CN113291198A - Battery pack delivery control method and control system of battery changing station - Google Patents
Battery pack delivery control method and control system of battery changing station Download PDFInfo
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- CN113291198A CN113291198A CN202110594691.2A CN202110594691A CN113291198A CN 113291198 A CN113291198 A CN 113291198A CN 202110594691 A CN202110594691 A CN 202110594691A CN 113291198 A CN113291198 A CN 113291198A
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- stacker crane
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- 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
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- 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
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- 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
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Abstract
The invention discloses a battery pack out-of-warehouse control method and a battery changing station control system, wherein the battery pack out-of-warehouse control method comprises the following steps: when a warehouse-out instruction is received, controlling the stacker crane to operate to a target bin position, and simultaneously controlling a turnover lifting shaft of a turnover platform to operate to an upper-layer interaction position; when the stacker crane is determined to run to the target bin position and is ready, controlling the stacker crane to take out a full-charge battery pack and run to an upper-layer interaction position; when the stacker crane is determined to run to the upper-layer interaction position and is ready, controlling the stacker crane to place a fully charged battery pack into the upper-layer interaction position; and controlling the turnover lifting shaft of the turnover platform to descend to the connection position so that the RGV trolley at the connection position can move the full-charge battery pack to the parking space. According to the control method, the transfer lifting shaft is controlled to move to the upper-layer interaction position by controlling the stacker crane to move to the target bin position, so that the interaction position of the stacker crane and the transfer platform is improved, the time for the stacker crane to interact with the transfer platform to exchange the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station is improved.
Description
Technical Field
The invention relates to the technical field of battery replacement, in particular to a battery pack ex-warehouse control method, a computer readable storage medium and a control system of a battery replacement station.
Background
With the development of vehicle technology, electric vehicles have become very popular to reduce the emission of exhaust gases. Because the battery pack has very limited cruising ability, a battery replacing station needs to be arranged to replace the battery pack of the electric automobile so as to achieve the purpose of quickly supplementing electric energy for the electric automobile.
In the related technology, the battery replacing station comprises a battery bin, a turnover platform and a stacker crane, when batteries are replaced, the time for the stacker crane to interact with the turnover platform to exchange the battery pack is long due to the fact that the stacker crane is too long in the process from placing a full-electric battery pack to the turnover platform interaction position, and the battery replacing efficiency of the battery replacing station is affected.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide a battery pack delivery control method, which controls a turnover lifting shaft to move to an upper-layer interaction position by controlling a stacker crane to move to a target bin position, improves the interaction position of the stacker crane and a turnover platform, shortens the time of the stacker crane and the turnover platform for interacting a battery pack, and improves the overall battery replacement efficiency of a battery replacement station.
A second object of the invention is to propose a computer-readable storage medium.
The third purpose of the invention is to provide a control system of the power swapping station.
The battery pack ex-warehouse control method comprises the following steps: when a warehouse-out instruction is received, controlling the stacker crane to operate to a target bin position, and simultaneously controlling a turnover lifting shaft of a turnover platform to operate to an upper-layer interaction position; when the stacker crane is determined to run to the target bin position and is ready, controlling the stacker crane to take out a full-charge battery pack and run to the upper-layer interaction position; when the stacker crane is determined to run to the upper-layer interaction position and be ready, controlling the stacker crane to place the fully charged battery pack into the upper-layer interaction position; and controlling the turnover lifting shaft of the turnover platform to descend to a connection position so that the RGV trolley at the connection position can move the full-charge battery pack to a parking space.
