Transportation scheduling method of battery module

Abstract

The invention discloses a battery module carrying scheduling method, which is based on a carrying system, the carrying system comprises a cache goods shelf, a first carrying robot, a second carrying robot and a third carrying robot, and the cache goods shelf comprises a plurality of cache storage locations for storing one battery module. The method comprises a placing step and a boxing step, and the placing step comprises the step of controlling the first transfer robot to place the qualified battery modules on the module production line to the optimal cache storage location found on the cache shelf. The boxing step and the placing step are carried out at the same time, and the boxing step comprises the steps that a third carrying robot is controlled to carry the box body to a first position, and a second carrying robot is controlled to place the battery module of the to-be-grabbed cache storage location found on the cache goods shelf into the box body. And through cooperation of the multiple carrying robots, the caching storage positions on the caching goods shelves are searched for carrying the battery modules, and the carrying and boxing efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of battery module processing technology, and in particular to a method for handling and scheduling battery modules. Background Technology

[0002] A power battery pack consists of several battery modules housed in a casing. Therefore, during production, each battery module needs to be placed into the casing. With advancements in automation, battery modules are typically processed on automated production lines, and then loaded into the casing according to requirements. To match the processing speed of the battery modules on the automated production line, it is necessary to promptly transport the processed battery modules into the casing to improve the packaging efficiency. In existing technologies, robots are commonly used to transport battery modules from the automated production line and place them into the casing. However, a single robot cannot effectively handle complex scheduling tasks and achieve dynamic scheduling during the process, making it prone to deadlocks or idle conditions, resulting in low handling efficiency. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the present invention aims to provide a battery module handling and scheduling method, which improves the efficiency of handling and packing by having multiple handling robots cooperate and locate cache storage locations on cache shelves for battery module handling.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a battery module handling and scheduling method, based on a handling system, the handling system including a buffer shelf, a first handling robot, a second handling robot, and a third handling robot, the buffer shelf including multiple buffer storage locations for storing one battery module, the method comprising: The placement step includes controlling the first handling robot to place the qualified battery modules from the module production line into the optimal cache location found on the cache shelf. The optimal cache location is the available cache location with the highest first comprehensive score, wherein the available cache location is the cache location that has not been placed with the battery modules and has not been set to busy. The packing step and the placement step are performed simultaneously. The packing step includes controlling the third handling robot to transport the box to the first position and controlling the second handling robot to place the battery module from the cache location to be grabbed on the cache shelf into the box. The cache location to be grabbed is the second alternative cache location with the highest comprehensive score. The alternative cache location is the cache location containing the corresponding battery module that is found according to the material type required for the placement position of the box. Furthermore, the placement step specifically includes: Once the battery module on the module production line passes inspection, the controller sends an inbound request to the scheduling system, and the scheduling system reads the material type of the battery module. After receiving the inbound request, the scheduling system selects an optimal cache location from the cache locations of the cache shelf and feeds back the location code of the optimal cache location to the controller. The controller controls the first handling robot to transport the battery module on the module production line to the optimal cache location based on the location code of the optimal cache location; The scheduling system updates the list of cache storage locations for the cache shelf.

[0005] Furthermore, after receiving the inbound request, the scheduling system selects an optimal cache location from the cache locations on the cache shelf and feeds back the location code of the optimal cache location to the controller, specifically including: After receiving the inbound request, the scheduling system queries the cache location information list to find the available cache location. The available cache locations are scored based on their location information and the material type of the battery module to obtain a first comprehensive score for each available cache location. Sort all the first comprehensive scores, select the available cache location with the highest first comprehensive score as the best cache location, and record the location code of the best cache location; The scheduling system feeds back the location encoding of the optimal cache location to the controller.

