Turnover system of battery swap station and control method and device of turnover system of battery swap station

Abstract

The invention discloses a turnover system of a battery swap station and a control method and device of the turnover system of the battery swap station, and belongs to the technical field of new energy battery swap stations. The turnover system comprises a stacker crane, a stacker crane rail and a driving motor. The driving motor is used for driving the stacker crane to move along the stacker crane track; the bar code tape is arranged in the length direction of the stacker crane track; the code reader is arranged on the stacking machine; the code reader is used for scanning the bar code tape when the stacker crane moves so as to position the current position information of the stacker crane at the current moment; the controller is used for obtaining current position information of the stacker crane through communication connection with the code reader and determining target motion parameters of the stacker crane at the next moment according to the current position information and the target position information; the controller is further used for controlling the driving motor to rotate based on the target motion parameters at the next moment, high positioning precision and repeated positioning precision can be achieved, and original point calibration does not need to be carried out in each positioning process.

Description

Technical Field

[0001] The present application belongs to the technical field of new energy battery swap stations, and in particular, relates to a turnover system of a battery swap station, and a control method and device for the turnover system of a battery swap station. Background Art

[0002] Palletizers are the mainstream equipment for storing and retrieving battery packs in new energy battery swap stations. The precise positioning of battery compartments by palletizers is a very important part of the battery swap process. In existing battery swap stations, the positioning of palletizers is mostly done by servo controllers, laser rangefinders, and proximity sensor calibration. This positioning method is costly and requires regular origin calibration, which is cumbersome and has low positioning accuracy. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a turnover system of a battery swap station, a control method and a device for the turnover system of a battery swap station, which can achieve high positioning accuracy and repeated positioning accuracy, and each positioning process does not require origin calibration.

[0004] In a first aspect, the present application provides a turnover system for a battery swap station, comprising:

[0005] A palletizer, a palletizer track and a drive motor; the drive motor is used to drive the palletizer to move along the palletizer track;

[0006] Barcode tape, which is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track;

[0007] A barcode reader is provided on the palletizer; the barcode reader is used to scan the barcode tape when the palletizer moves, so as to locate the current position information of the palletizer at the current moment;

[0008] A controller, the controller is used to obtain the current position information of the palletizer through the communication connection with the code reader, and determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information;

[0009] The controller is also used to control the rotation of the drive motor based on the target motion parameter at the next moment.

[0010] According to the turnover system of the battery swap station of the present application, a barcode tape and a code reader are arranged in the turnover system, which are low in price and simple to install. The barcode tape is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track, and the code reader is arranged on the palletizer; the code reader scans the barcode tape when the palletizer moves to locate the current position information of the palletizer at the current moment. The positioning process belongs to the absolute addressing method, which can achieve higher positioning accuracy and repeated positioning accuracy. There is no need to calibrate the origin during each positioning process, and the positioning value will not be affected even if the palletizer slips, shifts sideways, etc.

[0011] In addition, the controller of the embodiment of the present application can determine the target motion parameters of the palletizer at the next moment based on the current position information and target position information of the palletizer at the current moment; the controller is also used to control the rotation of the drive motor based on the target motion parameters at the next moment, so as to obtain smoother motion parameters.

[0012] According to one embodiment of the present application, the turnover system further includes:

[0013] Frequency converter;

[0014] The controller is also used to determine the target frequency that the frequency converter needs to output at the next moment based on the target motion parameter, and send a target message containing the target frequency to the frequency converter based on the communication connection between the frequency converter and the controller; the target message is used to instruct the frequency converter to output the target frequency at the next moment;

[0015] The frequency converter is used to parse the target frequency from the target message and output the target frequency to the drive motor at the next moment to control the rotation of the drive motor.

[0016] According to one embodiment of the present application, the position information includes horizontal position information and vertical position information;

[0017] Palletizer tracks include horizontal tracks and vertical tracks;

[0018] The barcode tape comprises a horizontal barcode tape arranged along the length direction of the horizontal track and a vertical barcode tape arranged along the length direction of the vertical track;

[0019] The palletizer includes a horizontal moving mechanism and a vertical moving mechanism;

[0020] The code reader includes a first code reader arranged on the horizontal moving mechanism and a second code reader arranged on the vertical moving mechanism;

[0021] The first code reader is used to scan the horizontal barcode tape when the horizontal moving mechanism moves to locate the horizontal position information of the horizontal moving mechanism at the current moment; the second code reader is used to scan the horizontal barcode tape when the vertical moving mechanism moves to locate the vertical position information of the vertical moving mechanism at the current moment.