According to the battery pack delivery control method provided by the embodiment of the invention, when a delivery instruction is received, the stacker crane is controlled to move to a target bin position and reach a designated position, a preparation action is completed, meanwhile, the turnover lifting shaft of the turnover platform is controlled to move to an upper layer interaction position, then the stacker crane is controlled to take out a full-charge battery pack from the target bin position and move to an upper layer interaction position, when the stacker crane moves to the upper layer interaction position and is ready, the stacker crane is controlled to place the full-charge battery pack into the upper layer interaction position, the turnover lifting shaft of the turnover platform is lowered to a connection position, when the turnover lifting shaft descends to the connection position, the full-charge battery pack falls onto the RGV trolley, and then the RGV trolley moves the full-charge battery to a parking space, so that a battery pack delivery flow is completed. According to the battery pack delivery control method, the transfer lifting shaft is controlled to move to the upper-layer interaction position by controlling the stacker crane to move to the target bin position, so that the interaction position of the stacker crane and the transfer platform is improved, the time for the stacker crane and the transfer platform to interact with the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station is improved.
According to some embodiments of the invention, the stacker crane is controlled to operate towards the target bin, and the battery bin door of the target bin is also controlled to be opened in place.
According to some embodiments of the present invention, upon receiving the outbound command, it is also determined that the RGV cart is in the docking station and no battery pack is present.
According to some embodiments of the invention, it is further determined that the Y-direction fork axis of the palletiser is in a neutral position prior to controlling the palletiser to operate towards the target bin.
According to some embodiments of the invention, controlling the stacker crane to operate to the target bin comprises: and controlling an X-direction walking shaft and a Z-direction lifting shaft of the stacker crane to simultaneously operate towards the target bin.
According to some embodiments of the invention, determining that the stacker crane is running to the target bin and ready comprises: and when the X-direction walking shaft of the stacker crane reaches the X-direction target position of the target bin position and the Z-direction lifting shaft of the stacker crane reaches the Z-direction target lower position of the target bin position, controlling the Y-direction fork shaft of the stacker crane to extend out and reach the Y-direction target position of the target bin position.
According to some embodiments of the invention, controlling the stacker crane to remove a fully charged battery pack comprises: and controlling a Z-direction lifting shaft of the stacker crane to ascend and reach a Z-direction target upper position of the target bin position, and controlling a Y-direction fork shaft of the stacker crane to take back the full-charge battery pack and reach a middle position.
According to some embodiments of the invention, controlling the stacker crane to place the fully charged battery pack in the upper level interactive position comprises: and when the Z-direction lifting shaft of the stacker crane reaches the upper position of the upper-layer interaction position, the Y-direction fork shaft of the stacker crane is controlled to extend out and reach the upper-layer interaction position, and when the Z-direction lifting shaft of the stacker crane is controlled to descend and reach the lower position of the upper-layer interaction position, the Y-direction fork shaft of the stacker crane is controlled to retract and reach the middle position.
In order to achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a battery pack ex-warehouse control program is stored, wherein the battery pack ex-warehouse control program, when executed by a processor, implements the battery pack ex-warehouse control method of the above embodiment.
According to the computer-readable storage medium of the embodiment of the invention, when the stored battery pack delivery control program is executed by the processor, the interaction position of the stacker crane and the turnover platform is improved by executing the battery pack delivery control method of the embodiment, so that the time for the stacker crane and the turnover platform to interact with the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station is improved.
In order to achieve the above object, a control system of a battery swapping station according to a third aspect of the present invention includes a memory, a processor, and a battery pack unloading control program stored in the memory and operable on the processor, where when the processor executes the battery pack unloading control program, the battery pack unloading control method according to the above embodiment is implemented.
According to the control system of the battery swapping station, when a battery pack ex-warehouse control program stored in a memory is operated by a processor to send out-warehouse instructions, a stacker crane is controlled to move to a target bin position and reach a designated position, preparation actions are completed, a transfer lifting shaft of a transfer platform is controlled to move to an upper layer interaction position, then the stacker crane is controlled to take out a full-charge battery pack from the target bin position and move to an upper layer interaction position, when the stacker crane moves to the upper layer interaction position and is ready, the stacker crane is controlled to place the full-charge battery pack into the upper layer interaction position, the transfer lifting shaft of the transfer platform is adjusted downwards to a connection position, when the transfer lifting shaft descends to the connection position, the full-charge battery pack falls onto an RGV trolley, and then the RGV trolley moves the full-charge battery to a parking space, so that the battery pack ex-warehouse process is completed. According to the battery pack delivery control method, the transfer lifting shaft is controlled to move to the upper-layer interaction position by controlling the stacker crane to move to the target bin position, so that the interaction position of the stacker crane and the transfer platform is improved, the time for the stacker crane and the transfer platform to interact with the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station is improved.
