The invention relates to the field of battery swapping, and provides a battery swapping station control method, device and system and a battery swapping station, and the method comprises the steps: setting the relative position of a first target position and a battery swapping trolley when the battery swapping trolley in the battery swapping station needs to horizontally move to the first target position along a battery swapping track; based on the set relative position, a first servo motor in the battery replacing trolley is controlled to drive the battery replacing trolley to move along the battery replacing track; in the process that the battery replacing trolley moves to the first target position, the moving distance is obtained based on an encoder of a first servo motor; if the moving distance is not consistent with a first actual distance obtained based on the first distance measuring sensor, determining that the battery replacing trolley needs to be subjected to position compensation; based on the first actual distance and the moving distance, resetting the relative position so as to carry out position compensation on the battery replacing trolley; and continuously controlling the first servo motor to drive the battery replacing trolley to move along the battery replacing track based on the reset relative position. The problem that the battery replacing trolley cannot accurately reach the target position due to slipping is solved, and positioning is more accurate.

    本发明涉及换电领域,提供一种换电站控制方法、装置、系统及换电站,方法包括:当换电站中换电小车需要沿换电轨道水平移动至第一目标位置时对第一目标位置与换电小车的相对位置进行设定;基于设定的相对位置控制换电小车中第一伺服电机驱动换电小车沿换电轨道移动;在换电小车移动至第一目标位置的过程中基于第一伺服电机的编码器获得移动距离;若移动距离与基于第一测距传感器获得的第一实际距离不一致,确定换电小车需要进行位置补偿;基于第一实际距离和移动距离重新设定相对位置以对换电小车进行位置补偿;基于重新设定的相对位置继续控制第一伺服电机驱动换电小车沿换电轨道移动。解决换电小车因打滑无法准确到达目标位置的问题,定位更准。


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    Title :

    Battery swap station control method, device and system and battery swap station


    Additional title:

    换电站控制方法、装置、系统及换电站


    Contributors:
    WANG TIEMIN (author) / ZHANG YE (author) / FU YEWEI (author)

    Publication date :

    2023-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC




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