[0022] According to one embodiment of the present application, the frequency converter includes a first frequency converter; the drive motor includes a first drive motor; the first drive motor is used to drive the horizontal moving mechanism to move; the target motion parameter includes a motion parameter of the horizontal moving mechanism;

[0023] The controller is used to determine the first target frequency to be output by the first frequency converter at the next moment according to the motion parameters of the horizontal moving mechanism;

[0024] The controller is further used to send a first target message including a first target frequency to the first frequency converter based on the communication connection between the first frequency converter and the controller; the first target message is used to instruct the first frequency converter to output the first target frequency at a next moment;

[0025] The first frequency converter is used to parse the first target frequency from the first target message, and output the first target frequency to the first drive motor at the next moment to control the rotation of the first drive motor.

[0026] According to one embodiment of the present application, the frequency converter includes a second frequency converter; the drive motor also includes a second drive motor; the second drive motor is used to drive the vertical moving mechanism to move; the target motion parameter includes the motion parameter of the vertical moving mechanism;

[0027] The controller is used to determine the second target frequency to be output by the second frequency converter at the next moment according to the motion parameters of the vertical moving mechanism;

[0028] The controller is further used to send a second target message including a second target frequency to the second frequency converter based on the communication connection between the second frequency converter and the controller; the second target message is used to instruct the second frequency converter to output the second target frequency at a next moment;

[0029] The second frequency converter is used to parse the second target frequency from the second target message, and output the second target frequency to the second drive motor at the next moment to control the rotation of the second drive motor.

[0030] According to one embodiment of the present application, the controller is used to determine the location information of each battery compartment, and to create and store a mapping relationship between the location information of each battery compartment and the corresponding battery compartment identifier in a database;

[0031] The controller is used to, when obtaining the target task instruction, instruct the control stacker to remove the battery pack from the target battery compartment or store the battery pack in the target battery compartment, parse the battery compartment identification of the target battery compartment from the target task instruction, and search the database for target position information that has a mapping relationship with the battery compartment identification of the target battery compartment.

[0032] According to an embodiment of the present application, the controller is also used to perform holding brake on the frequency converter through hardware control.

[0033] According to one embodiment of the present application, the frequency converter is further used to report operating parameters to the controller in real time based on the communication connection between the frequency converter and the controller; the operating parameters include at least one of the output power, voltage, and current;

[0034] When the controller determines that the operating parameters do not meet the target conditions, the controller executes a target protection strategy for the inverter; the protection strategy includes braking the inverter, reducing at least one of the power, voltage and current of the inverter.

[0035] In a second aspect, the present application provides a control method for a turnover system of a battery swap station, which is applied to a controller of the turnover system, and the method includes:

[0036] Obtain the current position information of the palletizer at the current moment through the communication connection with the code reader;

[0037] Determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information;

[0038] At the next moment, the driving motor is controlled to rotate based on the target motion parameter;

[0039] Wherein, the driving motor is used to drive the palletizer to move along the palletizer track;

[0040] The barcode reader is arranged on the palletizer; the barcode reader is used to scan the barcode tape when the palletizer moves to locate the current position information of the palletizer; the barcode tape is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track.

[0041] In a third aspect, the present application provides a control device for a turnover system of a battery swap station, which is applied to a controller of the turnover system, and the device includes:

[0042] An acquisition module, used for obtaining the current position information of the palletizer at the current moment through a communication connection with the code reader;

[0043] A processing module, used to determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information;

[0044] A control module, used for controlling the rotation of the drive motor based on the target motion parameter at the next moment;

[0045] Wherein, the driving motor is used to drive the palletizer to move along the palletizer track;

[0046] The barcode reader is arranged on the palletizer; the barcode reader is used to scan the barcode tape when the palletizer moves to locate the current position information of the palletizer; the barcode tape is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track.

[0047] In a fourth aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the control method of the turnover system of the battery swap station provided in the first aspect above is implemented.

[0048] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for a turnover system of a battery swap station as provided in the first aspect above.

[0049] In a sixth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement a control method for a turnover system of a battery swap station as provided in the first aspect.

[0050] In a seventh aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the control method of the turnover system of the battery swap station provided in the first aspect above.

[0051] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0052] According to the turnover system of the battery swap station of the present application, a barcode tape and a code reader are arranged in the turnover system, which are low in price and simple to install. The barcode tape is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track, and the code reader is arranged on the palletizer; the code reader scans the barcode tape when the palletizer moves to locate the current position information of the palletizer at the current moment. The positioning process belongs to the absolute addressing method, which can achieve higher positioning accuracy and repeated positioning accuracy. There is no need to calibrate the origin during each positioning process, and the positioning value will not be affected even if the palletizer slips, shifts sideways, etc.

[0053] In addition, the controller of the embodiment of the present application can determine the target motion parameters of the palletizer at the next moment based on the current position information and target position information of the palletizer at the current moment; the controller is also used to control the rotation of the drive motor based on the target motion parameters at the next moment, so as to obtain smoother motion parameters.