Drawings
Fig. 1 is a flowchart of a battery pack ex-warehouse control method according to an embodiment of the invention;
FIG. 2 is a flow chart of a battery pack ex-warehouse operation process according to an embodiment of the invention;
figure 3 is a schematic diagram of an RGV car, stacker and turnaround platform according to an embodiment of the present invention.
Reference numerals
An RGV carriage 10; a stacker 20; a turnaround platform 30.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A battery pack delivery control method, a computer-readable storage medium, and a control system of a battery swapping station according to embodiments of the present invention will be described below with reference to the accompanying drawings.
Before introducing the battery pack ex-warehouse control method, the computer-readable storage medium, and the control system of the battery swapping station according to the embodiments of the present invention, a corresponding description is first given to the battery swapping device according to the embodiments of the present invention.
Specifically, as shown in fig. 3, the battery swapping apparatus according to an embodiment of the present invention may include an HMI (Human Machine Interface), an RGV cart 10, a stacker crane 20, and a turnaround platform 30. The method comprises the following steps that an operator sends a control instruction to a battery swapping device through an HMI (human machine interface), and each component executes related actions after receiving a warehouse-out instruction; the RGV (Rail Guided Vehicle) trolley is used for disassembling and assembling batteries from a trolley body and carrying battery packs to and from the trolley bottom and the turnover platform, and the battery packs can also be arranged on the electric automobile; the stacker crane is an automatic device which interacts with the transfer platform and the charging bin and carries the battery pack in the battery bin, can move along an X-direction walking shaft and a Z-direction lifting shaft under the traction of a driving device, is matched with the storage position of the battery pack, and is used for taking and placing the battery pack, wherein the X-direction walking shaft is parallel to the driving direction of the electric automobile, and the Z-direction lifting shaft is parallel to the height direction of the electric automobile; the turnover platform pulls the turnover lifting shaft to move to the upper-layer interaction position or the connection position through the driving mechanism, and the transfer buffer of the battery pack is completed.
Fig. 1 is a flowchart illustrating a battery pack ex-warehouse control method according to an embodiment of the invention.
As shown in fig. 1, the battery pack ex-warehouse control method includes the following steps:
and S101, when a warehouse-out instruction is received, controlling the stacker crane to operate towards a target bin position, and simultaneously controlling a turnover lifting shaft of a turnover platform to operate to an upper-layer interaction position.
It should be noted that an operator sends a battery pack out-warehouse instruction to a control device of the battery swapping station through the HMI, when the control device receives the out-warehouse instruction, the control device can control the stacker crane to operate to a target bin, and in the process that the stacker crane operates to the target bin, the control device simultaneously controls the turnover lifting shaft of the turnover platform to move upwards to an upper-layer interaction position.
S102, when the stacker crane is determined to run to the target bin position and is ready, the stacker crane is controlled to take out a full-charge battery pack and run to an upper layer interaction position.
It should be noted that the stacker crane reaches a target bin and is ready, a Y-direction fork shaft of the stacker crane extends towards a fully charged battery pack, the Y-direction fork shaft takes out the fully charged battery pack from a charging bin on a battery rack of the battery bin, after the stacker crane takes out the fully charged battery pack, the stacker crane is controlled to operate in an upper-layer interaction position, and at this time, a turnover lifting shaft of the turnover platform reaches the upper-layer interaction position.
S103, when the stacker crane is determined to run to the upper-layer interaction position and is ready, the stacker crane is controlled to place the fully charged battery pack into the upper-layer interaction position.