[0006] Furthermore, the packing step specifically includes: The controller sends a packing request to the scheduling system, the packing request including a request for the third handling robot to move to the first position; After receiving the packing request, the scheduling system sends a signal to the controller allowing the third handling robot to enter, and the controller controls the third handling robot to reach the first position. According to the packing requirements of the box, select a cache location to be grabbed from the cache locations of the cache shelf, and feed back the location code of the cache location to be grabbed and the placement location number inside the box to the controller; The controller controls the second transport robot to transport the battery module on the cache location to the corresponding position inside the box according to the location code of the cache location to be grabbed. The scheduling system updates the cache location information list of the cache shelf; Once the placement slot inside the box is filled with the corresponding battery module, the scheduling system requests the controller to release the third handling robot.

[0007] Furthermore, selecting a cache location to be retrieved from the cache storage locations of the cache shelf according to the packing requirements of the box, and feeding back the location code of the cache location to be retrieved and the placement location number inside the box to the controller specifically includes: After receiving the packing request, the scheduling system will query the list of cache storage locations and, based on the packing requirements of the box, find the cache storage location containing the battery module required for the placement location as a candidate cache storage location. The candidate cache locations are scored based on their location information and the material type of the battery module to obtain a second comprehensive score for each candidate cache location. Sort all the second comprehensive scores, select the candidate cache location with the highest second comprehensive score as the cache location to be crawled, and record the location code of the cache location to be crawled; The scheduling system feeds back the location code of the cache location to be captured and the placement location number inside the box to the controller.

[0008] Furthermore, the first comprehensive score is the sum of the product of the parameter scores and corresponding weights of each condition parameter item of each available cache location. The second comprehensive score is the sum of the product of the parameter scores and corresponding weights of each condition parameter item of each of the candidate cache locations. Furthermore, the parameter scores of the conditional parameters include priority area score, path distance score, robot reachability score, access frequency optimization score, and storage space usage balance rate score, with corresponding weights of 30%, 25%, 20%, 15%, and 10%, respectively.

[0009] Furthermore, the priority area score is based on the priority of the cache location; the path distance score is based on the time or physical distance between the first handling robot and the cache location; the robot accessibility score is based on the physical accessibility of the cache location; the access frequency optimization score is based on the degree of matching between the access frequency of the material type and the priority of the cache location; and the location usage balance score is based on the usage frequency of the cache location.

[0010] Furthermore, when the second transport robot is transporting the battery module at the cache storage location to be grabbed, the scheduling system will set the entire cache storage location corresponding to the cache storage location to be grabbed to be busy, so as to avoid interference or collision between the first transport robot and the second transport robot during the transport process.

[0011] Furthermore, the placement step also includes: after the first handling robot transports the battery module from the module production line to the optimal cache location, the detection sensor at the optimal cache location detects whether the battery module is in place; if not, an alarm is triggered.

[0012] The beneficial effects of this invention are as follows: A buffer shelf is used to store qualified battery modules processed on the module production line, ensuring that all battery modules subsequently packed into boxes are qualified. This buffer shelf also serves to store battery modules, ensuring that there are enough battery modules available for subsequent boxing, eliminating waiting times between battery module boxing and module production. Three handling robots are also deployed, working collaboratively to simultaneously handle battery modules, thereby improving boxing efficiency. The placement and picking steps are performed simultaneously, using a first comprehensive score and a second comprehensive score to locate cache locations for operation. By reducing downtime, optimizing paths, and eliminating waiting, the system's packing efficiency is comprehensively improved. The first and second handling robots work independently without waiting for each other. Even if an anomaly occurs in one of the handling or packing steps, it will not affect the normal operation of the other step. Attached Figure Description

[0013] Figure 1 This is a block diagram of the handling system in an embodiment of the present invention; Figure 2 This is a flowchart of the transportation scheduling method in an embodiment of the present invention; Figure 3 The following is a flowchart of the placement step in an embodiment of the present invention. Figure 1 ; Figure 4 The following is a flowchart of the placement step in an embodiment of the present invention. Figure 2 ; Figure 5 The following is a flowchart of the packing step in an embodiment of the present invention. Figure 1 ; Figure 6 The following is a flowchart of the packing step in an embodiment of the present invention. Figure 2 . Detailed Implementation

