Multi-stacker crane bin selecting method and battery replacing station

Abstract

The invention relates to a multi-stacker crane bin selecting method and a battery replacing station. The multi-stacker crane bin selecting method comprises the steps that bin position numbers are obtained; the number X of stacking machines is obtained, the battery bins are divided into X battery bin sets, and each stacking machine corresponds to one battery bin set; the number Y of battery packs on the vehicle is obtained, and Y to-be-taken bin numbers are obtained; judging whether full-electricity battery packs exist on the Y to-be-taken bin position numbers or not, if yes, judging whether to-be-taken bin position numbers for storing the full-electricity battery packs exist in all the battery bin sets or not, if yes, allocating the to-be-taken bin position numbers to the corresponding stackers, judging whether unallocated stackers and to-be-taken bin position numbers exist at the same time or not, and if not, allocating the to-be-taken bin position numbers to the corresponding stackers; distributing the undistributed to-be-taken bin position numbers to the undistributed stacking machines one by one; and the stacker crane carries the battery packs on the allocated to-be-taken bin numbers. According to the method, the carrying strategy that the multiple stackers carry the battery packs cooperatively is adopted, all the battery bins in the battery rack can be reasonably and efficiently distributed to the multiple stackers, and the carrying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of battery swapping stations, and particularly to a method for selecting bins for multiple palletizers and a battery swapping station. Background Art

[0002] With the continuous upgrading and improvement of new energy vehicle technologies and services, and the increasing acceptance of the general public, new energy vehicles are becoming more and more popular, and the associated new energy charging and swapping stations are also coming into people's view more and more. As an important component of the charging system of a battery swapping station, the battery bin stores the discharged battery packs removed from new energy vehicles for charging. Battery swapping is that the RGV robot removes the discharged battery pack from the vehicle and places it on the discharged bin of the buffer mechanism, and the palletizer transports the fully charged battery pack from the battery bin and also places it in the fully charged bin of the buffer. Then, the RGV transports the discharged battery pack on the buffer to the battery bin for charging, and the RGV loads the fully charged battery pack onto the vehicle to complete the battery swapping. However, with the increase in the number of battery packs on the vehicle, the overall battery swapping efficiency of the battery swapping station is reduced.

[0003] Although some battery swapping stations use multiple palletizers to transport simultaneously in order to improve the transport efficiency of the palletizers, when multiple palletizers work together, a reasonable and efficient cooperation control strategy is particularly important, and it is also necessary to avoid interference or collision between multiple palletizers while improving the transport efficiency of battery packs.

[0004] Therefore, it is necessary to provide a method for selecting bins for multiple palletizers and a battery swapping station that can not only reasonably and efficiently allocate battery bins to multiple palletizers to improve the transport efficiency, but also avoid collisions between palletizers and improve the working stability. Summary of the Invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a method for selecting bins for multiple palletizers and a battery swapping station.

[0006] The technical solution of the present invention is as follows:

[0007] A method for selecting bins for multiple palletizers, the method for selecting bins for multiple palletizers includes:

[0008] S1: Obtain the number of battery bins on the battery rack, number each of the battery bins, and each of the battery bins has a bin number;

[0009] S2: Obtain the number of palletizers X, X≥2, divide the battery bins into X groups of battery bin groups by columns, and each palletizer corresponds to one group of the battery bin groups, and proceed to the next step;

[0010] S3: Obtain the number Y of battery packs on the vehicle, and judge that if the number Y of battery packs = 1, obtain the bin number with a fully charged battery pack as the bin number to be retrieved, and enter step S4; if the number Y of battery packs ≥ 2, obtain the bin numbers of Y battery packs with fully charged battery packs as the bin numbers to be retrieved, and enter step S5;

[0011] S4: Select the corresponding palletizer to carry the battery pack on the bin number to be retrieved, and enter step S11;

[0012] S5: Judge whether there is at least one fully charged battery pack on the Y bin numbers to be retrieved. If so, enter the next step; if not, enter step S11;

[0013] S6: Judging one by one whether there is a bin number to be retrieved with a fully charged battery pack in all the battery bin groups. If so, allocate one of the bin numbers to be retrieved to the corresponding palletizer. After all the battery bin groups are judged and allocated, enter the next step; if not, after all the battery bin groups are judged and allocated, enter the next step;

[0014] S7: Judge whether there are both unallocated palletizers and unallocated bin numbers to be retrieved. If so, enter the next step; if not, enter step S9;

[0015] S8: Allocate the unallocated bin numbers to be retrieved one by one to the unallocated palletizers. After all the unallocated bin numbers to be retrieved are allocated or all the unallocated palletizers are allocated, enter the next step;

[0016] S9: The palletizer transports the battery packs on the bin numbers to be retrieved that are allocated to it, and enter the next step;

[0017] S10: Cancel all allocations and return to step S5;

[0018] S11: End.