It should be noted that it is determined that the stacker crane loaded with the full-charge battery pack reaches the upper-layer interaction position and is ready, at the moment, the Y-direction fork shaft of the stacker crane corresponds to the turnover lifting shaft position of the turnover platform, and the stacker crane puts the full-charge battery pack into the upper-layer interaction position to finish the transfer of the full-charge battery pack from the stacker crane to the turnover platform.
And S104, controlling the turnover lifting shaft of the turnover platform to descend to the connection position so that the RGV trolley at the connection position can move the full-charge battery pack to the parking space.
The connection position is the position meeting the requirement of interaction of the turnover platform and the RGV trolley on the battery pack, after the fully charged battery pack is placed on the turnover lifting shaft, the turnover lifting shaft of the turnover platform descends to the connection position, at the moment, the fully charged battery pack on the turnover platform is taken away by the RGV trolley positioned at the connection position and is conveyed to the parking position, and the delivery process of the battery pack is completed. The full-charge battery pack is installed on the electric automobile in the parking space of the RGV.
Specifically, when a target position warehouse-out command is received, the stacker crane runs towards the target position and the turnover lifting shaft of the turnover platform moves to the upper layer interaction position, then, taking out the full-charge battery pack from the target bin position by the Y-direction fork shaft of the stacking machine, further, moving the stacking machine loaded with the full-charge battery towards the upper layer interaction position where the turnover lifting shaft of the turnover platform is located, when the stacking machine reaches the upper layer interaction position and is ready, the full-charge battery pack is placed at the upper layer interaction position by a Y-direction fork shaft of the stacker crane, the full-charge battery pack is transported from the stacker crane to the transfer platform, then the turnover lifting shaft of the turnover platform is controlled to descend to the connection position, the fully charged battery pack falls on the RGV trolley, the RGV trolley positioned at the connection position takes the fully charged battery pack on the turnover platform away, and the RGV trolley transports the fully charged battery pack to a parking space, and the battery pack delivery process is completed. According to the battery pack delivery control method, the transfer lifting shaft is controlled to move to the upper-layer interaction position by controlling the stacker crane to move to the target bin position, so that the interaction position of the stacker crane and the transfer platform is improved, the time for the stacker crane and the transfer platform to interact with the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station is improved.
In some embodiments of the invention, the stacker crane is controlled to operate towards the target bin, and the battery bin door of the target bin is also controlled to be opened in place. When the control device controls the stacker crane to operate towards the target bin, the control device also controls the battery bin door of the target bin to be opened in place, so that when the stacker crane moves to the target bin, the battery bin door of the target bin is already opened, after the stacker crane reaches the target bin, the stacker crane can take the battery pack from the target bin without waiting for the battery bin door to be opened and then taking the battery pack from the target bin, the battery pack is taken from the target bin, the time for waiting for the battery bin door to be opened is saved, the delivery time of the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station can be further improved.
In some embodiments of the invention, upon receiving the outbound command, it is also determined that the RGV car is in the docking station and there are no battery packs. It should be explained that, when the battery replacement station receives the outbound command, the detection device of the battery replacement station detects whether the RGV cart is at the connection position and has no battery pack, and if the RGV cart is at the connection position and has no battery pack, the battery pack outbound process can be continuously executed. And if the RGV trolley is not positioned at the connection position and has a battery pack, or the RGV trolley is positioned at the connection position and has the battery pack, or the RGV trolley is not positioned at the connection position and has no battery pack, an alarm device of the battery replacement station gives an alarm to remind an operator to control the RGV trolley to move to the connection position and/or move the battery pack on the RGV trolley away. So set up and to guarantee that the battery package is normal to be delivered from godown, can avoid the time of delivery from godown that prolongs the battery package to can guarantee the rate efficiency of battery package.