[0014] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0015] This invention describes a battery module handling system, see appendix. Figure 1 As shown, the system includes a buffer shelf, a first transport robot, a second transport robot, and a third transport robot. The buffer shelf includes multiple buffer locations, each for storing one battery module. The first transport robot transports qualified battery modules from the module production line to the buffer shelf. The third transport robot transports the battery module housing to a first location, which is located within the working area of ​​the second transport robot. The second robot places the battery module from the buffer shelf into the housing at the first location. For example, the first and second transport robots are robotic arms, and the third transport robot is an AGV (Automated Guided Vehicle).

[0016] In existing technologies, a single handling robot is typically used to directly transport battery modules from the module production line and place them into the box. However, a single handling robot often cannot keep up with the production speed of the module production line. In this embodiment, a buffer shelf is set up to store qualified battery modules processed on the module production line, ensuring that the battery modules subsequently loaded into the box are all qualified. This buffer shelf is used to buffer battery modules, ensuring that there are enough battery modules available when packing, so that battery module packing and module production do not need to wait for each other. Three handling robots are also configured simultaneously, working collaboratively to transport battery modules concurrently, thereby improving the packing efficiency of the battery modules.

[0017] In one embodiment, the handling system further includes a fourth handling robot, which transports battery modules that fail inspection on the module production line to the repair area. This ensures that all battery modules placed on the buffer shelf are qualified, preventing the second handling robot from picking up unqualified battery modules and packing them, thus avoiding battery pack defects. Simultaneously, the fourth and first handling robots handle qualified and unqualified battery modules respectively. After processing, the battery modules on the module production line do not need to wait, thus not affecting the packing efficiency.

[0018] The handling system also includes a controller and a scheduling system with communication connections. The controller is communicatively connected to the first, second, third, and fourth handling robots, and is used to control the first, second, third, and fourth handling robots to perform handling actions. For example, the controller is a PLC (Programmable Logic Controller), and the controller controls the operation of each handling robot via a bus.

[0019] This invention also describes a method for handling and scheduling battery modules, used in the aforementioned handling system; see appendix. Figure 2 As shown, the transportation scheduling method includes: S100, Placement Step: Control the first handling robot to place the qualified battery modules from the module production line into the optimal cache location found on the cache shelf; S200, Packing Step: Control the third handling robot to transport the box to the first position, and control the second handling robot to place the battery module to be grabbed from the cache shelf into the box.

[0020] Placing the battery modules in place and packing simultaneously can improve packing efficiency.

[0021] See appendix Figure 3 As shown, the placement steps include: S101. After the battery modules on the module production line pass the inspection, the controller sends an entry request to the scheduling system, and the scheduling system reads the material type of the battery modules.

[0022] The scheduling system can be a MES (Manufacturing Execution System) system, and the scheduling system and the controller can exchange information wirelessly or via wired connection.

[0023] Each battery module is equipped with a tag (such as an RFID tag). The tag contains module data such as module type, work order information, and product parameters. The scheduling system can write module data into or read module data from the tag using a tag reader.

[0024] The module data within the tag is written by the tag reader / writer driven by the scheduling system. When the controller requests to write module data, the scheduling system, upon receiving the instruction, drives the tag reader / writer to write the specified module data to the tag. After the tag completes the writing, it returns an acknowledgment signal to the scheduling system, which then notifies the controller of the successful write result. Upon receiving the successful write message, the controller, to ensure the accuracy of the module data, initiates a verification request to the scheduling system. The scheduling system then reads the module data from the tag again. The scheduling system compares the read module data with the expected written module data. If the module data matches, the scheduling system sends a verification completion signal to the controller, and the process continues. If the module data does not match, an alarm is triggered.

[0025] S102. After receiving the inbound request, the scheduling system selects the best cache location from the cache locations of the cache shelf and feeds back the location code of the best cache location to the controller.