[0019] As a further improvement of the present invention, a step SD is provided between step S7 and step S8;

[0020] SD: Judge whether there is at least one unallocated bin number to be retrieved located in the outermost column of the battery rack. If so, do not allocate the unallocated bin number located in the outermost column of the battery rack, and allocate the other unallocated bin numbers to be retrieved one by one to the unallocated palletizers. After all the other unallocated bin numbers to be retrieved are allocated or all the unallocated palletizers are allocated, enter step S9; if not, enter step S8.

[0021] As a further improvement of the present invention, a step SA is provided between step S2 and step S3;

[0022] SA: Number all the palletizers as {1, 2, …, X};

[0023] Before entering step S9 when executing step S7 or step S8, steps SB and step SC are provided;

[0024] SB: Determine whether there are at least two of all the allocated palletizing positions to be retrieved that are in the same column or adjacent columns. If so, enter step SC; if not, enter step S9;

[0025] SC: Among at least two palletizers allocated with palletizing positions to be retrieved that are in the same column or adjacent columns, the one with the smallest number and the other palletizers carry their respective allocated battery packs simultaneously. After the handling is completed, the remaining palletizers are sorted in ascending order of their numbers and then carry the allocated battery packs in sequence, and enter step S10.

[0026] As a further improvement of the present invention, in step SC, when at least two of the palletizing positions to be retrieved are in the same column, the palletizer with the smallest number carries the battery pack at the bottommost position, and the remaining palletizers are sorted in ascending order of their numbers and carry the battery packs arranged from bottom to top in sequence.

[0027] As a further improvement of the present invention, in step SC, when at least two of the palletizing positions to be retrieved are in adjacent columns, the palletizer with the smallest number carries the battery pack at the leftmost position, and the remaining palletizers are sorted in ascending order of their numbers and carry the battery packs arranged from left to right in sequence.

[0028] As a further improvement of the present invention, in step S3, when the number of battery packs Y ≥ 2, obtain the number Z of the palletizing positions with non - adjacent and fully - charged battery packs, and judge that if Y ≤ Z, select Y of the palletizing positions from Z as the palletizing positions to be retrieved; if Y > Z, select these Z palletizing positions and Y - Z other palletizing positions with fully - charged battery packs as the palletizing positions to be retrieved together.

[0029] A battery swapping station based on the multi - palletizer bin selection method as described above, including a battery rack provided with several battery bins, at least two palletizers, a battery swapping trolley, and a control terminal. Battery packs are provided in the battery bins. The battery rack, the palletizers, and the battery swapping trolley are all electrically connected to the control terminal, and the palletizers and the battery swapping trolley exchange the battery packs.

[0030] As a further improvement of the present invention, the battery swapping station further includes a ground rail, and at least two of the palletizers move along the ground rail. A safety avoidance position for the palletizer to give way is provided on the side of the ground rail, and the number of the safety avoidance positions is greater than or equal to the number of the palletizers.

[0031] As a further improvement of the present invention, a buffer rack is provided between the palletizer and the battery swapping cart.

[0032] As a further improvement of the present invention, at least one of the battery compartments is a reserved battery compartment, and no battery pack is placed in the reserved battery compartment.