In some embodiments of the invention, it is also determined that the Y-direction fork axis of the palletiser is in the neutral position before controlling the palletiser to operate towards the target bin. The detection device of the battery replacement station can detect whether the Y-direction fork shaft of the stacker crane is in the middle position, and if the detection device detects that the Y-direction fork shaft of the stacker crane is determined not to be in the middle position, the Y-direction fork shaft can collide with peripheral parts of the stacker crane to damage the stacker crane if the stacker crane runs to the target bin. Therefore, the Y-direction fork shaft of the stacker crane is determined to be in the middle position before the stacker crane is controlled to operate towards the target bin position, when the stacker crane operates towards the target bin position, the Y-direction fork shaft of the stacker crane can be prevented from colliding with peripheral parts of the stacker crane, and therefore damage to the stacker crane is avoided, the working performance of the stacker crane can be guaranteed, and the service life of the stacker crane is prolonged.
In some embodiments of the invention, controlling the stacker crane to operate to the target bin comprises: the control device can control the X-direction walking shaft and the Z-direction lifting shaft of the stacker crane to simultaneously operate towards the target bin. It should be noted that if the X-direction walking shaft of the stacker crane is controlled to move to the target bin and then the Z-direction lifting shaft of the stacker crane is controlled to move to the target bin, the operation time of the Z-direction lifting shaft is independently controlled to be increased, so that the operation time of the Z-direction lifting shaft of the stacker crane to the target bin can be saved by controlling the X-direction walking shaft and the Z-direction lifting shaft of the stacker crane to simultaneously move to the target bin, the battery pack taking time can be further shortened, and the overall battery replacement efficiency of the battery replacement station can be further improved.
In some embodiments of the invention, determining that the stacker crane is running to the target bin and ready comprises: when the X-direction walking shaft of the stacker crane reaches the X-direction target position of the target bin position and the Z-direction lifting shaft of the stacker crane reaches the Z-direction target lower position of the target bin position, the Y-direction fork shaft of the stacker crane is controlled to extend out and reach the Y-direction target position of the target bin position, so that the Y-direction fork shaft can run to the lower side of the battery pack, and the Y-direction fork shaft can be prevented from colliding with the battery pack.
In some embodiments of the invention, controlling a stacker to remove a fully charged battery pack comprises: the control device controls the Z-direction lifting shaft of the stacker crane to ascend and reach the Z-direction target upper position of the target bin position, and controls the Y-direction fork shaft of the stacker crane to take back the full-charge battery pack and reach the middle position of the stacker crane. In the Z-direction upper process that the Z-direction lifting shaft of the stacker crane rises and reaches the target bin position, the Z-direction lifting shaft can drive the Y-direction fork shaft to support the battery pack to rise, so that the battery pack is separated from the charging bin position on the battery placing frame of the battery bin, then the Y-direction fork shaft of the stacker crane is controlled to drive the fully charged battery pack to be retracted to the middle position of the stacker crane, and the battery pack is taken out.
In some embodiments of the invention, controlling the stacker crane to place a fully charged battery pack in the upper level interaction site comprises: when the Z-direction lifting shaft of the stacker crane reaches the upper position of the upper-layer interaction position, the Y-direction fork shaft of the stacker crane is controlled to extend out and reach the upper-layer interaction position, and when the Z-direction lifting shaft of the stacker crane is controlled to descend and reach the lower position of the upper-layer interaction position, the Y-direction fork shaft of the stacker crane is controlled to retract and reach the middle position. When the Z-direction lifting shaft of the stacker crane reaches the upper position of the upper-layer interaction position, the Z-direction lifting shaft can drive the Y-direction fork shaft to reach the upper position of the upper-layer interaction position, then the Y-direction fork shaft of the stacker crane is controlled to drive the battery pack to extend out and reach the upper-layer interaction position, then the Z-direction lifting shaft of the stacker crane is controlled to descend and reach the lower position of the upper-layer interaction position, at the moment, the Y-direction fork shaft of the stacker crane can move to the lower position of the upper-layer interaction position, then the Y-direction fork shaft of the stacker crane is controlled to retract and reach the middle position, and the working purpose that the stacker crane puts the full-of-capacity battery pack into the upper-layer interaction position is achieved.
