WO2023198053A1 - 电池交换方法、装置、控制器和换电站 - Google Patents

电池交换方法、装置、控制器和换电站 Download PDF

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Publication number
WO2023198053A1
WO2023198053A1 PCT/CN2023/087604 CN2023087604W WO2023198053A1 WO 2023198053 A1 WO2023198053 A1 WO 2023198053A1 CN 2023087604 W CN2023087604 W CN 2023087604W WO 2023198053 A1 WO2023198053 A1 WO 2023198053A1
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WO
WIPO (PCT)
Prior art keywords
battery
conveying tool
tool
target
conveying
Prior art date
Application number
PCT/CN2023/087604
Other languages
English (en)
French (fr)
Inventor
杨欣
叶庆丰
吴元和
康晓鹤
Original Assignee
时代电服科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 时代电服科技有限公司 filed Critical 时代电服科技有限公司
Publication of WO2023198053A1 publication Critical patent/WO2023198053A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present application relates to the field of control technology, specifically, to a battery exchange method, device, controller and battery exchange station.
  • the purpose of embodiments of the present application is to provide a battery exchange method, device, controller and battery exchange station to improve battery exchange efficiency.
  • embodiments of the present application provide a battery exchange method, including: sending control instructions to a first conveying tool and a second conveying tool to control the start of the first conveying tool and the second conveying tool; by The control instruction controls the first conveying tool to place the first battery into the battery buffer position of the battery compartment; through the control instruction, the second battery on the second conveying tool is placed into the first conveying tool; wherein , one of the first battery and the second battery is a battery to be replaced that is removed from the target vehicle, and the other is a target battery for installation into the target vehicle.
  • the first battery is the battery to be replaced
  • the second battery is the target battery.
  • the method further includes: controlling the second transport tool to take the battery to be replaced from the battery cache position; and controlling the second transport tool to move the battery to be replaced into the battery compartment.
  • placing the second battery on the second conveying tool onto the first conveying tool includes: controlling the transfer part of the second conveying tool to move to the first location where the first conveying tool is located.
  • position to place the target battery on the first conveying tool includes: on the first conveying tool After leaving the first position, the transfer part is controlled to move from the first position to the battery cache position to pick up the battery to be replaced.
  • the method further includes: controlling the second conveying tool to take the second battery from the first battery storage position of the battery compartment. Taking the target battery; controlling the second transport tool to move the battery to be replaced into the battery compartment includes: controlling the second transport tool to place the battery to be replaced into the first battery storage Position in the middle.
  • controlling the second transport tool to move the battery to be replaced into the battery compartment includes: determining a target storage location from the free battery storage locations in the battery compartment; controlling the third Two transport tools move the battery to be replaced to the target storage position.
  • the second battery is the target battery
  • the method further includes: controlling the first transport tool to install the target battery on the target vehicle.
  • controlling the first conveying tool to install the target battery on the target vehicle includes: controlling the first conveying tool to move in a direction away from the second conveying tool so that the The cargo transfer part of the second conveying tool is separated from the first conveying tool; the first conveying tool is controlled to move to the parking place of the target vehicle, and the target battery is installed on the target vehicle.
  • a battery exchange device including: a sending module for The first conveyor tool and the second conveyor tool send control instructions to control the first conveyor tool and the second conveyor tool to start; a first control module is used to control the first conveyor tool to move the first conveyor through the control instruction.
  • the battery is placed in the battery cache position of the battery compartment; the second control module is used to put the second battery on the second conveying tool into the first conveying tool through the control instruction; wherein, the third One of the first battery and the second battery is a battery to be replaced that is removed from the target vehicle, and the other is a target battery for installation into the target vehicle.
  • embodiments of the present application provide a controller, including: a processor and a memory.
  • the memory stores machine-readable instructions executable by the processor.
  • the controller is running, the machine-readable instructions are stored in the memory.
  • the instructions are executed by the processor, the steps of the battery exchange method of the first aspect are performed.
  • embodiments of the present application provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps of the method of the first aspect are executed.
  • embodiments of the present application provide a power swap station, including: a transportation system and a battery compartment; the battery compartment includes a battery storage position and a battery cache position; the transportation system includes a transportation tool and the above-mentioned controller, so The controller is used to control the movement of the conveying tool.
  • the first transport tool and the second transport tool can transport the first battery and the second battery that need to be transported together.
  • Batteries, the first battery and the second battery can be exchanged at the battery cache location, and the first battery and the second battery that need to be transported can be transported together, which can save the transportation time required to replace the battery of the target vehicle.
  • FIG. 1 is a schematic diagram of the interaction between the battery swap station and the server provided by the embodiment of the present application;
  • Figure 2 is a schematic structural diagram of a power swap station provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of the battery compartment of the battery swap station provided by the embodiment of the present application.
  • Figure 4 is a flow chart of a battery exchange method provided by an embodiment of the present application.
  • FIG. 5 is a partial flow chart of the battery exchange method provided by the embodiment of the present application.
  • FIG. 6 is a detailed flow chart of step 360 of the battery exchange method provided by the embodiment of the present application.
  • FIG. 7 is a detailed flow chart of step 340 of the battery exchange method provided by the embodiment of the present application.
  • FIG. 8 is a schematic diagram of the functional modules of the battery exchange device provided by the embodiment of the present application.
  • the driving track for conveying tools in the battery swapping station is a fixed route, and the conveying tools are usually provided with only one position for placing the battery, therefore, every time the battery is replaced, the depleted battery needs to be put back into the battery compartment first and then empty.
  • the required fully charged battery can be taken from the battery compartment and installed on the vehicle. This requires at least two trips of the transport tool to install a battery, which affects the installation speed of the battery.
  • this application provides a battery exchange method in which the first transport tool can disassemble the depleted battery, the second transport tool can take the required fully charged battery, and the two transport tools can be exchanged at designated positions.
  • the battery exchange method provided by this application is described below through several embodiments.
  • the operating environment of the battery exchange method may include a battery exchange station 100 and a server 200 .
  • the server 200 communicates with one or more power swap stations 100 through the network for data communication or interaction.
  • the server can be a web server, database server, etc.
  • the battery swap station 100 is used to replace batteries for electric vehicles.
  • the server 200 can be used to store historical battery replacement data of the power swap station 100, and can also send some data required for battery replacement to the power swap station 100.
  • the power swap station 100 may include: a transportation system 110 , a battery compartment 120 , a control device 130 and a parking space 140 .
  • the battery compartment 120 and the parking space 140 can be arranged side by side.
  • the transportation system 110 can transfer the batteries of the vehicles in the parking space 140 to the battery compartment 120.
  • the transportation system 110 can also install the batteries of the battery compartment 120 into the parking space. on a 140-seat vehicle.
  • the transportation system 110 is used to transport batteries replaced from electric vehicles, and can also be used to transport batteries taken from the battery compartment 120 .