[0033] According to the present invention of the above solution, the beneficial effects of the present invention are as follows:

[0034] The present invention provides a method for a plurality of palletizers to select a compartment and a battery swapping station. By adopting a handling strategy of a plurality of palletizers to cooperate in handling battery packs, all battery compartments in the battery rack can be reasonably and efficiently allocated to a plurality of palletizers, improving the handling efficiency; when there are special situations where multiple battery packs are in the same column or adjacent columns, the plurality of palletizers handle the battery packs successively according to the strategy setting and avoid each other during the handling of the battery packs, which can prevent collisions between the palletizers and improve the working stability and safety. Description of the Drawings

[0035] Figure 1 is a flowchart of the first embodiment of the present invention;

[0036] Figure 2 is a flowchart of the second embodiment of the present invention;

[0037] Figure 3 is a flowchart of the third embodiment of the present invention. Detailed Embodiments

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] See Figure 1 , the present invention provides a first embodiment of a method for selecting a bin for multiple palletizers. The method for selecting a bin for multiple palletizers includes:

[0042] S1: Obtain the number of battery bins on the battery rack, number each battery bin, and each battery bin has a bin number;

[0043] S2: Obtain the number of palletizers X, X≥2, divide the battery bins into X groups of battery bin groups by columns, and each palletizer corresponds to a group of battery bin groups, and proceed to the next step;

[0044] S3: Obtain the number of battery packs Y on the vehicle, and judge that if the number of battery packs Y = 1, obtain the bin number of a bin with a fully charged battery pack as the bin number to be retrieved, and proceed to step S4. If the number of battery packs Y≥2, obtain the bin numbers of Y bins with fully charged battery packs as the bin numbers to be retrieved, and proceed to step S5;

[0045] S4: Select the corresponding palletizer to carry the battery pack on the bin number to be retrieved, and proceed to step S11;

[0046] S5: Judge whether there is at least one fully charged battery pack on the Y bin numbers to be retrieved. If so, proceed to the next step. If not, proceed to step S11;

[0047] S6: Judging one by one whether there is a to-be-taken position number storing a fully charged battery pack in all battery compartment groups. If so, allocate one of the to-be-taken position numbers to the corresponding palletizer. After all battery compartment groups are judged and allocated, proceed to the next step. If not, after all battery compartment groups are judged and allocated, proceed to the next step;

[0048] Among them, the judgment and allocation can be carried out in the following two ways:

[0049] Method 1: Judging all battery compartment groups one by one. After all battery compartment groups are judged, uniformly allocate the to-be-taken position numbers to be allocated to the corresponding palletizers;

[0050] Method 2: Judging the first battery compartment group. After the judgment is completed (if allocation is required, allocate one of the to-be-taken position numbers to the corresponding palletizer; if allocation is not required, no action is taken), then judge and allocate the second battery compartment group, and so on, judge and allocate the subsequent battery compartment groups;

[0051] S7: Judging whether there are unallocated palletizers and unallocated to-be-taken position numbers at the same time. If so, proceed to the next step. If not, proceed to step S9;

[0052] SD: Judging whether there is at least one unallocated to-be-taken position number in the outermost column of the battery rack. If so, do not allocate the unallocated to-be-taken position numbers in the outermost column of the battery rack, and allocate the other unallocated to-be-taken position numbers to the unallocated palletizers one by one. After all the other unallocated to-be-taken position numbers are allocated or all unallocated palletizers are allocated, proceed to step S9. If not, proceed to step S8;

[0053] S8: Allocate the unallocated to-be-taken position numbers to the unallocated palletizers one by one. After all unallocated to-be-taken position numbers are allocated or all unallocated palletizers are allocated, proceed to the next step;

[0054] See Figure 2 , as an embodiment of the present invention, due to the limited space layout in the battery swapping station, the battery packs in the battery compartments in the outermost column of the battery rack can only be transported by the outermost palletizer, such as the leftmost column or the rightmost column. Therefore, when there are unallocated palletizers and unallocated to-be-taken position numbers at the same time, judge whether the unallocated to-be-taken position numbers are in the outermost column of the battery rack. If so, do not allocate the to-be-taken position number to the unallocated palletizer and proceed to the next step. If not, allocate the to-be-taken position number to the unallocated palletizer and proceed to the next step;

[0055] The battery packs in the battery compartments of the column at the outermost edge of the battery rack can only be allocated to the corresponding palletizers, rather than being allocated to other palletizers, thus avoiding the problem that other palletizers receive the battery compartment allocation instruction but cannot pick up the corresponding battery packs, improving the overall working stability and reliability. At the same time, it can also prevent the palletizer that receives the instruction from interfering with the normal operation of other palletizers or colliding with other palletizers in order to pick up the battery packs in the battery compartments of the outermost column, thereby improving the overall safety;

[0056] S9: The palletizers carry the battery packs on the to-be-picked bin numbers they are respectively allocated, and proceed to the next step;

[0057] S10: Cancel all allocations and return to step S5;

[0058] S11: End.