[0054] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0056] Figure 1 This is one of the structural diagrams of the turnover system of the battery swap station provided in the embodiment of the present application;

[0057] Figure 2 is a motion schematic diagram of a palletizer provided in an embodiment of the present application;

[0058] Figure 3 This is the second schematic diagram of the composition structure of the turnover system of the battery swap station provided in the embodiment of the present application;

[0059] Figure 4 This is a second flow chart of a control method for a turnover system of a battery swap station provided in an embodiment of the present application;

[0060] Figure 5 It is a structural schematic diagram of a control device of a turnover system of a battery swap station provided in an embodiment of the present application;

[0061] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0062] Reference numerals:

[0063] Controller 110 ; code reader 120 ; barcode tape 130 ; frequency converter 140 ; ​​drive motor 150 ; first code reader 121 ; second code reader 122 ; horizontal barcode tape 131 ; vertical barcode tape 132 ; first frequency converter 141 ; second frequency converter 142 ; second drive motor 152 ; first drive motor 151 . DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0065] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0066] In combination with the accompanying drawings, the turnover system of the battery swap station, the control method and device of the turnover system of the battery swap station, the electronic device and the readable storage medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0067] like Figure 1 As shown, an embodiment of the present application provides one of the structural diagrams of the turnover system of a battery swap station, including a controller 110 , a code reader 120 , a barcode tape 130 , a frequency converter 140 and a drive motor 150 .

[0068] A palletizer, a palletizer track and a drive motor 150; the drive motor 150 is used to drive the palletizer to move along the palletizer track;

[0069] A barcode tape 130, which is arranged along the length direction of the palletizer track; the barcode tape 130 is used to record the position information of the palletizer track;

[0070] The barcode reader 120 is disposed on the palletizer; the barcode reader 120 is used to scan the barcode tape 130 when the palletizer moves, so as to locate the current position information of the palletizer at the current moment;

[0071] The controller 110 is used to obtain the current position information of the palletizer through the communication connection with the code reader 120, and determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information;

[0072] The controller 110 is further configured to control the driving motor 150 to rotate based on the target motion parameter at the next moment.

[0073] There is a communication connection between the controller 110 and the inverter 140 in the embodiment of the present application, and there is also a communication connection between the controller 110 and the inverter 140, and the communication connection can specifically be an Ethernet connection.

[0074] In a battery swap station, a palletizing robot (Palletizing Robot or Palletizer) is a mechanical device used for automated palletizing operations. Its main function is to remove battery packs from the battery compartment or store battery packs in battery packs.

[0075] The palletizer runs along the palletizer track, and the drive motor 150 is used to drive the palletizer to move along the palletizer track to store and retrieve battery packs.

[0076] In the embodiment of the present application, the barcode tape 130 is arranged along the length direction of the palletizer track. The barcode tape 130 can be pasted on the palletizer track, or on other components (such as columns) in the same direction as the palletizer track, without limitation.

[0077] The barcode tape 130 in the embodiment of the present application is used to record the position information of the palletizer track and is a measuring tool. The barcode tape 130 can have any accuracy, such as 1 mm.

[0078] The barcode reader 120 of the embodiment of the present application is installed on the palletizer, and the barcode reader 120 moves with the movement of the palletizer, and the scanning line of the barcode reader 120 should be parallel to the stripe direction of the barcode tape 130. Generally, the stripes of the barcode tape 130 should be parallel to the laser or light source of the barcode tape 130 to ensure the accuracy of scanning.

[0079] The barcode reader 120 scans the barcode tape 130 by emitting infrared rays or lasers when the palletizer moves, thereby locating the current position information of the palletizer at the current moment, and scanning the barcode tape 130 by the barcode reader 120 .

[0080] The controller 110 in the embodiment of the present application is used to control each template connected to the controller 110. There is a communication connection between the controller 110 and the inverter 140, and the communication connection can specifically be an Ethernet connection.

[0081] The controller 110 may specifically be a PLC controller 110, which is used to obtain the current position information of the palletizer through the communication connection with the code reader 120. The current position information includes horizontal position information (X-axis coordinate) and vertical position information (Z-axis coordinate). The controller 110 may determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information. The target position information may be the target position information of the target battery compartment to be accessed. The remaining distance between the palletizer and the target position information may be determined in combination with the current position information and the target position information (the position of the battery compartment). The target motion parameters of the palletizer at the next moment are determined according to the motion parameters (speed, acceleration, etc.) at the current moment and the remaining distance.

[0082] The target motion parameter includes at least one of velocity and acceleration.

[0083] The controller 110 is further configured to control the driving motor 150 to rotate based on the target motion parameter at the next moment, so that the palletizer moves based on the target motion parameter at the next moment.