  • the conveying system 110 may include: conveying tools, conveying tracks, and a controller.
  • the controller may be a programmable logic controller (PLC). Conveyors can travel on this conveyor track to move the cells that require processing.
  • PLC programmable logic controller
  • the conveying tool can be controlled by the above-mentioned programmable logic controller, and the conveying tool moves according to the control instructions of the programmable logic controller.
  • the programmable logic controller may control the delivery tool based on data provided by the control device 130 .
  • the conveying tools may include rail-guided vehicles, palletizers and other conveying tools.
  • the rail-guided vehicle can be used to remove the battery from the vehicle that needs to be replaced, or to install a fully charged battery on the vehicle.
  • the fully charged battery may be a battery with a charge greater than a specified value.
  • the specified value can be a value such as 90%, 93%, or 95%.
  • the palletizer can be used to take batteries from the battery compartment or place the batteries back into the battery compartment. Among them, the palletizer can also be used to move batteries inside the battery compartment.
  • the power swap station 100 can communicate with the server through the control device 130 .
  • the control device 130 can also establish a communication connection with the electric vehicle whose battery is to be replaced, so as to obtain data transmitted by the electric vehicle whose battery is to be replaced.
  • the controller may include a memory and a processor.
  • the above-mentioned memory and processor components are directly or indirectly electrically connected to each other to realize data transmission or interaction.
  • these components may be electrically connected to each other through one or more communication buses or signal lines.
  • the above-mentioned processor is used to execute executable modules stored in the memory.
  • the memory may be, but is not limited to, random access memory (Random Access Memory, RAM for short), read only memory (Read Only Memory, ROM for short), programmable read only memory (Programmable memory for short) Read-Only Memory (PROM for short), Erasable Programmable Read-Only Memory (EPROM for short), Electrically Erasable Programmable Read-Only Memory (EEPROM for short), etc.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • PROM programmable read only memory
  • PROM Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • the above-mentioned processor may be an integrated circuit chip with signal processing capabilities.
  • the above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP) , Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • controller in the embodiments of the present application should not limit the structure of the controller.
  • the controller may also include more or fewer components, or be configured differently.
  • the controller may further include a display unit that provides an interactive interface (such as a user operation interface) between the controller and the user or is used to display image data for the user's reference.
  • the display unit may be a liquid crystal display or a touch display. If it is a touch display, it can be a capacitive touch screen or a resistive touch screen that supports single-point and multi-touch operations. Supporting single-point and multi-touch operations means that the touch display can sense touch operations that occur simultaneously from one or more locations on the touch display and transfer the sensed touch operations to the processor for processing Calculation and processing.
  • a plurality of battery storage positions 121 can be placed in the battery compartment 120, and the battery storage positions are used to store batteries.
  • the battery storage position can also be provided with a charging interface, and the charging interface can be used to charge the battery stored in the battery storage position.
  • the battery compartment 120 may also be provided with a battery cache position 122, which is used to temporarily place batteries. For example, when the first conveying tool and the second conveying tool exchange batteries, one of the batteries may be temporarily placed in the battery cache position.
  • the battery cache position 122 can be set at the entrance of the battery compartment 120 , and the rail-guided vehicle and the palletizer can exchange the batteries they require at the entrance.
  • the controller in this embodiment can be used to execute each step in each method provided by the embodiment of this application.
  • the implementation process of the battery exchange method is described in detail below through several embodiments.
  • the embodiment of this application provides a battery exchange method.
  • the method in this embodiment can be executed by the control device in the battery swap station or the controller in the transportation system.
  • the specific process shown in Figure 4 will be described below.
  • the implementation of this application Example of battery replacement method provided.
  • Step 310 Send control instructions to the first conveying tool and the second conveying tool to control the activation of the first conveying tool and the second conveying tool.
  • control instructions may be used to control the movement of the first conveying tool and the second conveying tool.
  • control instructions may include a first control instruction for controlling the first conveying tool, and a second control instruction for controlling the second conveying tool.
  • the first control command is sent to the first conveying tool, and the second control command is sent to the second conveying tool.
  • the first conveying tool is used to remove the battery to be replaced from the target vehicle
  • the second conveying tool is used to take the target battery from the battery compartment.
  • the first control instruction may be used to control the first transport tool to start disassembling the battery to be replaced on the target vehicle.
  • the second control instruction can be used to control the second transport tool to start taking the target battery from the battery compartment.
  • the first conveying tool and the second conveying tool can be started synchronously.
  • the first conveying tool and the second conveying tool can be started simultaneously, which means During the process of removing the battery to be replaced from the target vehicle by the first transport tool, the second transport tool can also be started to take the target battery from the battery compartment.
  • the second conveying tool does not need to wait for the first conveying tool to complete the removal of the battery to be replaced on the target vehicle, and the second conveying tool assists in removing the battery. After the battery to be replaced is moved back into the battery compartment, the second conveying tool is started again to take out the target battery from the battery compartment.
  • Step 320 Through the control instruction, the first conveying tool is controlled to put the first battery into the battery buffer position of the battery compartment.
  • the first battery may be a battery to be replaced that is removed from the target vehicle that needs to be replaced. After the first transport tool transports the battery removed from the target vehicle to the battery cache position, it places the battery to be replaced in the battery cache position.
  • the target vehicle may be an electric vehicle.
  • the first transport tool may be a rail-guided vehicle.
  • the rail-guided vehicle can remove the battery to be replaced from the target vehicle, transport the battery to be replaced to a battery cache location, and place the battery to be replaced in the battery cache location.
  • the rail-guided vehicle carrying the battery to be replaced moves below the battery cache position, the rail-guided vehicle lifts the battery to be replaced upward, and lifts the battery to be replaced to the battery cache position height to place the battery to be replaced in the battery cache position.
  • the first battery may be a target battery that needs to be installed on the target vehicle.
  • the first transport tool transports the target battery taken from the battery compartment to the battery cache position, and then places the target battery in the battery cache position.
  • the target battery may be a fully charged battery or a fully charged battery.
  • the first conveying tool may be a palletizer. After the palletizer takes the target battery from the battery compartment, it transports the target battery to the battery cache position and places the target battery in the battery cache position.
  • the target battery can be placed on a fork of the palletizer. After the fork moves to the height of the battery cache position, the target battery is translated by the fork into the battery cache position.
  • Step 330 According to the control instruction, the second battery on the second conveying tool is placed on the first conveying tool.
  • the second transport tool can be used to transport the battery.
  • the target battery is placed on the first conveyor.
  • the first transport tool can be used to remove the battery from the target vehicle.
  • the battery to be replaced is taken from the second conveying tool.
  • step 330 it may also include: the second transport tool can take the first battery from the battery cache position.
  • the second transport tool can transport the first battery back to the battery compartment after taking the first battery.
  • the second transport tool takes the first battery and installs the first battery on the target vehicle.