[0059] The present invention adopts a handling strategy of multiple palletizers collaborating to handle battery packs, which can reasonably and efficiently allocate all the battery compartments in the battery rack to multiple palletizers, and multiple palletizers can simultaneously handle the battery packs in the battery compartments they are respectively allocated, improving the handling efficiency; moreover, the handling strategy of multiple palletizers collaborating to handle battery packs can also be adaptively adjusted according to the number of battery packs on the vehicle, enabling the palletizer bin selection method to be applicable to various vehicle types and improving the overall use compatibility and reliability.

[0060] See Figure 3 For the third embodiment of a method for a plurality of palletizers to select bins provided by the present invention, the method for a plurality of palletizers to select bins includes:

[0061] S1: Obtain the number of battery compartments on the battery rack, number each battery compartment, and each battery compartment has a bin number;

[0062] S2: Obtain the number of palletizers X, X≥2, divide the battery compartments into X groups of battery compartment groups by columns, and each palletizer corresponds to a group of battery compartment groups, and proceed to the next step;

[0063] SA: Number all the palletizers {1, 2,..., X}. For example, number the palletizers in the order from left to right, that is, the number of the leftmost palletizer is 1, the number of the adjacent palletizer on the right is 2, and so on. When there are X palletizers, the number of the rightmost palletizer is X. Similarly, according to specific usage requirements, the palletizers can also be numbered in the order from right to left, that is, the number of the rightmost palletizer is 1, and the number of the leftmost palletizer is X;

[0064] S3: Obtain the number Y of battery packs on the vehicle, and judge that if the number Y of battery packs = 1, obtain the position number of a bin with a fully charged battery pack as the position number to be retrieved, and enter step S4; if the number Y of battery packs ≥ 2, obtain the position numbers of Y bins with fully charged battery packs as the position numbers to be retrieved, and enter step S5;

[0065] Preferably, when the number Y of battery packs ≥ 2, obtain the number Z of non - adjacent position numbers of bins with fully charged battery packs, and judge that if Y ≤ Z, select Y position numbers from Z as the position numbers to be retrieved; if Y > Z, select these Z position numbers and Y - Z other position numbers of bins with fully charged battery packs as the position numbers to be retrieved together; that is, when the number Z of non - adjacent position numbers of bins with fully charged battery packs is greater than or equal to the number Y of battery packs on the vehicle, randomly select Y position numbers from Z as the position numbers to be retrieved preferentially, which is convenient for the subsequent palletizer to carry the battery packs. When the number Z of non - adjacent position numbers of bins with fully charged battery packs is less than the number Y of battery packs on the vehicle, select all the non - adjacent position numbers Z of bins with fully charged battery packs, and additionally select Y - Z position numbers of bins with fully charged battery packs from the battery rack. The position numbers of these two parts together are used as the position numbers to be retrieved, which can minimize the situation that the selected position numbers to be retrieved are adjacent to each other, and is convenient for the subsequent palletizer to carry the battery packs;

[0066] S4: Select the corresponding palletizer to carry the battery packs on the position number to be retrieved, and enter step S11;

[0067] S5: Judge whether there is at least one fully charged battery pack on the Y position numbers to be retrieved. If so, enter the next step; if not, enter step S11;

[0068] S6: Judge one by one whether there is a position number to be retrieved with a fully charged battery pack in all battery bin groups. If so, assign one of the position numbers to be retrieved to the corresponding palletizer. After all battery bin groups are judged and assigned, enter the next step; if not, after all battery bin groups are judged and assigned, enter the next step;

[0069] S7: Judge whether there are both unassigned palletizers and unassigned position numbers to be retrieved. If so, enter the next step; if not, enter step SB;

[0070] S8: Assign the unassigned position numbers to be retrieved one by one to the unassigned palletizers one - to - one. After all unassigned position numbers to be retrieved are assigned or all unassigned palletizers are assigned, enter the next step;

[0071] SB: Judge whether there are at least two among all the assigned position numbers to be retrieved that are in the same column or adjacent columns. If so, enter step SC; if not, enter step S9;

[0072] SC: Among at least two palletizers assigned with the smallest numbered battery package picking positions in the same column or adjacent columns, the one with the smallest number and other palletizers carry their respective assigned battery packages simultaneously. After the carrying is completed, the remaining palletizers are sorted in ascending order of their numbers and then carry the assigned battery packages in sequence, entering step S10;