[0084] The turnover system of the battery swap station in the embodiment of the present application includes a barcode tape 130 and a barcode reader 120, which are low in price and easy to install. The barcode tape 130 is arranged along the length direction of the palletizer track; the barcode tape 130 is used to record the position information of the palletizer track, and the barcode reader 120 is arranged on the palletizer; the barcode reader 120 scans the barcode tape 130 when the palletizer moves to locate the current position information of the palletizer at the current moment. The positioning process belongs to the absolute addressing method, which can achieve higher positioning accuracy and repeatable positioning accuracy. There is no need to calibrate the origin during each positioning process, and the positioning value will not be affected even if the palletizer slips, shifts sideways, etc.

[0085] In addition, the controller 110 of the embodiment of the present application can determine the target motion parameters of the palletizer at the next moment based on the current position information and target position information of the palletizer at the current moment; the controller 110 is also used to control the rotation of the drive motor 150 based on the target motion parameters at the next moment, so as to obtain smoother motion parameters.

[0086] In some embodiments, the turnover system further comprises:

[0087] Frequency converter 140;

[0088] The controller 110 is further used to determine the target frequency to be output by the frequency converter 140 at the next moment based on the target motion parameter, and to send a target message including the target frequency to the frequency converter 140 based on the communication connection between the frequency converter 140 and the controller 110; the target message is used to instruct the frequency converter 140 to output the target frequency at the next moment;

[0089] The frequency converter 140 is used to parse the target frequency from the target message and output the target frequency to the drive motor 150 at the next moment to control the drive motor 150 to rotate.

[0090] The speed of the drive motor 150 in the embodiment of the present application is controlled by the inverter 140. The inverter 140 controls the speed of the motor by adjusting the output frequency so that it can adapt to different load requirements. The inverter 140 and the drive motor 150 are connected by a motor line.

[0091] The controller 110 can determine the target frequency that the frequency converter 140 needs to output at the next moment based on the acceleration and / or speed of the palletizer at the next moment, and can send a target message containing the target frequency to the frequency converter 140 based on the communication connection between the frequency converter 140 and the controller 110; the target message is used to instruct the frequency converter 140 to output the target frequency at the next moment;

[0092] After receiving the target message, the frequency converter 140 may parse the target frequency from the target message and output the target frequency to the drive motor 150 at the next moment to control the drive motor 150 to rotate.

[0093] In some embodiments, the position information includes horizontal position information and vertical position information;

[0094] Palletizer tracks include horizontal tracks and vertical tracks;

[0095] The barcode tape 130 includes a horizontal barcode tape 131 arranged along the length direction of the horizontal track and a vertical barcode tape 132 arranged along the length direction of the vertical track;

[0096] The palletizer includes a horizontal moving mechanism and a vertical moving mechanism;

[0097] The code reader 120 includes a first code reader 121 disposed on the horizontal moving mechanism and a second code reader 122 disposed on the vertical moving mechanism;

[0098] The first code reader 121 is used to scan the horizontal barcode tape 131 when the horizontal moving mechanism moves to locate the horizontal position information of the horizontal moving mechanism at the current moment; the second code reader 122 is used to scan the horizontal barcode tape 131 when the vertical moving mechanism moves to locate the vertical position information of the vertical moving mechanism at the current moment.

[0099] like Figure 2 As shown, an embodiment of the present application provides a motion schematic diagram of a palletizer, wherein the palletizer includes a horizontal moving mechanism and a vertical moving mechanism, and the palletizer track includes a horizontal track and a vertical track, wherein the horizontal moving mechanism moves horizontally along the horizontal track, thereby controlling the horizontal movement of the cargo platform, which can be regarded as moving along the X-axis direction in the spatial coordinate system, and the vertical moving mechanism moves along the vertical track, and the movement of the vertical mechanism can raise or lower the cargo platform, which can be regarded as moving along the Z-axis direction in the spatial coordinate system.

[0100] like Figure 3 As shown, an embodiment of the present application provides a second schematic diagram of the composition structure of the turnover system of the battery swap station, including a controller 110, a code reader 120, a barcode belt 130, a frequency converter 140 and a drive motor 150, the barcode belt 130 includes a horizontal barcode belt 131 arranged along the length direction of the horizontal track and a vertical barcode belt 132 arranged along the length direction of the vertical track, the code reader 120 includes a first code reader 121 arranged on the horizontal moving mechanism and a second code reader 122 arranged on the vertical moving mechanism.

[0101] The first code reader 121 is used to scan the horizontal bar code tape 131 when the horizontal moving mechanism moves, so as to locate the horizontal position information (ie, the X-axis coordinate) of the horizontal moving mechanism at the current moment;

[0102] The second code reader 122 is used to scan the horizontal bar code tape 131 when the vertical moving mechanism moves, so as to locate the vertical position information (ie, the Z-axis coordinate) of the vertical moving mechanism at the current moment.