  • the first transportation tool and the second transportation tool can transport the first battery and the second battery that need to be transported together, and the first battery and the second battery can be realized at the battery cache position.
  • Exchange of two batteries On the contrary, without the auxiliary function of the battery cache position, the first conveying tool and the second conveying tool are required to transport the battery to be replaced removed from the target vehicle back to the battery compartment, and then use the first conveying tool and the second conveying tool
  • the tool takes the target battery from the battery compartment to install the target battery on the target vehicle. Therefore, transporting the first battery and the second battery which need to be transported together can save the transportation time required to replace the battery of the target vehicle.
  • the two transportation tools can obtain the first battery or the second battery. After obtaining the first battery or the second battery, the transportation tool can perform subsequent operations. processing flow.
  • the first battery is a battery to be replaced that is removed from the vehicle.
  • the battery replacement method may further include: step 350 and step 360 .
  • Step 350 Control the second conveying tool to take the battery to be replaced from the battery buffer position.
  • the second conveying tool is a palletizer
  • the cargo moving part on the palletizer can be a fork.
  • the palletizer can use the fork to pick up the battery to be replaced in the battery buffer position.
  • Step 360 Control the second transport tool to move the battery to be replaced into the battery compartment.
  • a battery storage space can be selected from the battery compartment in advance for placing the battery to be replaced.
  • the palletizer places the battery to be replaced in a battery storage position in the battery compartment through a fork.
  • step 330 may include: controlling the transfer part of the second conveying tool to move to the first position where the first conveying tool is located, so as to place the target battery on the first conveying tool.
  • the second conveying tool may be a palletizer
  • the cargo moving part may be a fork provided on the palletizer.
  • This step 330 may include: controlling the forks of the palletizer to move to the first position where the first conveying tool is located, so as to place the target battery on the first conveying tool.
  • the first position may be a position below the battery cache position.
  • the fork of the palletizer moves to the upper surface of the first conveying tool to place the target battery on the first conveying tool.
  • Step 350 may include: after the first conveying tool leaves the first position, controlling the transfer part of the second conveying tool to move from the first position to the battery cache position to pick up the battery to be replaced.
  • the fork of the second conveying tool is controlled to move from the first position to the battery buffer position to pick up the battery to be replaced.
  • the forks of the palletizer can maintain the state of placing the target battery, waiting for the first conveyor to carry the target battery to move out, so that the forks Detach the first transport tool from the target battery.
  • the fork can directly move from the current first position to the battery buffer position to pick up the battery to be replaced.
  • the target battery after the target battery is placed on the fork, it is not required to move out of the first position, which can reduce the movement required for the fork to move back and forth, thereby improving the efficiency of battery exchange. Further, after the fork has placed the target battery, it does not need to move out of the first position.
  • the first conveying tool can move away from the palletizer, thereby reducing the collision with the target battery that may be caused by the movement of the fork. , which can further improve the safety of the target battery.
  • the processing requirements of a controller or control device in a delivery system or a control device in a power swap station can be reduced by reducing the amount of computation required for the controller or control device.
  • the battery to be replaced that can be removed from the target vehicle can be directly placed in the target vehicle's position in the battery compartment.
  • This method can reduce the calculation process of the controller or control device selecting battery storage locations for the battery to be replaced.
  • the battery exchange method further includes: controlling the second transport tool to take the target battery from the first battery storage position of the battery compartment.
  • Step 360 may include: controlling the second transport tool to place the battery to be replaced into the first battery storage position.
  • the second transport tool can be controlled to place the battery to be replaced in the first battery storage position.
  • the computing requirements of the equipment in the battery replacement station can be reduced, and the performance requirements of the controller or control equipment can also be reduced.
  • step 360 may include step 361 and step 362.
  • Step 361 Determine the target storage location from the free battery storage locations in the battery compartment.
  • a battery storage space may be randomly selected from the free battery storage spaces in the battery compartment as the target storage space for storing the battery to be replaced.
  • the battery storage location that has been idle for the longest time can be selected from the battery compartment as the target storage location for storing the battery to be replaced.
  • the execution time of step 361 may be before step 320 , that is, the required traveling route and actions to be performed by the first conveying tool and the second conveying tool may be calculated before performing the battery exchange.
  • step 361 may also be before step 362, as long as the second transport tool needs to put the battery to be replaced into the battery compartment.
  • Step 362 Control the second transport tool to move the battery to be replaced to the target storage location.
  • each battery storage position of the battery compartment can be used in a more balanced manner, which can better ensure that charging and other functions on the battery storage position can be verified on time, and can also improve the performance stability of the battery compartment. and security.
  • the second battery is a target battery installed in the target vehicle.
  • it may also include: step 340, controlling the first transport tool to install the target battery on the target vehicle.
  • the first transport tool may be a rail-guided vehicle that transports the target battery to the target vehicle and places the target battery in a battery installation position of the target vehicle.
  • the palletizer can place the target battery on the first conveying tool through the fork. Wherein, after the fork places the target battery on the first conveying tool, the fork is located between the placement surface of the first conveying tool and the target battery.
  • step 340 may include: step 341 to step 342.
  • Step 341 Control the first conveying tool to move in a direction away from the second conveying tool, so that the cargo transfer part of the second conveying tool is separated from the first conveying tool.
  • the second conveying tool is a palletizer
  • the cargo moving part of the palletizer is a cargo fork.
  • the fork places the target battery on the first conveyor tool, the fork is located between the load-bearing surface of the first conveyor tool and the target battery, and by controlling the first conveyor tool to move in a direction away from the palletizer, To separate the fork from between the first conveying tool and the target battery.
  • the current position of the first transport tool is a position between the battery compartment and the parking space of the battery swap station.
  • the first conveying tool can be located at a position closer to the parking space, and the palletizer can be placed at a position closer to the battery compartment.
  • the target battery can be transported to the side of the parking space, that is, moved in a direction away from the palletizer. As the first transport tool moves away from the palletizer, the forks of the palletizer can be moved out of the position defined between the first output tool and the target battery.
  • the forks of the palletizing machine may not move before the forks of the palletizing machine are separated from the first conveying tool.
  • Step 342 Control the first conveying tool to move to the parking place of the target vehicle, and install the target battery on the target vehicle.
  • the parking place of the target vehicle may be a parking space in a battery swap station.
  • the battery installation position of the target vehicle may be provided at the bottom of the vehicle, and then the first conveying tool may move to the bottom of the target vehicle and install the target battery into the battery installation position at the bottom of the target vehicle.
  • the battery installation position may be provided on the side of the vehicle, and then the first transport tool may move to the side of the target vehicle and install the target battery into the battery installation position on the side of the target vehicle.
  • the battery installation position of the target vehicle may be disposed between the front of the vehicle and the compartment, and the first conveying tool may move to the top of the target vehicle to install the target battery into the battery installation position of the target vehicle.
  • the process of moving the palletizer can be reduced.
  • the first conveying tool can perform subsequent actions.