[0073] Among them, when at least two battery package picking positions are in the same column, the palletizer with the smallest number carries the battery package at the bottommost, and the remaining palletizers carry the battery packages arranged from bottom to top in ascending order of their numbers;

[0074] When at least two battery package picking positions are in adjacent columns, the palletizer with the smallest number carries the battery package at the leftmost, and the remaining palletizers carry the battery packages arranged from left to right in ascending order of their numbers;

[0075] Since the distance between adjacent battery compartments is relatively narrow while the overall size of the palletizer is relatively large, it is impossible for two palletizers to carry the battery packages in the battery compartments to be picked in the same column or adjacent columns simultaneously. Therefore, when two palletizers are simultaneously assigned with battery compartments to be picked in the same column or adjacent columns, there needs to be a sequential carrying order between them, that is, after the palletizer with a smaller number successfully picks up its assigned battery package, the palletizer with a larger number then picks up its assigned battery package. Through an orderly sequential carrying process, it can effectively avoid the interference or even collision between the two palletizers when carrying battery packages from the battery compartments to be picked simultaneously, thus preventing the abnormal operation or damage of the palletizer and improving the overall working safety and stability. Similarly, when three battery compartments are in the same column or adjacent columns to each other, the palletizer with the smallest number gives priority to carrying its assigned battery package. After the palletizer with the smallest number has completed the carrying, the palletizer with the second smallest number then carries its assigned battery package. After the palletizer with the second smallest number has completed the carrying, the palletizer with the largest number then carries its assigned battery package. When more battery compartments to be picked are in the same column or adjacent columns to each other, the corresponding process of carrying battery packages refers to the above process and will not be elaborated here;

[0076] Among them, when two battery package picking positions are in the same column, the palletizer with a smaller number carries the battery package at the lower position, and the palletizer with a larger number carries the battery package at the upper position. When three battery package picking positions are in the same column, the palletizer with the smallest number carries the battery package at the bottommost, the palletizer with the second smallest number carries the battery package in the middle, and the palletizer with the largest number carries the battery package at the topmost. When more battery compartments to be picked are in the same column, the corresponding process of carrying battery packages refers to the above process and will not be elaborated here;

[0077] In addition, when two waiting-to-be-picked position numbers are located in adjacent columns, the palletizer with a smaller number carries the battery pack on the left, and the palletizer with a larger number carries the battery pack on the right. When three waiting-to-be-picked position numbers are located in adjacent columns, the palletizer with the smallest number carries the battery pack on the far left, the palletizer with the second number carries the battery pack in the middle, and the palletizer with the largest number carries the battery pack on the far right. When more waiting-to-be-picked battery positions are located in the same column, the corresponding process of carrying battery packs refers to the above process and will not be repeated here.

[0078] S9: The palletizer moves the battery packs on the assigned storage locations to proceed to the next step;

[0079] S10: Cancel all allocations and return to step S5;

[0080] S11: End.

[0081] The present invention can, when a special situation occurs in which multiple battery packs are in the same row or adjacent rows, enable multiple palletizers to carry the battery packs in sequence according to the strategy settings, and avoid each other during the transportation of the battery packs, thereby avoiding collisions between the palletizers and improving working stability and safety. At the same time, when obtaining the to-be-picked storage location numbers, the storage location numbers that are not adjacent to each other and have fully charged battery packs are allocated as the to-be-picked storage location numbers as much as possible, thereby avoiding the phenomenon of multiple palletizers avoiding each other when carrying battery packs, facilitating the subsequent palletizers to carry the battery packs, and effectively improving the battery pack transportation efficiency.

[0082] The present invention provides a battery swap station, comprising a battery rack with a plurality of battery bins, at least two palletizers, a battery swap trolley and a control end. A battery pack is arranged in the battery bin. The battery rack, the palletizer and the battery swap trolley are all electrically connected to the control end. The palletizer exchanges battery packs with the battery swap trolley. The control end comprises a station control and a PLC. The station control obtains the number X of palletizers, the number Y of battery packs on the vehicle, the battery bin number and all battery pack information. The station control obtains and sends the bin number to be picked up. The PLC assigns the bin number to the palletizer, thereby realizing the work of selecting bins and transporting battery packs by multiple palletizers. The palletizer carries the battery pack and exchanges the battery pack with the battery swap trolley to complete the battery swapping of the vehicle.