[0103] The first code reader 121 and the second code reader 122 are both in communication connection with the controller.

[0104] continue Figure 3 In some embodiments, the frequency converter 140 includes a first frequency converter 141; the drive motor 150 includes a first drive motor 151; the first drive motor 151 is used to drive the horizontal moving mechanism to move; the target motion parameter includes the motion parameter of the horizontal moving mechanism; the first frequency converter 141 and the first drive motor 151

[0105] The controller 110 is used to determine the first target frequency to be output by the first frequency converter 141 at the next moment according to the motion parameters of the horizontal moving mechanism;

[0106] The controller 110 is further configured to send a first target message including a first target frequency to the first frequency converter 141 based on the communication connection between the first frequency converter 141 and the controller 110; the first target message is configured to instruct the first frequency converter 141 to output the first target frequency at a next moment;

[0107] The first frequency converter 141 is used to parse the first target frequency from the first target message, and output the first target frequency to the first drive motor 151 at the next moment to control the first drive motor 151 to rotate.

[0108] In some embodiments, the frequency converter 140 includes a second frequency converter 142; the drive motor 150 also includes a second drive motor 152; the second drive motor 152 is used to drive the vertical moving mechanism to move; the target motion parameter includes the motion parameter of the vertical moving mechanism;

[0109] The controller 110 is used to determine the second target frequency to be output by the second frequency converter at the next moment according to the motion parameters of the vertical moving mechanism;

[0110] The controller 110 is further configured to send a second target message including a second target frequency to the second frequency converter based on the communication connection between the second frequency converter 142 and the controller 110; the second target message is configured to instruct the second frequency converter to output the second target frequency at a next moment;

[0111] The second frequency converter is used to parse the second target frequency from the second target message, and output the second target frequency to the second drive motor 152 at the next moment to control the second drive motor 152 to rotate.

[0112] The first frequency converter 141 and the second frequency converter 142 are both connected to the controller for communication. The first frequency converter 141 is connected to the first drive motor 151 through a motor line; the second frequency converter 142 is connected to the second drive motor 152 through a motor line.

[0113] In fact, the above-mentioned embodiment has explained that the palletizer includes a horizontal moving mechanism and a vertical moving mechanism, and the horizontal moving mechanism is driven by the first driving motor 151 , and the vertical moving mechanism is driven by the second driving motor 152 .

[0114] The controller 110 is used to determine the first target frequency that the first frequency converter 141 needs to output at the next moment according to the motion parameters of the horizontal moving mechanism, so that the first frequency converter 141 outputs the first target frequency to the first drive motor 151 at the next moment to control the rotation of the first drive motor 151, thereby driving the horizontal moving mechanism to move.

[0115] Similarly, the controller 110 is also used to determine the second target frequency that the second frequency converter needs to output at the next moment based on the motion parameters of the vertical moving mechanism, so that the second frequency converter outputs the second target frequency to the second drive motor 152 at the next moment to control the rotation of the second drive motor 152, thereby driving the vertical moving mechanism to move.

[0116] In some embodiments, the controller 110 is used to determine the location information of each battery compartment, and to create and store a mapping relationship between the location information of each battery compartment and the corresponding battery compartment identifier in a database;

[0117] The controller 110 is used to, when a target task instruction is obtained, instruct the control stacker to remove the battery pack from the target battery compartment or store the battery pack in the target battery compartment, parse the battery compartment identifier of the target battery compartment from the target task instruction, and search the database for target location information that has a mapping relationship with the battery compartment identifier of the target battery compartment.

[0118] The embodiment of the present application also stores the position information of each battery compartment, and the controller 110 can determine the position information of the battery compartment based on the position information recorded on the barcode tape 130 on the horizontal track and the vertical track.

[0119] In addition, the mapping relationship between the location information of each battery compartment and the corresponding battery compartment identification is also stored in the database. The battery compartment identification is used to uniquely refer to the battery compartment. After receiving the target task instruction, the controller 110 can subsequently parse the battery compartment identification of the target battery compartment from the target task instruction, and then search the database for the target location information that has a mapping relationship with the battery compartment identification of the target battery compartment.

[0120] In some embodiments, the controller 110 is further configured to perform a holding brake on the frequency converter through hardware control.

[0121] Hard-wired control refers to the transmission of control signals through physical wiring (such as relays, contacts, switches and other hardware devices).

[0122] In the hard-wired control mode, the PLC controller 110 sends a signal to the control port of the inverter through an output port (eg, a relay contact) to instruct the inverter to perform certain operations, such as stopping the motor or starting a braking function.