Further, the specific process of taking the battery pack from the battery placing frame of the battery compartment by controlling the stacker crane is as follows: after the stacker crane moves to the target bin position, the in-position sensor of the stacker crane detects that the X-direction walking shaft reaches the X-direction target position of the target bin position, the Z-direction lifting shaft of the stacker crane reaches the Z-direction target lower position of the target bin position, the driving device controls the Y-direction fork shaft to extend out and reach the lower position of the target bin position, then the Z-direction lifting shaft of the stacker crane rises and reaches the Z-direction target upper position of the target bin position, the Y-direction fork shaft of the stacker crane is controlled to drive a full-charge battery pack to be retracted and reach the middle position of the stacker crane, and at the moment, the position sensor on the stacker crane detects that the battery pack exists on the stacker crane.
Further, the stacking machine is used for putting the full-electricity battery pack into the upper-layer interaction position at the turnover lifting shaft of the turnover platform, and the process is as follows: after the stacker crane runs to the upper-layer interaction position, a driving device of the stacker crane drives a Z-direction lifting shaft of the stacker crane to rise to the upper position of the upper-layer interaction position, the height of the Z-direction lifting shaft is higher than that of the upper-layer interaction position, then a Y-direction fork shaft of the stacker crane is controlled to drive a battery pack to extend out from a middle position to reach the upper position of the upper-layer interaction position, then the Z-direction lifting shaft of the stacker crane is controlled to fall to the lower position of the upper-layer interaction position so that the battery pack falls on a turnover lifting shaft, then the Y-direction fork shaft of the stacker crane is controlled to retract and return to the middle position, a sensor on a turnover platform detects that a full-charge battery pack exists on the turnover lifting shaft, and the stacker crane finishes the transportation of the full-charge battery pack to the turnover platform. According to the battery pack delivery control method provided by the embodiment of the invention, the interaction position of the stacker crane and the transfer platform can be improved, the redundant steps in the battery delivery process are reduced, the time for the stacker crane to interact with a fully charged battery is shortened, and the overall battery replacement efficiency of a battery replacement station is improved.
The battery pack unloading operation process according to the embodiment of the present invention will be described with reference to fig. 2,
the method comprises the following specific steps:
and S1, the station end/HMI sends a target position A warehouse-out command.
Specifically, when receiving a target position a warehouse-out instruction, or when receiving a target position a warehouse-out instruction, the control device of the battery changing station determines whether the battery changing station satisfies an "initialization position", where the "initialization position" includes: the battery storehouse door starts the overhead door and opens and targets in place, the hacking machine sensor that targets in place detects that Y is located the intermediate position to the fork axle, the X of hacking machine is to walking axle and the target position of Z to the axle of lifting be the corresponding position of target position A, the RGV dolly does not have the battery package and is located and connects the position, the turnover platform does not have the battery package and turnover the axle operation of lifting and reach upper mutual position. The battery replacement system or the control device judges that the battery bin door, the stacker crane, the RGV trolley and the turnover platform meet the states, when any one of the structures does not meet the state, the system starts the alarm device, and an operator checks and maintains the battery bin door, the stacker crane, the RGV trolley and the turnover platform.
And S2, taking the battery at the target bin A by the stacker crane.
Specifically, an X-direction walking shaft and a Z-direction lifting shaft of the stacker crane advance towards a target position of a target position A, walking position information of the stacker crane is collected through a plurality of in-place sensors, when the situation that the X-direction walking shaft of the stacker crane reaches the X-direction target position of the target position A and the Z-direction lifting shaft reaches the lower position of the Z-direction target position is detected, a control box of the stacker crane controls a Y-direction fork shaft of the stacker crane to stretch out and reach the Y-direction target position of the target position A, and a battery pack of the target position A is ready to be taken away. And then, lifting the Z-direction lifting shaft of the stacker crane to the position above the Z-direction target position of the target bin A by the driving device, and taking the battery pack away from the Y-direction fork shaft and returning the battery pack to the middle position of the stacker crane.