  • the palletizing fork of the palletizing machine is separated from the first conveying tool, Subsequent actions can be performed after a conveying tool, and there is no need for the palletizer's fork to move out of the first conveying tool, thereby further improving the efficiency of battery exchange.
  • the embodiment of the present application also provides a battery exchange device corresponding to the battery exchange method. Since the problem-solving principle of the device in the embodiment of the present application is similar to that of the aforementioned battery exchange method embodiment, in this embodiment
  • the device please refer to the description in the embodiments of the above method, and repeated details will not be described again.
  • FIG. 8 is a schematic diagram of the functional modules of the battery switching device provided by an embodiment of the present application.
  • Each module in the battery switching device in this embodiment is used to perform each step in the above method embodiment.
  • the battery exchange device includes: a sending module 410, a first control module 420 and a second control module 430; the contents of each module are as follows:
  • the sending module 410 is used to send control instructions to the first conveying tool and the second conveying tool to control the start of the first conveying tool and the second conveying tool;
  • the first control module 420 is used to control the first conveying tool to place the first battery into the battery cache position of the battery compartment through the control instruction;
  • the second control module 430 is used to place the second battery on the second conveying tool into the first conveying tool through the control instruction;
  • One of the first battery and the second battery is a battery to be replaced that is removed from the target vehicle, and the other is a target battery for installation into the target vehicle.
  • the first battery is a battery to be replaced
  • the battery exchange device further includes: a fourth control module and a fifth control module, where the contents of each module are as follows:
  • the fourth control module is used to control the second transport tool to take the battery to be replaced from the battery cache position
  • the fifth control module is used to control the second transport tool to move the battery to be replaced into the battery compartment.
  • the second control module is used to control the transfer part of the second conveying tool to move to the first position where the first conveying tool is located, so as to place the target battery on the first conveying tool.
  • the fourth control module is used to control the transfer part to move from the first position to the battery cache position to pick up the battery to be replaced after the first transport tool leaves the first position.
  • the battery exchange device further includes: a sixth control module, used to control the second transport tool to take the target battery from the first battery storage position of the battery compartment;
  • the fifth control module is used to control the second transport tool to put the battery to be replaced into the first battery storage position.
  • the fifth control module is used to determine a target storage location from the free battery storage locations in the battery compartment; and control the second transport tool to move the battery to be replaced to the target storage location.
  • the second battery is a target battery
  • the target battery is used for installation in the target vehicle.
  • the battery exchange device further includes: a third control module for controlling the first transport tool to transfer the target battery. installed on the target vehicle.