[0083] As an embodiment of the present invention, the battery swap station also includes a ground rail, and at least two palletizers move along the ground rail. Safety avoidance positions for the palletizers to give way are provided on the sides of the ground rail. In order to maximize the safety and stability of the palletizers during the process of transporting battery packs, the number of safety avoidance positions is greater than or equal to the number of palletizers.

[0084] As an embodiment of the present invention, a buffer rack is provided between the palletizer and the battery swapping cart. When the palletizer finishes the battery pack handling operation first, the palletizer temporarily stores the fully charged battery packs on the buffer rack and can then return to the battery rack to continue handling the next battery pack without waiting for the battery swapping cart to perform battery pack interaction. When the battery swapping cart finishes the battery pack disassembly operation first, the battery swapping cart temporarily stores the discharged battery packs on the buffer rack and can then return to the vehicle to continue the next battery pack disassembly operation without waiting for the battery swapping cart to perform battery pack interaction, which can greatly improve the overall work efficiency.

[0085] As an embodiment of the present invention, at least one battery compartment is a reserved battery compartment where no battery pack is placed. The reserved battery compartment can store battery packs that need emergency repair, or battery packs with special functions, or be temporarily used as a normal battery compartment, or for other purposes.

[0086] As an embodiment of the present invention, the battery rack has 36 battery compartments arranged in 3 rows and 12 columns. The leftmost is the 1st column and the rightmost is the 12th column. There are two palletizers, namely palletizer 1 and palletizer 2. Palletizer 1 corresponds to the battery compartments from the 1st column to the 6th column, and palletizer 2 corresponds to the battery compartments from the 7th column to the 12th column. The first three battery compartments in the 1st row and the first nine battery compartments in the 3rd row are reserved battery compartments. The following is an example for illustration:

[0087] When one battery pack needs to be handled, the control terminal issues a waiting-to-be-picked storage location number.

[0088] 1. When the column number of the waiting-to-be-picked storage location number is greater than 6, palletizer 1 goes to the safety avoidance position and palletizer 2 handles the battery pack.

[0089] 2. When the column number of the waiting-to-be-picked storage location number is less than or equal to 6, palletizer 2 takes the safety avoidance position and palletizer 1 handles the battery pack.

[0090] When two battery packs need to be handled, the control terminal issues two waiting-to-be-picked storage location numbers.

[0091] 1. When both of the two waiting-to-be-picked storage location numbers are in the 12th column, palletizer 1 goes to the safety avoidance position and palletizer 2 independently completes the handling of the battery packs at the two waiting-to-be-picked storage location numbers.

[0092] 2. When both of the two waiting-to-be-picked storage location numbers are in the 1st column, palletizer 2 goes to the safety avoidance position and palletizer 1 independently completes the handling of the battery packs at the two waiting-to-be-picked storage location numbers.

[0093] 3. When the two waiting-to-be-picked storage location numbers are in the same column but not the 1st column and the 12th column, palletizer 1 handles the lower battery pack, palletizer 2 handles the upper battery pack, and palletizer 1 handles first and palletizer 2 handles later.

[0094] 4. The two storage location numbers to be retrieved are in adjacent columns. The palletizer 1 transports the battery pack on the left, and the palletizer 2 transports the battery pack on the right. The palletizer 1 transports first, and the palletizer 2 transports later.

[0095] 5. If the two storage location numbers to be retrieved are in different and non - adjacent columns, the palletizer 1 transports the battery pack on the left, and the palletizer 2 transports the battery pack on the right. The palletizer 1 and the palletizer 2 transport simultaneously.

[0096] When three battery packs need to be transported, the control terminal issues three storage location numbers to be retrieved.

[0097] 1. If all three storage location numbers to be retrieved are in column 12, the palletizer 1 goes to the safety avoidance position, and the palletizer 2 independently completes the transportation of the battery packs on the three storage location numbers to be retrieved.

[0098] 2. If all three storage location numbers to be retrieved are in column 1, the palletizer 2 goes to the safety avoidance position, and the palletizer 1 independently completes the transportation of the battery packs on the three storage location numbers to be retrieved.