And S3, interacting batteries with the turnover platform by the stacker crane.
Specifically, after the stacker crane takes the battery away from the target bin A, the X-direction walking shaft is controlled to run towards the interactive position and the Z-direction lifting shaft is lifted to reach the upper position of the upper interactive position of the turnover platform, after the in-place sensor detects the position information, the stacker crane controls the Y-direction fork shaft to stretch out and reach the upper position of the upper interactive position of the turnover platform, then the Z-direction lifting shaft is controlled to descend to the lower position of the upper interactive position of the turnover platform, the Y-direction fork shaft of the stacker crane is controlled to return to the middle position, at the moment, the battery pack is transferred to the turnover platform from the stacker crane, and the sensor of the turnover platform can detect the battery pack.
And S4, interacting batteries between the turnover platform and the RGV trolley.
Specifically, the turnover lift axle of turnover platform descends to the bottom position, and the RGV dolly takes away full-charge battery package from turnover platform.
And S5, installing a battery from the RGV to the parking space.
Specifically, the RGV trolley moves to a parking space, and the full-charge battery pack is mounted on the vehicle to be replaced.
And S6, finishing the warehouse-out command, and sending the warehouse-out completion command to the station end system.
In summary, according to the battery pack delivery control method provided by the embodiment of the invention, when a delivery instruction is received, the stacker crane is controlled to move to a target bin position and reach a designated position, a preparation action is completed, the turnover lifting shaft of the turnover platform is controlled to move to an upper layer interaction position, then the stacker crane is controlled to take out a full-charge battery pack from the target bin position and move to an upper layer interaction position, when the stacker crane moves to the upper layer interaction position and is ready, the stacker crane is controlled to place the full-charge battery pack into the upper layer interaction position, the turnover lifting shaft of the turnover platform is adjusted downwards to a connection position, when the turnover lifting shaft descends to the connection position, the full-charge battery pack falls onto the RGV trolley, and then the RGV trolley moves the full-charge battery to a parking space, so that a battery pack delivery process is completed. According to the battery pack delivery control method, the transfer lifting shaft is controlled to move to the upper-layer interaction position by controlling the stacker crane to move to the target bin position, so that the interaction position of the stacker crane and the transfer platform is improved, the time for the stacker crane and the transfer platform to interact with the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station is improved.
It should be noted that, when executed by a processor, the battery pack out-of-library control program stored in the computer-readable storage medium according to the embodiment of the present invention can implement the specific implementation manner corresponding to the battery pack out-of-library control method according to the foregoing embodiment of the present invention, which is not described herein again.
In conclusion, according to the computer-readable storage medium provided by the embodiment of the invention, the processor executes the battery pack out-of-warehouse control program, so that the interaction position of the stacker crane and the transfer platform is improved, the time for the stacker crane and the transfer platform to interact with the battery pack is shortened, and the overall battery replacement efficiency of the battery replacement station is improved.
In an embodiment of the present invention, a control system for a power swapping station includes a memory, a processor, and a battery pack out-of-warehouse control program that is stored in the memory and can be run on the processor, and when the processor executes the battery pack out-of-warehouse control program, a specific implementation manner corresponding to the battery pack out-of-warehouse control method in the foregoing embodiment of the present invention can be implemented, which is not described herein again.
In conclusion, according to the control system of the battery replacing station provided by the embodiment of the invention, the processor executes the battery pack out-of-warehouse control program, so that the interaction position of the stacker crane and the transfer platform is improved, the time for the stacker crane and the transfer platform to interact with the battery pack is shortened, and the overall battery replacing efficiency of the battery replacing station is improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second", and the like used in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in the embodiments. Thus, a feature of an embodiment of the present invention that is defined by the terms "first," "second," etc. may explicitly or implicitly indicate that at least one of the feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or two and more, such as two, three, four, etc., unless specifically limited otherwise in the examples.