[0026] The optimal cache location is the cache location with the highest overall score among the available cache locations. Available cache locations are those that have not contained battery modules or are not set to busy. Busy cache locations are the entire cache layer containing either a cache location currently having battery modules placed in it or a cache location currently having battery modules moved. In other words, the optimal cache location is selected from the entire cache layer containing cache locations that have not contained battery modules and exclude those currently having or preparing to place / fetch battery modules.

[0027] The first comprehensive score is the sum of the products of the scores of each conditional parameter item for each available cache location and their corresponding weights. The calculation method for the first comprehensive score includes: obtaining the specific score of each conditional parameter item for each available cache location, where each conditional parameter item has a different weight; and multiplying each score by the sum of the weights to obtain the first comprehensive score for each available cache location.

[0028] See appendix Figure 4 As shown, step S102 specifically includes: S1021. After receiving the inbound request, the scheduling system queries the cache location information list of the cache shelf to find an available cache location.

[0029] S1022. Based on the location information of available cache locations and the material type of battery modules, score the available cache locations to obtain the first comprehensive score for each available cache location.

[0030] S1023. Sort all the first comprehensive scores, select the available cache location with the highest first comprehensive score as the best cache location, and record the location code of the best cache location.

[0031] S1024. The scheduling system feeds back the location code of the optimal cache location to the controller.

[0032] For example, the scores for the conditional parameter items include: priority area score, path distance score, robot reachability score, access frequency optimization score, and storage location utilization balance rate score. The weights for the priority area score, path distance score, robot reachability score, access frequency optimization score, and storage location utilization balance rate score are 30%, 25%, 20%, 15%, and 10%, respectively. The weights and conditional parameter items are adjustable, but in this embodiment, the above conditional parameter items take into account the possible situations of the first handling robot in handling the battery module, and with the corresponding weights, an optimal value for evaluating the cache storage location can be obtained.

[0033] Priority area scores are assigned based on the priority of the cache location, dividing the cache location into different priority areas. Higher priority areas receive higher priority area scores. The cache rack includes a high-speed turnover area (near the exit of the cache rack, high priority), a general storage area (the middle of the cache rack, medium priority), and a low-frequency buffer zone (deeper part of the cache rack, low priority). The area division can be determined based on the distance between the cache location and the first handling robot. For example, a cache location in the high-speed turnover area receives a priority area score of 100 points, while a cache location in the low-frequency buffer zone receives a priority area score of 40 points.

[0034] The path distance score is based on the time or physical distance between the first handling robot and the cache storage location. The shorter the distance, the higher the path distance score, with a linear decreasing relationship between distance and path distance score. For example, when the physical distance from the first handling robot to a cache storage location is 10 meters, the path distance score is 90 points; when the physical distance is 50 meters, the path distance score is 50 points. The time or physical distance between each cache storage location and the first handling robot is recorded in a storage location list. Each time the path distance score is calculated, only the storage location list needs to be called.

[0035] The robot accessibility score is based on the physical ease of access to the cache location, indicating whether the first transport robot can safely and without collision reach the entrance of the cache location. In this embodiment, the factors affecting robot accessibility include path congestion (10 points are deducted for each additional transport robot on the first transport robot's path); turning difficulty (5 points are deducted for each turn during transport); aisle width (20 points are deducted if the width of the first transport robot's path is less than a set threshold, i.e., it does not meet the minimum width requirement for the first transport robot); and dynamic obstacles (15 points are deducted if temporary obstacles exist in the first transport robot's path). The maximum score for robot accessibility is 100 points. The final robot accessibility score is obtained by deducting points based on the above-mentioned factors affecting robot accessibility. The calculation factors and deduction standards for robot accessibility can be adjusted according to actual usage requirements.