[0123] In some embodiments, the inverter is further used to report operating parameters to the controller 110 in real time based on the communication connection between the inverter and the controller 110; the operating parameters include at least one of the output power, voltage, and current;

[0124] When the controller 110 determines that the operating parameters do not meet the target conditions, the controller 110 executes a target protection strategy for the inverter; the protection strategy includes braking the inverter, reducing at least one of the power, voltage, and current of the inverter.

[0125] In order to ensure the accuracy of the control process, the inverter (the first inverter 141 and the second inverter) will feed back the current operating parameters to the PLC controller 110 in real time, including operating status, speed, load, fault and other information.

[0126] The PLC controller 110 can adjust the control strategy according to these operating parameters. Specifically, these operating parameters can be compared with corresponding target threshold ranges respectively. If they are not within the corresponding threshold ranges, it can be determined that the operating parameters do not meet the target conditions.

[0127] When the controller 110 determines that the operating parameters do not meet the target conditions, the controller 110 executes a target protection strategy for the inverter; the protection strategy includes braking the inverter, reducing at least one of the power, voltage and current of the inverter, and outputting alarm information.

[0128] Based on the above process, it can be found that the embodiment of the present application adopts the absolute addressing method of the frequency converter 140+code reader 120 and the barcode tape 130, providing a turnover system with low price, simple installation, no need for verification, simple positioning method and high positioning accuracy, which can realize the function of accurately positioning each battery compartment.

[0129] like Figure 4 As shown, the embodiment of the present application provides a control method for a turnover system of a battery swap station, which is applied to a controller 110 of the turnover system, and includes the following steps 401, 402, and 403:

[0130] Step 401, obtaining the current position information of the palletizer at the current moment through the communication connection with the code reader 120;

[0131] Step 402: Determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information;

[0132] Step 403, at the next moment, control the driving motor 150 to rotate based on the target motion parameter;

[0133] Wherein, the driving motor 150 is used to drive the palletizer to move along the palletizer track;

[0134] The barcode reader 120 is arranged on the palletizer; the barcode reader 120 is used to scan the barcode tape 130 when the palletizer moves to locate the current position information of the palletizer; the barcode tape 130 is arranged along the length direction of the palletizer track; the barcode tape 130 is used to record the position information of the palletizer track.

[0135] There is a communication connection between the controller 110 and the frequency converter in the embodiment of the present application, and there is also a communication connection between the controller 110 and the frequency converter, and the communication connection can specifically be an Ethernet connection.

[0136] In a battery swap station, a palletizing robot (Palletizing Robot or Palletizer) is a mechanical device used for automated palletizing operations. Its main function is to remove battery packs from the battery compartment or store battery packs in battery packs.

[0137] The palletizer runs along the palletizer track, and the drive motor 150 is used to drive the palletizer to move along the palletizer track to store and retrieve battery packs.

[0138] In the embodiment of the present application, the barcode tape 130 is arranged along the length direction of the palletizer track. The barcode tape 130 can be pasted on the palletizer track, or on other components (such as columns) in the same direction as the palletizer track, without limitation.

[0139] The barcode tape 130 in the embodiment of the present application is used to record the position information of the palletizer track and is a measuring tool. The barcode tape 130 can have any accuracy, such as 1 mm.

[0140] The barcode reader 120 of the embodiment of the present application is installed on the palletizer, and the barcode reader 120 moves with the movement of the palletizer, and the scanning line of the barcode reader 120 should be parallel to the stripe direction of the barcode tape 130. Generally, the stripes of the barcode tape 130 should be parallel to the laser or light source of the barcode tape 130 to ensure the accuracy of scanning.

[0141] The barcode reader 120 scans the barcode tape 130 by emitting infrared rays or lasers when the palletizer moves, thereby locating the current position information of the palletizer at the current moment, and scanning the barcode tape 130 by the barcode reader 120 .

[0142] The controller 110 in the embodiment of the present application is used to control each template connected to the controller 110. There is a communication connection between the controller 110 and the inverter, and the communication connection can specifically be an Ethernet connection.

[0143] The controller 110 is used to obtain the current position information of the palletizer through the communication connection with the code reader 120. The current position information includes horizontal position information (X-axis coordinate) and vertical position information (Z-axis coordinate). The controller 110 can determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information. The target position information can be the target position information of the target battery compartment to be accessed. The remaining distance between the palletizer and the target position information can be determined in combination with the current position information and the target position information. The target motion parameters of the palletizer at the next moment are determined according to the motion parameters (speed, acceleration, etc.) at the current moment and the remaining distance.

[0144] The target motion parameter includes at least one of velocity and acceleration.

[0145] The controller 110 is further configured to control the driving motor 150 to rotate based on the target motion parameter at the next moment, so that the palletizer moves based on the target motion parameter at the next moment.