In the present invention, unless otherwise explicitly stated or limited by the relevant description or limitation, the terms "mounted," "connected," and "fixed" in the embodiments are to be understood in a broad sense, for example, the connection may be a fixed connection, a detachable connection, or an integrated connection, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, they may be directly connected or indirectly connected through intervening media, or they may be interconnected within one another or in an interactive relationship. Those of ordinary skill in the art will understand the specific meaning of the above terms in the present invention according to their specific implementation.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A battery pack ex-warehouse control method is characterized by comprising the following steps:
when a warehouse-out instruction is received, controlling the stacker crane to operate to a target bin position, and simultaneously controlling a turnover lifting shaft of a turnover platform to operate to an upper-layer interaction position;
when the stacker crane is determined to run to the target bin position and is ready, controlling the stacker crane to take out a full-charge battery pack and run to the upper-layer interaction position;
when the stacker crane is determined to run to the upper-layer interaction position and be ready, controlling the stacker crane to place the fully charged battery pack into the upper-layer interaction position;
and controlling the turnover lifting shaft of the turnover platform to descend to a connection position so that the RGV trolley at the connection position can move the full-charge battery pack to a parking space.
2. The battery pack delivery control method of claim 1, wherein the stacker crane is controlled to operate towards the target position, and the battery door of the target position is also controlled to be opened in place.
3. The battery pack ex-warehouse control method according to claim 1, wherein it is also determined that the RGV car is at the docking station and there is no battery pack when the ex-warehouse command is received.
4. The battery pack out-of-warehouse control method according to any one of claims 1 to 3, wherein it is further determined that a Y-direction fork shaft of the stacker is in a middle position before controlling the stacker to run to the target position.
5. The battery pack delivery control method of claim 4, wherein controlling the stacker to operate toward the target position comprises:
and controlling an X-direction walking shaft and a Z-direction lifting shaft of the stacker crane to simultaneously operate towards the target bin.
6. The battery pack out-of-warehouse control method of claim 5, wherein determining that the stacker crane is running to the target position and ready comprises:
and when the X-direction walking shaft of the stacker crane reaches the X-direction target position of the target bin position and the Z-direction lifting shaft of the stacker crane reaches the Z-direction target lower position of the target bin position, controlling the Y-direction fork shaft of the stacker crane to extend out and reach the Y-direction target position of the target bin position.
7. The battery pack ex-warehouse control method according to claim 6, wherein controlling the stacker to take out a fully charged battery pack comprises:
and controlling a Z-direction lifting shaft of the stacker crane to ascend and reach a Z-direction target upper position of the target bin position, and controlling a Y-direction fork shaft of the stacker crane to take back the full-charge battery pack and reach a middle position.
8. The battery pack ex-warehouse control method according to claim 6, wherein controlling the stacker to place the fully charged battery pack into the upper-layer interaction site comprises:
and when the Z-direction lifting shaft of the stacker crane reaches the upper position of the upper-layer interaction position, the Y-direction fork shaft of the stacker crane is controlled to extend out and reach the upper-layer interaction position, and when the Z-direction lifting shaft of the stacker crane is controlled to descend and reach the lower position of the upper-layer interaction position, the Y-direction fork shaft of the stacker crane is controlled to retract and reach the middle position.
9. A computer-readable storage medium, on which a battery pack ex-warehouse control program is stored, the battery pack ex-warehouse control program implementing the battery pack ex-warehouse control method according to any one of claims 1 to 8 when executed by a processor.
10. A control system for a battery swapping station, comprising a memory, a processor and a battery pack unloading control program stored in the memory and operable on the processor, wherein the processor implements the battery pack unloading control method according to any one of claims 1 to 8 when executing the battery pack unloading control program.
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| CN202110594691.2A CN113291198A (en) | 2021-05-28 | 2021-05-28 | Battery pack delivery control method and control system of battery changing station |
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