[0099] 3. If all three storage location numbers to be retrieved are in the same column but not column 1 and column 12, if the column number of the storage location is greater than 6, the palletizer 1 transports the bottom - most battery pack first, the palletizer 2 then transports the middle battery pack, and the palletizer 2 finally transports the top - most battery pack. If the column number of the storage location is less than or equal to 6, the palletizer 1 transports the bottom - most battery pack first, the palletizer 2 then transports the top - most battery pack, and the palletizer 1 finally transports the middle battery pack.

[0100] 4. If two storage location numbers to be retrieved are in the same column and the other storage location number to be retrieved is in an adjacent column, and the two storage locations are on the left and one storage location number to be retrieved is on the right. If the column number on the left is less than or equal to 6, the palletizer 1 transports the bottom - left battery pack first, the palletizer 2 then transports the battery pack on the right, and the palletizer 1 finally transports the top - left battery pack. If the column number on the left is greater than 6, the palletizer 1 transports the bottom - left battery pack first, the palletizer 2 then transports the battery pack on the right, and the palletizer 2 finally transports the top - left battery pack.

[0101] 5. If two storage location numbers to be retrieved are in the same column and the other storage location number to be retrieved is in an adjacent column, and the two storage locations are on the right and one storage location number to be retrieved is on the left. If the column number on the right is less than or equal to 6, the palletizer 1 transports the battery pack on the left first, the palletizer 2 then transports the bottom - right battery pack, and the palletizer 1 finally transports the top - right battery pack. If the column number on the right is greater than 6, the palletizer 1 transports the battery pack on the left first, the palletizer 2 then transports the bottom - right battery pack, and the palletizer 2 finally transports the top - right battery pack.

[0102] 6. If it is not one of the above five situations, that is, the three storage location numbers to be picked up are not in the same column, sort the three storage location numbers to be picked up from left to right. If the second storage column number after sorting is greater than 6, palletizer 1 will carry the leftmost battery pack while palletizer 2 carries the rightmost battery pack, and palletizer 2 will carry the middle battery pack last. If the second storage column number after sorting is less than or equal to 6, palletizer 1 will carry the leftmost battery pack while palletizer 2 carries the rightmost battery pack, and palletizer 1 will carry the middle battery pack last.

[0103] In summary, the present invention provides a method for selecting bins for multiple palletizers and a battery swap station. The method adopts a handling strategy for multiple palletizers to collaboratively carry battery packs, which can reasonably and efficiently allocate all battery bins in a battery rack to multiple palletizers, and multiple palletizers can simultaneously carry the battery packs in their respective assigned battery bins, thereby improving the handling efficiency. The handling strategy for multiple palletizers to collaboratively carry battery packs can also be adaptively adjusted according to the number of battery packs on the vehicle, so that the bin selection method for the palletizer can be applicable to various vehicle models, thereby improving the overall compatibility and reliability of use. When a special situation occurs in which multiple battery packs are in the same column or adjacent columns, multiple palletizers carry the battery packs in sequence according to the strategy settings, and avoid each other during the transportation of the battery packs, thereby avoiding collisions between palletizers and improving working stability and safety. At the same time, when obtaining the bin number to be picked up, the bin numbers that are not adjacent to each other and have fully charged battery packs are allocated as the bin number to be picked up, thereby avoiding the phenomenon of multiple palletizers avoiding each other when carrying battery packs, thereby facilitating the subsequent palletizers to carry the battery packs and effectively improving the battery pack transportation efficiency.

