US 12,370,919 B2
Smart battery swapping station compatible with multiple battery packs, control method thereof, device, and medium
Xiaodong Yuan, Nanjing (CN); Haiqing Gan, Nanjing (CN); Huachun Han, Nanjing (CN); Jin Man, Nanjing (CN); Qun Li, Nanjing (CN); Yu Liu, Nanjing (CN); Mingshen Wang, Nanjing (CN); Liangliang Chen, Nanjing (CN); Ning Zhang, Nanjing (CN); Lihui Wang, Nanjing (CN); Wenjun Ruan, Nanjing (CN); Huiyu Miao, Nanjing (CN); Yi Pan, Nanjing (CN); Fengkun Yang, Nanjing (CN); Fei Zeng, Nanjing (CN); Shukang Lv, Nanjing (CN); and Sheng Dou, Nanjing (CN)
Assigned to STATE GRID JIANGSU ELECTRIC POWER COMPANY RESEARCH INSTITUTE, Nanjing (CN); NARI TECHNOLOGY CO., LTD., Nanjing (CN); NIO CO., LTD., Shanghai (CN); and STATE GRID JIANGSU ELECTRIC POWER CO., LTD., Nanjing (CN)
Filed by STATE GRID JIANGSU ELECTRIC POWER COMPANY RESEARCH INSTITUTE, Nanjing (CN); NARI TECHNOLOGY CO., LTD., Nanjing (CN); NIO CO., LTD., Shanghai (CN); and STATE GRID JIANGSU ELECTRIC POWER CO., LTD., Nanjing (CN)
Filed on Feb. 21, 2025, as Appl. No. 19/060,553.
Application 19/060,553 is a continuation of application No. PCT/CN2024/123380, filed on Oct. 8, 2024.
Prior Publication US 2025/0206181 A1, Jun. 26, 2025
Int. Cl. B60L 53/80 (2019.01); B60L 53/62 (2019.01); B60L 53/64 (2019.01); B60L 53/65 (2019.01); G06T 7/13 (2017.01); G06T 7/73 (2017.01); G06V 10/48 (2022.01); G06V 10/77 (2022.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01)
CPC B60L 53/80 (2019.02) [B60L 53/62 (2019.02); B60L 53/64 (2019.02); B60L 53/65 (2019.02); G06T 7/13 (2017.01); G06T 7/75 (2017.01); G06V 10/48 (2022.01); G06V 10/7715 (2022.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G06T 2207/10024 (2013.01); G06T 2207/20024 (2013.01); G06T 2207/20061 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/06 (2022.01)] 13 Claims
OG exemplary drawing
 
1. A control method of a smart battery swapping station compatible with multiple battery packs, comprising the following steps:
acquiring vehicle information of a vehicle requiring battery swapping, and retrieving a model type of a corresponding battery pack locking and unlocking hole and specific parameters from a database;
when the vehicle arrives at a battery swapping operation platform, capturing an image of a vehicle chassis to determine an initial pose of the vehicle chassis;
processing the initial pose to extract center coordinates of the locking and unlocking hole and a normal vector direction of the locking and unlocking hole;
comparing the center coordinates of the locking and unlocking hole and the normal vector direction of the locking and unlocking hole with the retrieved model type of battery pack locking and unlocking hole and specific parameters in the database to determine if the information is consistent;
if inconsistent, prompting a user to leave the battery swapping operation platform; if consistent, selecting, by a battery swapping automated guided vehicle (AGV), a corresponding locking and unlocking operation method, and retrieving a battery from a storage for battery replacement; and
once the battery swapping is complete, generating a battery swapping report and allowing the user to leave,
wherein selecting, by a battery swapping AGV, a corresponding locking and unlocking operation method, and retrieving a battery from a storage for battery replacement comprises:
implementing space relocation design to allow the battery swapping AGV to switch between different locking and unlocking methods;
utilizing a height switching mechanism to automatically adjust the height of a locking and unlocking mechanism based on height differences of battery packs for different vehicle models; and
during the locking and unlocking process, making fine adjustments through adaptive floating based on changes in the position of the battery pack,
wherein selecting, by a battery swapping AGV, a corresponding locking and unlocking operation method, and retrieving a battery from a storage for battery replacement further comprises:
performing battery replacement through a dual AGV coordinated control method, specifically comprising:
connecting independently controlled battery swapping AGVs within the battery swapping station via a communication protocol;
performing time synchronization on the battery swapping AGVs: using the network time protocol (NTP) to ensure consistent timestamps across all AGVs and station control systems;
performing task planning based on task requirements, the current status of the AGVs, the order of vehicle arrivals, and the type of battery pack, and dynamically assigning tasks to each AGV; and
utilizing a scheduling algorithm to designate one AGV for disassembly and another AGV for assembly for the vehicle requiring battery swapping,
wherein performing battery replacement through a dual AGV coordinated control method further comprises:
autonomous fault monitoring and fault-tolerant control: when one AGV fails, the other AGV switches to a standalone mode to continue the battery swapping task and sends fault information, and
wherein performing battery replacement through a dual AGV coordinated control method further comprises:
using a Leader-Follower strategy to allow the two AGVs to maintain spacing and angular deviation within a set range, using a distance sensor and an angle sensor to monitor and adjust the spacing in real time and continuously detect the relative distance between the two AGVs, and employing a spacing control algorithm to ensure that the two AGVs maintain a safe distance while traveling on a single track.