[0146] The control method of the turnover system of the battery swap station provided in the embodiment of the present application can be executed by the control device of the turnover system of the battery swap station. In the embodiment of the present application, the control device of the turnover system of the battery swap station executes the control method of the turnover system of the battery swap station as an example to illustrate the control device of the turnover system of the battery swap station provided in the embodiment of the present application.

[0147] An embodiment of the present application further provides a control device for a turnover system of a battery swap station, which is applied to a controller 110 of the turnover system.

[0148] like Figure 5 As shown, the control device of the turnover system of the battery swap station includes: an acquisition module 510, a processing module 520 and a control module 530.

[0149] The acquisition module 510 is used to obtain the current position information of the palletizer at the current moment through the communication connection with the code reader 120;

[0150] The processing module 520 is used to determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information;

[0151] A control module 530, configured to control the drive motor 150 to rotate based on the target motion parameter at the next moment;

[0152] Wherein, the driving motor 150 is used to drive the palletizer to move along the palletizer track;

[0153] The barcode reader 120 is arranged on the palletizer; the barcode reader 120 is used to scan the barcode tape 130 when the palletizer moves to locate the current position information of the palletizer; the barcode tape 130 is arranged along the length direction of the palletizer track; the barcode tape 130 is used to record the position information of the palletizer track.

[0154] The turnover system of the battery swap station in the embodiment of the present application includes a barcode tape 130 and a barcode reader 120, which are low in price and easy to install. The barcode tape 130 is arranged along the length direction of the palletizer track; the barcode tape 130 is used to record the position information of the palletizer track, and the barcode reader 120 is arranged on the palletizer; the barcode reader 120 scans the barcode tape 130 when the palletizer moves to locate the current position information of the palletizer at the current moment. The positioning process belongs to the absolute addressing method, which can achieve higher positioning accuracy and repeatable positioning accuracy. There is no need to calibrate the origin during each positioning process, and the positioning value will not be affected even if the palletizer slips, shifts sideways, etc.

[0155] In addition, the controller 110 of the embodiment of the present application can determine the target motion parameters of the palletizer at the next moment based on the current position information and target position information of the palletizer at the current moment; the controller 110 is also used to control the rotation of the drive motor 150 based on the target motion parameters at the next moment, so as to obtain smoother motion parameters.

[0156] The control device of the turnover system of the battery swap station in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., and the embodiment of the present application is not specifically limited.

[0157] The control device of the turnover system of the battery swap station in the embodiment of the present application may be a device having an operating system. The operating system may be a Microsoft (Windows) operating system, an Android (Android) operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0158] The control device of the turnover system of the battery swap station provided in the embodiment of the present application can realize Figure 4 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0159] In some embodiments, Figure 6 As shown, an embodiment of the present application also provides an electronic device 600, including a processor 601, a memory 602, and a computer program stored in the memory 602 and executable on the processor 601. When the program is executed by the processor 601, each process of the control method embodiment of the turnover system of the above-mentioned battery swap station is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0160] Processor 601 may be a CPU (Central Processing Unit), a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 601 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0161] The memory 602 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation herein.

[0162] The memory 602 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 601. The processor 601 is used to execute the computer program stored in the memory 602 to implement the steps shown in the above method embodiment.

[0163] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0164] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the control method embodiment of the turnover system of the above-mentioned battery swap station are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0165] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0166] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements a control method for the turnover system of the above-mentioned battery swap station.

[0167] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0168] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the control method embodiment of the turnover system of the above-mentioned battery swap station, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0169] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0170] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0172] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0173] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", 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 application. 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.

[0174] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A turnover system for a battery swap station, characterized in that: include: A palletizer, a palletizer track and a drive motor; the drive motor is used to drive the palletizer to move along the palletizer track; A barcode tape, the barcode tape is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track; A barcode reader, the barcode reader is arranged on the palletizer; the barcode reader is used to scan the barcode tape when the palletizer moves, so as to locate the current position information of the palletizer at the current moment; A controller, the controller being used to obtain the current position information of the palletizer through a communication connection with the code reader, and to determine the target motion parameters of the palletizer at the next moment according to the current position information and the target position information; The controller is also used to control the driving motor to rotate based on the target motion parameter at the next moment.

2. The turnover system of the battery swap station according to claim 1, characterized in that: The turnover system also includes: Frequency converter; The controller is further used to determine the target frequency to be output by the frequency converter at the next moment based on the target motion parameter, and send a target message containing the target frequency to the frequency converter based on the communication connection between the frequency converter and the controller; the target message is used to instruct the frequency converter to output the target frequency at the next moment; The frequency converter is used to parse the target frequency from the target message and output the target frequency to the drive motor at the next moment to control the drive motor to rotate.