[0104] It should be emphasized that the above are only preferred embodiments of the present invention and do not limit the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for selecting a bin by multiple palletizers, characterized in that, The method for selecting bins by multiple palletizers includes: S1: Obtain the number of battery bins on the battery rack, number each of the battery bins, and each battery bin has a bin number; S2: Obtain the number of palletizers X, where X≥2, divide the battery bins into X groups of battery bin groups by column, and each palletizer corresponds to one group of the battery bin groups, then proceed to the next step; S3: Obtain the number of battery packs Y on the vehicle and make a judgment. If the number of battery packs Y = 1, obtain the bin number of a bin with a fully charged battery pack as the bin number to be retrieved, and enter step S4. If the number of battery packs Y≥2, obtain the bin numbers of Y bins with fully charged battery packs as the bin numbers to be retrieved, and enter step S5; S4: Select the corresponding palletizer to carry the battery pack on the bin number to be retrieved, and enter step S11; S5: Judge whether there is at least one fully charged battery pack on the Y bin numbers to be retrieved. If so, proceed to the next step. If not, enter step S11; S6: Judging one by one whether there is a bin number to be retrieved storing a fully charged battery pack in all the battery bin groups. If so, assign one of the bin numbers to be retrieved to the corresponding palletizer. After all the battery bin groups have been judged and assigned, proceed to the next step. If not, after all the battery bin groups have been judged and assigned, proceed to the next step; S7: Judge whether there are both unassigned palletizers and unassigned bin numbers to be retrieved. If so, proceed to the next step. If not, enter step S9; S8: Assign the unassigned bin numbers to be retrieved to the unassigned palletizers one by one. After all the unassigned bin numbers to be retrieved have been assigned or all the unassigned palletizers have been assigned, proceed to the next step; S9: The palletizer carries the battery pack on the assigned bin number to be retrieved, and proceed to the next step; S10: Cancel all assignments and return to step S5; S11: End.

2. The method for selecting a bin for multiple palletizers according to claim 1, wherein There is a step SD between step S7 and step S8; SD: Judge whether there is at least one unassigned bin number to be retrieved located in the outermost column of the battery rack. If so, do not assign the unassigned bin number to be retrieved in the outermost column of the battery rack, and assign the other unassigned bin numbers to be retrieved to the unassigned palletizers one by one. After all the other unassigned bin numbers to be retrieved have been assigned or all the unassigned palletizers have been assigned, enter step S9. If not, enter step S8.

3. The method for selecting a bin by multiple palletizers according to claim 1, characterized in that, There is a step SA between step S2 and step S3; SA: Number all the palletizers {1, 2, …, X}; There are step SB and step SC before entering step S9 when executing step S7 or step S8; SB: Judge whether there are at least two of the assigned bin numbers to be retrieved located in the same column or adjacent columns. If so, enter step SC. If not, enter step S9; SC: Among the palletizers assigned with at least two of the palletizing positions to be picked that are in the same column or adjacent columns, the one with the smallest number simultaneously transports the battery packs assigned to it with other palletizers. After the transportation is completed, the remaining palletizers are sorted in ascending order of their numbers and then sequentially transport the assigned battery packs, entering step S10.

4. The method for selecting a bin by multiple palletizers according to claim 3, wherein In step SC, at least two of the palletizing positions to be picked are in the same column. The palletizer with the smallest number transports the battery pack at the bottommost position, and the remaining palletizers are sorted in ascending order of their numbers and sequentially transport the battery packs arranged from bottom to top.

5. The method for selecting a bin by multiple palletizers according to claim 3, wherein In step SC, at least two of the palletizing positions to be picked are in adjacent columns. The palletizer with the smallest number transports the battery pack at the leftmost position, and the remaining palletizers are sorted in ascending order of their numbers and sequentially transport the battery packs arranged from left to right.

6. The method for selecting a bin by multiple palletizers according to claim 1, characterized in that In step S3, when the number of battery packs Y≥2, obtain the number Z of the palletizing positions with non-adjacent and fully charged battery packs, and judge that if Y≤Z, select Y of the palletizing positions from Z as the palletizing positions to be picked; if Y>Z, select these Z palletizing positions and Y-Z other palletizing positions with fully charged battery packs as the palletizing positions to be picked together.

7. A swapping station based on the method for selecting a storage bin of multiple palletizers as described in any one of claims 1-6, characterized in that, It includes a battery rack provided with several battery compartments, at least two palletizers, a battery swapping trolley, and a control terminal. A battery pack is provided in the battery compartment. The battery rack, the palletizer, and the battery swapping trolley are all electrically connected to the control terminal, and the palletizer and the battery swapping trolley exchange the battery packs.

8. The battery swapping station according to claim 7, wherein The battery swapping station further includes a ground rail. At least two palletizers all move along the ground rail. A safety avoidance position for the palletizer to give way is provided on the side of the ground rail, and the number of the safety avoidance positions is greater than or equal to the number of the palletizers.

9. The battery swapping station according to claim 7, wherein A buffer rack is provided between the palletizer and the battery swapping trolley.

10. The swapping station according to claim 7, wherein, At least one of the battery compartments is a reserved battery compartment, and no battery pack is placed in the reserved battery compartment.

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