[0036] The access frequency optimization score is based on the degree of matching between the access frequency of material types and the priority of cache storage locations. This score aims to ensure that frequently accessed battery modules are placed in locations close to the cache shelf entrances and exits, reducing the travel time of the first handling robot. Battery modules include different material types, and the scheduling system allocates which material type of battery modules is the most frequently accessed based on the current production blueprint. The higher the degree of matching between the access frequency of the material type and the priority of the cache storage location, the higher the access frequency optimization score. For example, if the current production blueprint requires two M1 battery modules, one M2 battery module, and three M3 battery modules during battery module assembly, then their ratio is 2:1:3. Therefore, the M3 battery module is a high-frequency material type, the M1 battery module is a medium-frequency material type, and the M2 battery module is a low-frequency material type. When the battery module's material type is a high-frequency access material type, the access frequency optimization score for the cache location in the high-speed turnover area is 100 points, maximizing efficiency; the access frequency optimization score for the cache location in the low-frequency buffer area is 30 points, the worst match, as frequently accessed materials are stored far away, severely impacting efficiency. However, if a battery module's material type is a medium-frequency material type, the access frequency optimization score for the cache location in the high-speed turnover area is 40 points, wasting storage space resources; but the access frequency optimization score for the cache location in the ordinary storage area is 90 points, achieving the best balance, neither wasting storage space resources nor affecting efficiency. The specific scores can be modified according to actual needs.

[0037] The cache location usage balance score is based on the frequency of cache location usage. Specifically, it involves querying the usage history of a cache location within a given time period to determine the number of times it was used, and then scoring the cache location based on this frequency. A higher usage frequency results in a lower cache location usage balance score. This aims to prevent some cache locations from being overused while others remain idle for extended periods, encouraging the use of less frequently used locations to extend cache shelf life and balance wear and tear. For example, in a seven-day time period, if a cache location's usage count within seven days exceeds a first threshold of 100, its cache location usage balance score is 60; if it's less than the first threshold of 100 but greater than the second threshold of 60, its cache location usage balance score is 80; and if it's less than the second threshold of 60, its cache location usage balance score is 100. The thresholds and scores can be modified and adjusted as needed.

[0038] In this embodiment, the above-mentioned conditional parameters are selected to calculate the first comprehensive score. This fully considers the allocation of material types of the packaged battery modules and the location of the cache shelf, and can accurately and effectively obtain an optimal cache location to place the battery modules.

[0039] S103. The controller controls the first handling robot to transport the battery modules on the module production line to the optimal cache location based on the location code of the optimal cache location.

[0040] S104. The scheduling system updates the cache location information list of the cache shelf.

[0041] At this point, the first handling robot has placed the battery module in the optimal cache location. The cache location information list includes the correspondence between the location number and the module data (material type).

[0042] In this embodiment, the above placement steps can accurately find an optimal buffer storage location for placing the battery module according to its material type. This buffer storage location is convenient for the first handling robot to move and will not interfere with the second or fourth handling robots, thus improving the placement efficiency of the battery module.

[0043] In one embodiment, the placement step further includes step S1031, located between step S103 and step S104, where a detection sensor at the optimal cache location detects whether the battery module is in place. If it is, step S104 is performed; otherwise, an alarm is triggered.

[0044] Each buffer slot is equipped with a detection sensor to detect the presence of a battery module. The sensor communicates with the controller. The sensor can be a through-beam sensor; when its beam is blocked, it sends a signal to the scheduling system indicating that the battery module has been placed in its correct position.