  • the third control module includes: a first control unit and a second control unit.
  • the first control unit is used to control the first conveying tool to move in a direction away from the second conveying tool, so that the cargo transfer part of the second conveying tool is separated from the first conveying tool;
  • the second control unit is used to control the first transport tool to move to the parking place of the target vehicle and install the target battery on the target vehicle.
  • embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the steps of the battery exchange method described in the above-mentioned method embodiments are executed. .
  • the computer program product of the battery exchange method provided by the embodiment of the present application includes a computer-readable storage medium storing program code.
  • the instructions included in the program code can be used to execute the steps of the battery exchange method described in the above method embodiment. , please refer to the above method embodiments for details, and will not be described again here.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more components for implementing the specified logical function(s). Executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
  • each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration can be implemented by special purpose hardware-based systems that perform the specified functions or acts. , or can be implemented using a combination of specialized hardware and computer instructions.
  • each functional module in each embodiment of the present application can be integrated together to form an independent part, each module can exist alone, or two or more modules can be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or optical disk and other media that can store program code.
  • relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them.
  • the terms “comprises,” “comprises,” or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.
  • an element defined by the statement "comprising" does not exclude the presence of additional identical elements in a process, method, article, or device that includes the stated element.

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Abstract

本申请提供了一种电池交换方法、装置、控制器和换电站，其中，该方法包括：向第一输送工具和第二输送工具发送控制指令，以控制该第一输送工具和该第二输送工具启动；通过该控制指令，控制第一输送工具将第一电池放入电池仓的电池缓存位中；通过该控制指令，将第二输送工具上第二电池放入该第一输送工具上，其中，该第一电池与该第二电池中的一者为从目标车辆上卸下的待换电池，另一者为用于安装给该目标车辆的目标电池。

Description

电池交换方法、装置、控制器和换电站
相关申请的交叉引用
本申请要求享有于2022年04月11日提交的名称为“电池交换方法、装置、控制器和换电站”的中国专利申请202210373895.8的优先权，该申请的全部内容通过引用并入本文中。
技术领域
本申请涉及控制技术领域，具体而言，涉及一种电池交换方法、装置、控制器和换电站。
背景技术
由于新能源电动车对环境的污染较小，因此新能源电动车得到了较快速的发展。然而为新能源电动车充电速度较慢，如果在用车过程中，电动车电量不足，驾驶员需要等待较长时间，这无疑会影响驾驶员的使用体验。因此，现出现了一种换电技术，可以直接将电动车上的电池进行更换。
发明内容
有鉴于此，本申请实施例的目的在于提供一种电池交换方法、装置、控制器和换电站，以改善换电池效率问题。
第一方面，本申请实施例提供了一种电池交换方法，包括：向第一输送工具和第二输送工具发送控制指令，以控制所述第一输送工具和所述第二输送工具启动；通过所述控制指令，控制第一输送工具将第一电池放入电池仓的电池缓存位中；通过所述控制指令，将第二输送工具上第二电池放入所述第一输送工具上；其中，所述第一电池与所述第二电池中的一者为从目标车辆上卸下的待换电池，另一者为用于安装给所述目标车辆的目标电池。
可选地，所述第一电池为所述待换电池，所述第二电池为所述目标电池，在所述将第二输送工具上第二电池放入所述第一输送工具上之后，所述方法还包括：控制所述第二输送工具从所述电池缓存位拿取所述待换电池；控制所述第二输送工具将所述待换电池移动至电池仓内。
可选地，所述将第二输送工具上第二电池放入所述第一输送工具上，包括：控制所述第二输送工具的移货部移动至所述第一输送工具所在的第一位置，以将所述目标电池放置在所述第一输送工具上；所述控制所述第二输送工具从所述电池缓存位拿取所述待换电池，包括：在所述第一输送工具离开所述第一位置后，控制所述移货部从所述第一位置移动至所述电池缓存位处拿取所述待换电池。
可选地，在所述将第二输送工具上第二电池放入所述第一输送工具上之前，所述方法还包括：控制所述第二输送工具从电池仓的第一电池存放位拿取所述目标电池；所述控制所述第二输送工具将所述待换电池移动至电池仓内，包括：控制所述第二输送工具将所述待换电池放入所述第一电池存放位中。
可选地，所述控制所述第二输送工具将所述待换电池移动至电池仓内，包括：从所述电池仓中的空闲电池存放位中，确定出目标存放位；控制所述第二输送工具将所述待换电池移动至所述目标存放位。
可选地，所述第二电池为所述目标电池，所述方法还包括：控制所述第一输送工具将所述目标电池安装在所述目标车辆上。
可选地，所述控制所述第一输送工具将所述目标电池安装在所述目标车辆上，包括：控制所述第一输送工具向远离所述第二输送工具的方向移动，以使所述第二输送工具的移货部脱离所述第一输送工具；控制所述第一输送工具移动至所述目标车辆停放处，将所述目标电池安装在所述目标车辆上。