3. The turnover system of the battery swap station according to claim 2, characterized in that: The position information includes horizontal position information and vertical position information; The palletizer track includes a horizontal track and a vertical track; The barcode tape comprises a horizontal barcode tape arranged along the length direction of the horizontal track and a vertical barcode tape arranged along the length direction of the vertical track; The palletizer includes a horizontal moving mechanism and a vertical moving mechanism; The code reader includes a first code reader arranged on the horizontal moving mechanism and a second code reader arranged on the vertical moving mechanism; The first code reader is used to scan the horizontal barcode tape when the horizontal moving mechanism moves, so as to locate the horizontal position information of the horizontal moving mechanism at the current moment; the second code reader is used to scan the horizontal barcode tape when the vertical moving mechanism moves, so as to locate the vertical position information of the vertical moving mechanism at the current moment.

4. The turnover system of the battery swap station according to claim 3, characterized in that: The frequency converter includes a first frequency converter; the drive motor includes a first drive motor; the first drive motor is used to drive the horizontal moving mechanism to move; the target motion parameter includes a motion parameter of the horizontal moving mechanism; The controller is used to determine the first target frequency to be output by the first frequency converter at the next moment according to the motion parameters of the horizontal moving mechanism; The controller is further configured to send a first target message including the first target frequency to the first frequency converter based on the communication connection between the first frequency converter and the controller; the first target message is configured to instruct the first frequency converter to output the first target frequency at the next moment; The first frequency converter is used to parse the first target frequency from the first target message, and output the first target frequency to the first drive motor at the next moment to control the first drive motor to rotate.

5. The turnover system of the battery swap station according to claim 3, characterized in that: The frequency converter includes a second frequency converter; the drive motor also includes a second drive motor; the second drive motor is used to drive the vertical moving mechanism to move; the target motion parameter includes the motion parameter of the vertical moving mechanism; The controller is used to determine the second target frequency to be output by the second frequency converter at the next moment according to the motion parameters of the vertical moving mechanism; The controller is further configured to send a second target message including the second target frequency to the second frequency converter based on the communication connection between the second frequency converter and the controller; the second target message is configured to instruct the second frequency converter to output the second target frequency at the next moment; The second frequency converter is used to parse the second target frequency from the second target message, and output the second target frequency to the second drive motor at the next moment to control the rotation of the second drive motor.

6. The turnover system of the battery swap station according to any one of claims 1 to 5, characterized in that: The controller is used to determine the location information of each battery compartment, and to create and store a mapping relationship between the location information of each battery compartment and the corresponding battery compartment identifier in a database; The controller is used to, when a target task instruction is obtained, instruct the control stacker to remove the battery pack from the target battery compartment or store the battery pack in the target battery compartment, parse the battery compartment identification of the target battery compartment from the target task instruction, and search the database for target position information that has the mapping relationship with the battery compartment identification of the target battery compartment.

7. The turnover system of the battery swap station according to claim 2, characterized in that: The controller is also used to perform a holding brake on the frequency converter through hardware control.

8. The turnover system of the battery swap station according to claim 2, characterized in that: The frequency converter is also used to report operating parameters to the controller in real time based on the communication connection between the frequency converter and the controller; the operating parameters include at least one of output power, voltage, and current; When determining that the operating parameters do not meet the target conditions, the controller executes a target protection strategy for the inverter; the protection strategy includes braking the inverter, reducing at least one of the power, voltage and current of the inverter.

9. A control method for a turnover system of a battery swap station, characterized in that: Controllers for turnaround systems include: Obtain the current position information of the palletizer at the current moment through the communication connection with the code reader; Determining the target motion parameters of the palletizer at the next moment according to the current position information and the target position information; At the next moment, controlling the driving motor to rotate based on the target motion parameter; Wherein, the driving motor is used to drive the palletizer to move along the palletizer track; The barcode reader is arranged on the palletizer; the barcode reader is used to scan the barcode tape when the palletizer moves to locate the current position information of the palletizer; the barcode tape is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track.

10. A control device for a turnover system of a battery swap station, characterized in that: Controllers for turnaround systems include: An acquisition module, used for obtaining the current position information of the palletizer at the current moment through a communication connection with the code reader; A processing module, used for determining the target motion parameters of the palletizer at the next moment according to the current position information and the target position information; A control module, configured to control the rotation of the drive motor based on the target motion parameter at the next moment; Wherein, the driving motor is used to drive the palletizer to move along the palletizer track; The barcode reader is arranged on the palletizer; the barcode reader is used to scan the barcode tape when the palletizer moves to locate the current position information of the palletizer; the barcode tape is arranged along the length direction of the palletizer track; the barcode tape is used to record the position information of the palletizer track.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method of the turnover system of the battery swap station as claimed in claim 9 is implemented.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the turnover system of the battery swap station as claimed in claim 9 is implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the control method of the turnover system of the battery swap station as claimed in claim 9 is implemented.

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