[0045] Alarms are categorized into three levels: Level 1, Level 2, and Level 3. Level 1 alarms resolve automatically without human intervention; Level 2 alarms resolve semi-automatically, requiring only human confirmation; and Level 3 alarms resolve incompletely automatically, requiring human intervention. For example, when a sensor detects an anomaly, it reports to the dispatch system. Upon receiving this alarm, the dispatch system triggers a Level 1 self-healing process, such as adjusting sensor parameters, to eliminate the alarm and restore normal operation. This type of alarm requires no human intervention; the system completes the process almost instantaneously, providing a seamless user experience. If the Level 1 self-healing process fails to eliminate the alarm, a Level 2 alarm is triggered, or the alarm level directly reaches Level 2. Upon receiving this alarm, the dispatch system automatically triggers a Level 2 self-healing process. The self-healing engine sends a suggested solution, displayed on the human-machine interface. The operator simply confirms the implementation of this solution to eliminate the alarm, requiring only human confirmation. If the Level 2 self-healing process fails to eliminate the alarm, a Level 3 alarm is triggered, or the alarm level directly reaches Level 3. When the dispatch system receives such an alarm, it automatically triggers a three-level self-healing process. At this time, the self-healing engine will request manual intervention, which is reflected in the human-machine interface. The operator needs to intervene manually.

[0046] See appendix Figure 5 As shown, the packing steps include: S201, The controller sends a packing request to the scheduling system. The packing request includes a request for the third handling robot to enter the first position.

[0047] In one embodiment, the first location is a grating operating area, which refers to the location of the equipment enclosed by a fence. The fence is equipped with a grating device to prevent anyone from entering the first location while the equipment is in operation, thus preventing accidents. No one is allowed to enter the first location while it is in operation. If someone enters the equipment's operating area, the grating will detect it, the equipment will immediately sound an alarm, and the equipment will stop all operations.

[0048] S202. After receiving the packing request, the scheduling system sends a signal to the controller that allows the third handling robot to enter. The controller then controls the third handling robot to reach the first position.

[0049] S203. Select a cache location to be grabbed from the cache location of the cache shelf according to the packing requirements of the box, and feed back the location code of the cache location to be grabbed and the placement location number inside the box to the controller.

[0050] A box may contain battery modules of different material types. When placing them, the battery modules need to be placed in the box in a certain order. The placement position and order of the battery modules of different material types in the box can be recorded in the current production blueprint, which can be directly called by the scheduling system.

[0051] S204. The controller controls the second transport robot to move the battery module on the cache location to the corresponding position inside the box according to the location code of the cache location to be grabbed.

[0052] S205. The scheduling system updates the list of cache storage locations for the cache shelf.

[0053] S206. Determine whether all placement slots inside the box are filled with battery modules.

[0054] The first or third transport robot is equipped with a detection unit to detect whether a battery module has been placed in each position of the box being transported by the third transport robot.

[0055] S207. If so, the scheduling system requests the controller to release the third transport robot.

[0056] If all the placement slots inside the box are not filled with battery modules, repeat steps S203 to S206.

[0057] At this point, the container is not full. For the storage positions inside the container that do not contain battery modules, continue to search for the cache storage positions to be retrieved on the cache shelf to retrieve the battery modules.

[0058] Once the battery modules in one box are assembled, step S200 can be repeated to assemble the battery modules in the next box.

[0059] Repeat steps S203 to S205 until all positions inside the box are filled with battery modules.

[0060] See Appendix Figure 6 As shown, step S203 specifically includes: Step S2031: After receiving the packing request, the scheduling system queries the list of cache storage locations and finds a cache storage location corresponding to the battery module of the material type required for a placement location as a candidate cache storage location based on the packing requirements of the box.

[0061] For example, when a placement location requires a battery module M1, a cache location containing a battery module M1 is searched as an alternative cache location.

[0062] Step S2032: Based on the location information of the candidate cache locations and the material type of the battery modules, score the candidate cache locations to obtain a second comprehensive score for each candidate cache location.

[0063] The second comprehensive score is the sum of the product of the scores for each condition parameter item of each candidate cache location and their corresponding weights. The calculation method for the second comprehensive score is the same as that for the first comprehensive score, which is 30% * priority area score + 25% * path distance score + 20% * robot reachability score + 15% * access frequency optimization score + 10% * cache location usage balance rate score.