第二方面，本申请实施例提供了一种电池交换装置，包括：发送模块，用于向第一输送工 具和第二输送工具发送控制指令，以控制所述第一输送工具和所述第二输送工具启动；第一控制模块，用于通过所述控制指令，控制所述第一输送工具将第一电池放入电池仓的电池缓存位中；第二控制模块，用于通过所述控制指令，将所述第二输送工具上第二电池放入所述第一输送工具上；其中，所述第一电池与所述第二电池中的一者为从目标车辆上卸下的待换电池，另一者为用于安装给所述目标车辆的目标电池。
第三方面，本申请实施例提供了一种控制器，包括：处理器、存储器，所述存储器存储有所述处理器可执行的机器可读指令，当控制器运行时，所述机器可读指令被所述处理器执行时执行如上述第一方面的电池交换方法的步骤。
第四方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述第一方面的方法的步骤。
第五方面，本申请实施例提供了一种换电站，包括：输送***和电池仓；所述电池仓包括电池存放位和电池缓存位；所述输送***包括输送工具和上述的控制器，所述控制器用于控制所述输送工具运动。
本申请实施例提供的电池交换方法、装置、控制器和换电站，在该电池缓存位的辅助作用下，第一输送工具和第二输送工具可以一起运输其需要运输的第一电池和第二电池，在电池缓存位处可以实现第一电池与第二电池的交换，一起运输其需要运输的第一电池和第二电池，可以节省为目标车辆更换电池所需的运输时间。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的换电站与服务器进行交互的示意图；
图2为本申请实施例提供的换电站的结构示意图；
图3为本申请实施例提供的换电站的电池仓的结构示意图；
图4为本申请实施例提供的电池交换方法的流程图；
图5为本申请实施例提供的电池交换方法的部分流程图；
图6为本申请实施例提供的电池交换方法的步骤360的详细流程图；
图7为本申请实施例提供的电池交换方法的步骤340的详细流程图；
图8为本申请实施例提供的电池交换装置的功能模块示意图。
具体实施方式
下面将结合本申请实施例中附图，对本申请实施例中的技术方案进行描述。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本申请的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
随着对环境保护的重视，更加环保的新能源电动车也得到了较为快速的发展。然而电动车充电速度较慢，如果在用车过程中，电动车电量不足，驾驶员需要等待较长时间，这无疑会影响驾驶员的使用体验。
基于此现状，现出现了一种新的技术，可以直接将电动车上的电池更换为满电电池，而更换电池所需时间远小于为电池充满电所需时间。
经发明人研究了解到，换电站更换车辆上的电池后，需要将亏电电池运输回电池仓的电池架上，电池仓给亏电电池进行后续处理。但是由于换电站内供输送工具的行驶轨道是固定路线，且输送工具上通常仅设置有一个放电池的位置，因此，每次换电池时需要将亏电电池先放回电池仓后，空出车辆上的电池安装位后，才能够从电池仓内拿取需要的足电电池安装在车辆上。这需要至少输送工具行驶两趟才能够实现一块电池的安装，这种操作方式影响了电池的安装速度。
基于此，本申请提供的一种电池交换方法，可以由第一输送工具拆卸亏电电池，第二输送工具拿取需要的满电电池，两个输送工具在指定位置交换。下面通过几个实施例来描述本申请提供的电池交换方法。
为便于对本实施例进行理解，首先对执行本申请实施例所公开的一种电池交换方法的运行环境进行介绍。
如图1所示，是本申请实施例提供的电池交换方法的运行环境示意图。该电池交换方法的运行环境中可以包括换电站100和服务器200。该服务器200通过网络与一个或多个换电站100进行通信连接，以进行数据通信或交互。该服务器可以是网络服务器、数据库服务器等。
该换电站100用于为电动车辆更换电池。该服务器200可以用于存放该换电站100的历史换电池的数据，也可以向该换电站100发送一些换电池所需数据。
如图2所示，该换电站100中可以包括：输送***110、电池仓120、控制设备130以及停车位140。
该电池仓120和该停车位140可以并列设置，该输送***110可以实现将停车位140中的车辆的电池移送至电池仓120内，该输送***110也可以将电池仓120的电池安装至停车位140的车辆上。
该输送***110用于运输从电动车辆换下来的电池，也可以用于运输从电池仓120中拿取的电池。
示例性地，该输送***110可以包括：输送工具、输送轨道和控制器。
该控制器可以是可编程逻辑控制器(Programmable Logic Controller，简称：PLC)。输送工具可以在该输送轨道上行驶，以移动需要处理的电池。
该输送工具可以由上述的可编程逻辑控制器控制，该输送工具根据该可编程逻辑控制器的控制指令移动。该可编程逻辑控制器可以基于控制设备130提供的数据控制输送工具。
示例性地，该输送工具可以包括有轨制导车辆、码垛机等输送工具。
该有轨制导车辆可以用于将需要换电池的车辆上的电池进行拆卸，或者将足电电池安装在车辆上。该足电电池可以是电量大于指定值的电池。该指定值可以是90％、93％或95％等值。
该码垛机可以用于从电池仓中拿取电池，或者将电池放回电池仓内。其中，码垛机还可以用于在电池仓内部移动电池。
该换电站100可以通过控制设备130与服务器实现通信。该控制设备130还可以与待换电池的电动车辆建立通信连接，以获取该待换电池的电动车辆传输的数据。
本实施例中，该控制器可以包括存储器和处理器。
上述的存储器和处理器各元件相互之间直接或间接地电性连接，以实现数据的传输或交互。例如，这些元件相互之间可通过一条或多条通讯总线或信号线实现电性连接。上述的处理器用于执行存储器中存储的可执行模块。
其中，存储器可以是，但不限于，随机存取存储器(Random Access Memory，简称RAM)，只读存储器(Read Only Memory，简称ROM)，可编程只读存储器(Programmable  Read-Only Memory，简称PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，简称EEPROM)等。其中，存储器用于存储计算机程序，该处理器在接收到执行指令后，执行所述程序，本申请实施例任一实施例揭示的过程定义的控制器所执行的方法可以应用于处理器中，或者由处理器实现。
上述的处理器可能是一种集成电路芯片，具有信号的处理能力。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(digital signal processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
本领域普通技术人员可以理解，本申请实施例上述对控制器所包含的组件的举例不应该对该控制器的结构造成限定。例如，控制器还可包括更多或者更少的组件，或者不同的配置。
例如，该控制器还可以包括显示单元，该显示单元在控制器与用户之间提供一个交互界面(例如用户操作界面)或用于显示图像数据给用户参考。在本实施例中，该显示单元可以是液晶显示器或触控显示器。若为触控显示器，其可为支持单点和多点触控操作的电容式触控屏或电阻式触控屏等。支持单点和多点触控操作是指触控显示器能感应到来自该触控显示器上一个或多个位置处同时产生的触控操作，并将该感应到的触控操作交由处理器进行计算和处理。
该电池仓120中可以放置多个电池存放位121，该电池存放位用于存放电池。该电池存放位中还可以设置有充电接口，该充电接口可以用于为存放在该电池存放位的电池充电。
该电池仓120中还可以设置有电池缓存位122，该电池缓存位用于临时放置电池。例如，在第一输送工具与第二输送工具交换电池时，可以将其中一块电池临时放置在该电池缓存位中。可选地，如图3所示，该电池缓存位122可以设置在电池仓120的入口处，有轨制导车辆与码垛机可以在该入口处交换各自所需电池。
本实施例中的控制器可以用于执行本申请实施例提供的各个方法中的各个步骤。下面通过几个实施例详细描述电池交换方法的实现过程。
本申请实施例提供了一种电池交换方法，本实施例中的方法可以由换电站中的控制设备或输送***中的控制器执行，下面将对图4所示的具体流程进行阐述本申请实施例提供的电池交换方法。
步骤310，向第一输送工具和第二输送工具发送控制指令，以控制该第一输送工具和该第二输送工具启动。
示例性地，该控制指令可以用于控制第一输送工具和第二输送工具运动。
示例性地，该控制指令可以包括用于控制第一输送工具的第一控制指令，和用于控制第二输送工具的第二控制指令。
该第一控制指令被发送给第一输送工具，该第二控制指令被发送给第二输送工具。
