system, characterized in that: include: A support plate, wherein the support plate is movable; A plurality of batteries, wherein the plurality of batteries are detachably arranged on the support plate, and each of the batteries is provided with a detector, and the detector is used to monitor the performance parameters of the battery; at least one mechanical arm, the mechanical arm being movable to drive at least one of the batteries to detach from the support plate at a preset position and eject the battery at a preset angle and a preset speed; A control module, wherein the control module is communicatively connected with the support plate, the mechanical arm and the detector, and the control module is configured as follows: Receive the performance parameters sent by the detector, adopt the battery discard calculation method as described in any one of claims 1 to 12, determine the initial ejection speed, ejection direction and safe ejection area of ​​the battery when a first preset fault occurs in the battery, and control the support plate and the robotic arm to eject the target battery to the safe ejection area at the determined initial ejection speed and ejection direction.

14. A vehicle, characterized in that: Comprising a battery disposal system as claimed in claim 13.

15. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; wherein: Memory, used to store computer programs; A processor, configured to execute the battery disposal calculation method according to any one of claims 1 to 12 by running a program stored in a memory.

16. A storage medium, characterized in that: The storage medium includes a stored program, wherein the battery disposal calculation method according to any one of claims 1 to 12 is executed when the program is executed.

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