[0064] In one embodiment, the access frequency of a material type can also be obtained by querying historical access frequency data. For example, querying the access data of a battery module of a certain material type yields the number of accesses to this material type within 24 hours. If the number of accesses is greater than 50, this material type is considered high-frequency access; if the number of accesses is less than 50 but greater than 20, this material type is considered medium-frequency access; and if the number of accesses is less than 20, this material type is considered low-frequency access. The threshold for comparing the access frequency of the material type can be selected and changed according to actual needs.

[0065] Step S2033: Sort all the second comprehensive scores, select the candidate cache location with the highest second comprehensive score as the cache location to be crawled, and record the location code of the cache location to be crawled.

[0066] Step S2034: The scheduling system feeds back the location code of the cache location to be captured and the placement location number inside the box to the controller.

[0067] In this embodiment, through the above placement steps, a cache location to be grabbed can be accurately located according to the material type of the battery module required by the box, and the corresponding battery module can be grabbed. This cache location to be grabbed is convenient for the second handling robot to handle and will not interfere with the first handling robot, thereby improving the packing efficiency of the battery module.

[0068] When the second transport robot is transporting battery modules at the cache storage location to be grabbed, the scheduling system will set the entire cache storage location corresponding to the cache storage location to be grabbed to busy, so as to ensure that the first transport robot and the second transport robot will not appear on the same floor of the cache shelf, and prevent the first transport robot and the second transport robot from colliding.

[0069] In this embodiment, the placement and grasping steps are performed simultaneously. The first and second transport robots are located on opposite sides of the cache shelf. The first and second transport robots will not operate on the same layer of the cache shelf at the same time. They locate the cache storage location and perform operations based on a first comprehensive score and a second comprehensive score, respectively. By reducing downtime, optimizing paths, and eliminating waiting, the system's packing efficiency is comprehensively improved. Furthermore, the cache shelf stores battery modules, and the first and second transport robots work independently without waiting for each other. Even if one of the transport or packing steps malfunctions, it will not affect the normal operation of the other. After the malfunctioning module is repaired, operation can continue.

[0070] The present invention also discloses a computer-readable storage medium, which can be any form of storage medium that can be read by the processor of a computer device, including but not limited to non-volatile memory, volatile memory, ferroelectric memory, etc. The computer-readable storage medium stores a computer program. When the processor of the computer device reads and executes the computer program stored in the memory, the steps of the above-mentioned battery module handling and scheduling method can be implemented.

[0071] The computer program includes computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM). Computer-readable media may include only memory, random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. It should be noted that the content of the computer-readable media may be appropriately added to or subtracted from the content according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0072] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A method for handling and scheduling a battery module based on a handling system, the handling system comprising a buffer rack, a first handling robot, a second handling robot, and a third handling robot, the buffer rack comprising a plurality of buffer locations for storing one of the battery modules, the method comprising: The method comprises: ​ a placing step, which comprises controlling the first transfer robot to place the battery module detected as qualified on the module production line at the optimal storage location found on the storage rack, the optimal storage location being the first storage location with the highest comprehensive score among the available storage locations, wherein the available storage location is the storage location on which no battery module is placed and which is not set as busy; a boxing step, which is performed simultaneously with the placing step, and which comprises controlling the third transfer robot to reach a first position, and controlling the second transfer robot to place the battery module at the to-be-grabbed storage location found on the storage rack into the box, the to-be-grabbed storage location being the alternative storage location with the highest second comprehensive score, the alternative storage location being the storage location in which the battery module is stored according to the material type required by the placement position of the box.

2. The method of claim 1, wherein: The placing step specifically comprises: after the battery module on the module production line is detected as qualified, the controller sends a storage request to the scheduling system, and the scheduling system reads the material type of the battery module; after receiving the storage request, the scheduling system selects an optimal storage location from the storage locations of the storage rack, and feeds back the position code of the optimal storage location to the controller; the controller controls the first transfer robot to transport the battery module on the module production line to the optimal storage location according to the position code of the optimal storage location; the scheduling system updates the storage location information list of the storage rack.