示例性地，该第一输送工具用于从目标车辆上拆卸待换电池，该第二输送工具用于从电池仓中拿取目标电池。该第一控制指令则可以用于控制该第一输送工具启动拆卸目标车辆上的待换电池。该第二控制指令则可以用于控制该第二输送工具启动从电池仓中拿取目标电池。
本实施例中，该第一输送工具和第二输送工具在接收到控制指令后，该第一输送工具和第二输送工具可以同步启动。
以第一输送工具用于从目标车辆上拆卸待换电池，该第二输送工具用于从电池仓中拿取目标电池为例，该第一输送工具和第二输送工具可以同步启动，则表示该第一输送工具在从目标车辆上拆卸待换电池过程中，该第二输送工具也可以启动从电池仓中拿取目标电池。该第二输送工具可以不用等待该第一输送工具完成目标车辆上的待换电池的拆卸以及在第二输送工具的辅助作用将该 待换电池移回电池仓中内之后，该第二输送工具再启动从电池仓内拿取目标电池。
步骤320，通过该控制指令，控制第一输送工具将第一电池放入电池仓的电池缓存位中。
在一种实施方式中，该第一电池可以是从需要换电池的目标车辆上拆卸下来的待换电池。该第一输送工具将从目标车辆拆卸下来的电池运输至该电池缓存位后，将该待换电池放置在该电池缓存位中。示例性地，该目标车辆可以是电动车辆。
示例性地，该第一电池是待换电池时，该第一输送工具可以是有轨制导车辆。该有轨制导车辆可以从目标车辆上拆卸下待换电池，将该待换电池运输至电池缓存位处，并将该待换电池放置在该电池缓存位中。
示例性地，该载着该待换电池的有轨制导车辆运动到该电池缓存位的下方，该有轨制导车辆向上托举该待换电池，将该待换电池托举至该电池缓存位的高度，以将该待换电池放置在该电池缓存位中。
在另一种实施方式中，该第一电池可以是需要安装在目标车辆上的目标电池。该第一输送工具将从电池仓拿取的目标电池运输至该电池缓存位后，将该目标电池放置在该电池缓存位中。
示例性地，该目标电池可以是足电电池或满电电池。
示例性地，该第一电池是需要安装在目标车辆上的目标电池时，该第一输送工具可以是码垛机。该码垛机从电池仓中拿取目标电池后，将该目标电池运输中电池缓存位处，并将该目标电池放置在该电池缓存位中。示例性地，该目标电池可以放置在该码垛机的货叉上，该货叉移动至该电池缓存位的高度后，将货叉将该目标电池平移至该电池缓存位中。
步骤330，通过该控制指令，将第二输送工具上第二电池放入该第一输送工具上。
在一种实施方式中，若第一电池是从目标车辆上拆卸下来的待换电池，则该第二电池则是需要安装至目标车辆上的目标电池，则可以由该第二输送工具将该目标电池放入第一输送工具上。
在另一种实施方式中，若第一电池是需要安装至目标车辆上的目标电池，则该第二电池则是从目标车辆拆卸下来的待换电池，则可以由该第一输送工具可以从该第二输送工具上拿取待换电池。
在步骤330之后，还可以包括：第二输送工具可以从该电池缓存位中拿取该第一电池。
示例性地，该第一电池是从目标车辆拆卸下来的待换电池时，则该第二输送工具拿取该第一电池后，可以将该第一电池运输回电池仓内。
示例性地，该第一电池是从电池仓中取的需要安装至目标车辆上的目标电池时，则该第二输送工具拿取该第一电池后，将该第一电池安装至目标车辆上。
通过上述步骤，在该电池缓存位的辅助作用下，第一输送工具和第二输送工具可以一起运输其需要运输的第一电池和第二电池，在电池缓存位处可以实现第一电池与第二电池的交换。相反，若没有该电池缓存位的辅助作用，则需要第一输送工具和第二输送工具将从目标车辆上拆卸下来的待换电池运输回电池仓后，再使用第一输送工具和第二输送工具从电池仓中拿取目标电池，以将目标电池安装在目标车辆上。因此，一起运输其需要运输的第一电池和第二电池，可以节省为目标车辆更换电池所需的运输时间。
通过步骤320和步骤330实现两个输送工具的电池的交换后，两个输送工具可以拿到第一电池或第二电池，输送工具在拿到第一电池或第二电池后，可以进行后续的处理流程。在一种实施方式中，第一电池为从车辆中拆卸的待换电池，如图5所示，在步骤330之后，电池交换方法还可以包括：步骤350和步骤360。
步骤350，控制第二输送工具从电池缓存位拿取待换电池。
示例性地，该第二输送工具为码垛机，该码垛机上的移货部可以是货叉，该码垛机可以通过该货叉拿取该电池缓存位中的待换电池。
步骤360，控制该第二输送工具将该待换电池移动至电池仓内。
示例性地，可以提前从电池仓中选出一个电池存放位，用于放置该待换电池。
以第二输送工具是码垛机为例，该码垛机通过货叉将待换电池放置在电池仓的一个电池存放位中。
通过将待换电池移动回电池仓中，可以通过该电池仓可以为该待换电池进行后续的处理，以可以使该待换电池能够被再次利用，提高电池的利用率。
为了提高换电池的效率，可以减少输送工具的动作。基于此需求，步骤330可以包括：控制第二输送工具的移货部移动至第一输送工具所在的第一位置，以将目标电池放置在该第一输送工具上。
示例性地，该第二输送工具可以是码垛机，该移货部则可以是设置在码垛机上的货叉。该步骤330可以包括：控制该码垛机的货叉移动至该第一输送工具所在的第一位置，以将该目标电池放置在该第一输送工具上。
示例性地，该第一位置可以是电池缓存位的下方的一位置。该码垛机的货叉移动至该第一输送工具的上表面，以将该目标电池放置在该第一输送工具上。
步骤350可以包括：在该第一输送工具离开该第一位置后，控制该第二输送工具的移货部从该第一位置移动至该电池缓存位处拿取该待换电池。
该移货部是货叉时，则控制该第二输送工具的货叉从该第一位置移动至该电池缓存位处拿取该待换电池。
该码垛机在将目标电池放置在该第一输送工具的上后，码垛机的货叉可以保持放置目标电池时刻的状态，等待该第一输送工具携带该目标电池移出，以使货叉脱离该第一输送工具与目标电池。
在码垛机脱离该第一输送工具与目标电池后，该货叉可以直接从当前的第一位置移动至电池缓存位处拿取待换电池。
通过上述操作方式，可以在货叉放置完目标电池后，可以先不移出第一位置可以减少货叉来回移动所需动作，从而可以提高交换电池的效率。进一步地，货叉放置完目标电池后，可以先不移出第一位置，第一输送工具可以通过向远离该码垛机的方向移动，从而可以减少货叉移动所可能导致的与目标电池的碰撞，也就能够更进一步地提高目标电池的安全性。
在一种实施方式中，可以通过减少输送***的控制器或换电站中的控制设备所需的计算量，以降低该控制器或控制设备的处理要求。
可以将从目标车辆上拆卸下来的待换电池可以直接放置在目标车辆在电池仓中的位置，此方式可以减少控制器或控制设备为该待换电池筛选电池存放位的计算过程。基于此，在步骤320可以之前，电池交换方法还包括：控制该第二输送工具从电池仓的第一电池存放位拿取该目标电池。
步骤360可以包括：控制该第二输送工具将该待换电池放入该第一电池存放位中。
在目标电池被第二输送工具从第一电池存放位取出后，该第一电池存放位处于空闲状态，因此，可以控制该第二输送工具将待换电池放置在该第一电池存放位中。
通过将待换电池直接放至第一电池存放位可以降低换电站中的设备的计算需求，也可以降低控制器或控制设备的性能需求。
为了使电池仓内的各个电池存放位能够被均衡的使用，基于此需求，如图6所示，步骤360可以包括步骤361和步骤362。
步骤361，从电池仓中的空闲电池存放位中，确定出目标存放位。
可选地，可以从电池仓中空闲的电池存放位中随机选择一个电池存放位作为该存放该待换电池的目标存放位。
可选地，可以从电池仓中选出空闲最久的电池存放位作为该存放该待换电池的目标存放位。
该步骤361的执行时间可以是在步骤320之前，也就是在执行电池交换之前可以先计算好第一输送工具和第二输送工具所需的行驶路线和执行的动作。
该步骤361的执行时间也可以是在步骤362之前，只要在第二输送工具需要将待换电池放入电池仓之前。
步骤362，控制第二输送工具将待换电池移动至该目标存放位。
通过上述步骤，可以使电池仓的各个电池存放位能够被更均衡的使用，也就能够更好地保障电池存放位上的充电等功能可以按时得到验证，也能够提高电池仓的性能的稳定性和安全性。
在一种情况中，该第二电池为安装给目标车辆的目标电池。在步骤330之后还可以包括：步骤340，控制该第一输送工具将该目标电池安装在该目标车辆上。
示例性地，该第一输送工具可以是有轨制导车辆，该有轨制导车辆将目标电池运输至目标车辆处，将该目标电池放置在目标车辆的电池安装位中。
在一可选的实施方式中，该码垛机可以通过该货叉将目标电池放置在第一输送工具上。其中，该货叉放置目标电池至该第一输送工具上后，该货叉位于该第一输送工具的放置面与该目标电池之间。在此实施方式中，如图7所示，步骤340可以包括：步骤341至步骤342。
步骤341，控制第一输送工具向远离第二输送工具的方向移动，以使该第二输送工具的移货部脱离该第一输送工具。
示例性地，该第二输送工具为码垛机，该码垛机的移货部为货叉。该货叉将目标电池放在第一输送工具上时，该货叉位于第一输送工具的承载面与目标电池之间，则通过控制该第一输送工具向远离该码垛机的方向移动，以使该货叉脱离该第一输送工具与目标电池之间。