3. The method of claim 2, wherein: After receiving the storage request, the scheduling system selects an optimal storage location from the storage locations of the storage rack, and feeds back the position code of the optimal storage location to the controller, specifically comprising: after receiving the storage request, the scheduling system queries the storage location information list to find the available storage locations; scoring the available storage locations according to the position information of the available storage locations and the material type of the battery module to obtain the first comprehensive score of each available storage location; sorting all the first comprehensive scores, selecting the available storage location with the highest first comprehensive score as the optimal storage location, and recording the position code of the optimal storage location; the scheduling system feeds back the position code of the optimal storage location to the controller.

4. The method of claim 1, wherein: The boxing step specifically comprises: the controller sends a boxing request to the scheduling system, the boxing request including a request for the third transfer robot to enter a first position; after receiving the boxing request, the scheduling system sends a signal allowing the third transfer robot to enter to the controller, and the controller controls the third transfer robot to reach the first position; selecting a to-be-grabbed storage location from the storage locations of the storage rack according to the boxing requirements of the box, and feeding back the position code of the to-be-grabbed storage location and the placement position number in the box to the controller; The controller controls the second carrying robot to carry the battery module on the to-be-grabbed buffer storage location to a corresponding position in the box according to the position code of the to-be-grabbed buffer storage location; The scheduling system updates the buffer storage location information list of the buffer shelf; When the placing position in the box is full of the corresponding battery module, the scheduling system requests the controller to release the third carrying robot.

5. The method of claim 4, wherein: The scheduling system selects a to-be-grabbed buffer storage location from the buffer storage locations of the buffer shelf according to the packing requirement of the box, and feeds back the position code of the to-be-grabbed buffer storage location and the placing position number in the box to the controller, specifically including: After receiving the packing request, the scheduling system queries the buffer storage location information list, and finds the buffer storage location where the battery module required by the placing position is placed as a candidate buffer storage location according to the packing requirement of the box; The scheduling system scores the candidate buffer storage locations according to the position information of the candidate buffer storage locations and the material type of the battery module, and obtains a second comprehensive score of each candidate buffer storage location; All second comprehensive scores are sorted, and the candidate buffer storage location with the highest second comprehensive score is selected as the to-be-grabbed buffer storage location, and the position code of the to-be-grabbed buffer storage location is recorded. The scheduling system feeds back the position code of the to-be-grabbed buffer storage location and the placing position number in the box to the controller.

6. The method according to any one of claims 1 to 5, characterized in that: The first comprehensive score is the sum of the product of the parameter item score of each condition parameter item of each available buffer storage location and the corresponding weight; The second comprehensive score is the sum of the product of the parameter item score of each condition parameter item of each candidate buffer storage location and the corresponding weight.

7. The method of claim 6, wherein: The parameter item score of the condition parameter item includes priority area score, path distance score, robot accessibility score, access frequency optimization score, and buffer storage location usage balance rate score, and the corresponding weights are 30%, 25%, 20%, 15% and 10% respectively.

8. The method of claim 7, wherein: The priority area score is scored according to the priority of the buffer storage location; the path distance score is scored according to the time distance or physical distance between the carrying of the battery module by the first carrying manipulator and the buffer storage location; the robot accessibility score is scored according to the physical access convenience of the buffer storage location; The access frequency optimization score is scored according to the matching degree of the access frequency of the material type and the priority of the buffer storage location; and the buffer storage location usage balance rate score is scored according to the usage frequency of the buffer storage location.

9. The method of claim 1, wherein: When the second carrying robot carries the battery module at the to-be-grabbed buffer storage location, the scheduling system sets the whole layer of buffer storage locations corresponding to the to-be-grabbed buffer storage location as busy.

10. The method of claim 1, wherein: The placing step further includes that after the first carrying robot transports the battery module on the module production line to the optimal buffer storage location, a detection sensor at the optimal buffer storage location detects whether the battery module is in place, and if not, an alarm is given.

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