示例性地，该第一输送工具的当前位置为换电站的电池仓与停车位之间的一位置。其中，该第一输送工具可以位于离停车位更近的一位置，该码垛机可以放置在离电池仓更近的一位置。
在该第一输送工具获得了目标电池后，可以运输该目标电池向停车位一侧移动，也就是向远离该码垛机的方向移动。随着第一输送工具远离该码垛机，可以使该码垛机的货叉脱离该第一输出工具与该目标电池之间所限定的位置。
本实施方式中，通过第一输送工具移动，码垛机的货叉脱离该第一输送工具之前，该码垛机的货叉可以先不移动。
步骤342，控制该第一输送工具移动至该目标车辆停放处，将该目标电池安装在该目标车辆上。
示例性地，该目标车辆的停放处可以为换电站中的停车位。
示例性地，该目标车辆的电池安装位可以设置在车辆底部，则该第一输送工具可以移动至该目标车辆的底部，将该目标电池安装至该目标车辆的底部的电池安装位中。
示例性地，该的电池安装位可以设置在车辆侧面，则该第一输送工具可以移动至该目标车辆的侧面，将该目标电池安装至该目标车辆的侧面的电池安装位中。
示例性地，该目标车辆的电池安装位可以设置在车头与车厢之间，则该第一输送工具可以移动至该目标车辆的顶部，将该目标电池安装至该目标车辆的电池安装位中。
通过上述步骤中，可以减少码垛机移动的过程，在码垛机将目标电池放在第一输送工具上后，第一输送工具可以进行后续的动作，在码垛机的货叉脱离该第一输送工具后可以进行后续动作，则不需要码垛机的货叉移出第一输送工具的动作，从而可以进一步地提高电池交换的效率。
基于同一申请构思，本申请实施例中还提供了与电池交换方法对应的电池交换装置，由于本申请实施例中的装置解决问题的原理与前述的电池交换方法实施例相似，因此本实施例中的装置的实施可以参见上述方法的实施例中的描述，重复之处不再赘述。
请参阅图8，是本申请实施例提供的电池交换装置的功能模块示意图。本实施例中的电池交换装置中的各个模块用于执行上述方法实施例中的各个步骤。电池交换装置包括：发送模块410，第一控制模块420和第二控制模块430；其中各模块内容如下所示：
发送模块410，用于向第一输送工具和第二输送工具发送控制指令，以控制该第一输送工具和该第二输送工具启动；
第一控制模块420，用于通过该控制指令，控制第一输送工具将第一电池放入电池仓的电池缓存位中；
第二控制模块430，用于通过该控制指令，将第二输送工具上第二电池放入该第一输送工具上；
其中，该第一电池与该第二电池中的一者为从目标车辆上卸下的待换电池，另一者为用于安装给该目标车辆的目标电池。
一种可能的实施方式中，该第一电池为待换电池，电池交换装置还包括：第四控制模块和第五控制模块，其中，各模块内容如下所示：
第四控制模块，用于控制该第二输送工具从该电池缓存位拿取该待换电池；
第五控制模块，用于控制该第二输送工具将该待换电池移动至电池仓内。
一种可能的实施方式中，第二控制模块，用于控制该第二输送工具的移货部移动至该第一输送工具所在的第一位置，以将该目标电池放置在该第一输送工具上；
第四控制模块，用于在该第一输送工具离开该第一位置后，控制该移货部从该第一位置移动至该电池缓存位处拿取该待换电池。
一种可能的实施方式中，电池交换装置还包括：第六控制模块，用于控制该第二输送工具从电池仓的第一电池存放位拿取该目标电池；
第五控制模块，用于控制该第二输送工具将该待换电池放入该第一电池存放位中。
一种可能的实施方式中，第五控制模块，用于从该电池仓中的空闲电池存放位中，确定出目标存放位；控制该第二输送工具将该待换电池移动至该目标存放位。
一种可能的实施方式中，该第二电池为目标电池，该目标电池用于安装给该目标车辆，电池交换装置还包括：第三控制模块，用于控制该第一输送工具将该目标电池安装在该目标车辆上。
一种可能的实施方式中，第三控制模块，包括：第一控制单元和第二控制单元。
第一控制单元，用于控制该第一输送工具向远离该第二输送工具的方向移动，以使该第二输送工具的移货部脱离该第一输送工具；
第二控制单元，用于控制该第一输送工具移动至该目标车辆停放处，将该目标电池安装在该目标车辆上。
此外，本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述方法实施例中所述的电池交换方法的步骤。
本申请实施例所提供的电池交换方法的计算机程序产品，包括存储了程序代码的计算机可读存储介质，所述程序代码包括的指令可用于执行上述方法实施例中所述的电池交换方法的步骤，具体可参见上述方法实施例，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方 框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (11)

  1. 一种电池交换方法，其特征在于，包括：
    向第一输送工具和第二输送工具发送控制指令，以控制所述第一输送工具和所述第二输送工具启动；
    通过所述控制指令，控制第一输送工具将第一电池放入电池仓的电池缓存位中；
    通过所述控制指令，将第二输送工具上第二电池放入所述第一输送工具上；
    其中，所述第一电池与所述第二电池中的一者为从目标车辆上卸下的待换电池，另一者为用于安装给所述目标车辆的目标电池。
  2. 根据权利要求1所述的方法，其特征在于，所述第一电池为所述待换电池，所述第二电池为所述目标电池，在所述将第二输送工具上第二电池放入所述第一输送工具上之后，所述方法还包括：
    控制所述第二输送工具从所述电池缓存位拿取所述待换电池；
    控制所述第二输送工具将所述待换电池移动至电池仓内。
  3. 根据权利要求2所述的方法，其特征在于，所述将第二输送工具上第二电池放入所述第一输送工具上，包括：
    控制所述第二输送工具的移货部移动至所述第一输送工具所在的第一位置，以将所述目标电池放置在所述第一输送工具上；
    所述控制所述第二输送工具从所述电池缓存位拿取所述待换电池，包括：
    在所述第一输送工具离开所述第一位置后，控制所述移货部从所述第一位置移动至所述电池缓存位处拿取所述待换电池。
  4. 根据权利要求2所述的方法，其特征在于，在所述将第二输送工具上第二电池放入所述第一输送工具上之前，所述方法还包括：
    控制所述第二输送工具从电池仓的第一电池存放位拿取所述目标电池；
    所述控制所述第二输送工具将所述待换电池移动至电池仓内，包括：
    控制所述第二输送工具将所述待换电池放入所述第一电池存放位中。
  5. 根据权利要求2所述的方法，其特征在于，所述控制所述第二输送工具将所述待换电池移动至电池仓内，包括：
    从所述电池仓中的空闲电池存放位中，确定出目标存放位；
    控制所述第二输送工具将所述待换电池移动至所述目标存放位。
  6. 根据权利要求1-5任意一项所述的方法，其特征在于，所述第二电池为所述目标电池，所述方法还包括：
    控制所述第一输送工具将所述目标电池安装在所述目标车辆上。
  7. 根据权利要求6所述的方法，其特征在于，所述控制所述第一输送工具将所述目标电池安装在所述目标车辆上，包括：
    控制所述第一输送工具向远离所述第二输送工具的方向移动，以使所述第二输送工具的移货部脱离所述第一输送工具；
    控制所述第一输送工具移动至所述目标车辆停放处，将所述目标电池安装在所述目标车辆上。
  8. 一种电池交换装置，其特征在于，包括：
    发送模块，用于向第一输送工具和第二输送工具发送控制指令，以控制所述第一输送工具和所述第二输送工具启动；
    第一控制模块，用于通过所述控制指令，控制所述第一输送工具将第一电池放入电池仓的电池缓存位中；
    第二控制模块，用于通过所述控制指令，将所述第二输送工具上第二电池放入所述第一输送工具上；
    其中，所述第一电池与所述第二电池中的一者为从目标车辆上卸下的待换电池，另一者为用于安装给所述目标车辆的目标电池。
  9. 一种控制器，其特征在于，包括：处理器、存储器，所述存储器存储有所述处理器可执行的机器可读指令，当控制器运行时，所述机器可读指令被所述处理器执行时执行如权利要求1至7任一所述的方法的步骤。
  10. 一种计算机可读存储介质，其特征在于，该计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行如权利要求1至7任一所述的方法的步骤。
  11. 一种换电站，其特征在于，包括：输送***和电池仓；
    所述电池仓包括电池存放位和电池缓存位；
    所述输送***包括输送工具和权利要求9所述的控制器，所述控制器用于控制所述输送工具运动。
PCT/CN2023/087604 2022-04-11 2023-04-11 电池交换方法、装置、控制器和换电站 WO2023198053A1 (zh)

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