CN106585576B - Bus based on motion controller moves battery methods certainly - Google Patents
Bus based on motion controller moves battery methods certainly Download PDFInfo
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- CN106585576B CN106585576B CN201611004892.8A CN201611004892A CN106585576B CN 106585576 B CN106585576 B CN 106585576B CN 201611004892 A CN201611004892 A CN 201611004892A CN 106585576 B CN106585576 B CN 106585576B
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000004891 communication Methods 0.000 claims description 45
- 230000005611 electricity Effects 0.000 claims description 26
- 150000001875 compounds Chemical class 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 5
- 230000008030 elimination Effects 0.000 claims description 5
- 238000003379 elimination reaction Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 18
- 230000008569 process Effects 0.000 description 29
- 238000005516 engineering process Methods 0.000 description 12
- 230000006399 behavior Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention belongs to field of machinery automation, and in particular to a kind of bus based on motion controller is from moving battery methods.The present invention is according to the number and charging cabinet battery service condition of bus quantity, it provides two kinds and changes battery methods, first, bus battery and charging cabinet battery directly swap, the program requires a charging cabinet at least column clear position, and for change electric bus vehicle it is intensive in the case of be relatively applicable in；Second, bus battery is swapped by pallet and charging cabinet battery, the program does not do any requirement to charging cabinet, while changing electric car not and be very intensive situation and have and higher changing electrical efficiency.
Description
Technical field
The invention belongs to field of machinery automation, and in particular to a kind of bus based on motion controller is from moving battery
Method.
Background technique
Very big pass as consciousness of the people to environmental protection is more and more stronger, the problem of environmental pollution and resource by people
Note.Increasingly serious, necessarily choosing of the development energy-efficient, environment-friendly automobiles as development of automobile industry of automobile industry energy-saving and emission-reduction situation
It selects.Currently, being produced using electric energy as the energy-efficient, environment-friendly automobiles of the new energy of representative as power and energy-storage battery industry terminal applies
Product, it has also become country encourages the emerging strategic industry of development.
It is to control two electricity changing robots of bus two sides respectively by two motion controllers that bus, which changes electric system, is led to
It crosses with the real-time information interaction of Upper system, according to good process flow prepared in advance, by the battery of bus not enough power supply point
It Qu Chu be put into charging cabinet, then full electric battery is taken out to the process for being sequentially placed into bus from charging cabinet.Automatically changing electric mistake
Cheng Zhong needs to carry out letter tens of times before and after motion controller and Upper system since each car needs to complete taking for nine pieces of batteries
Breath interaction, therefore, research and develop it is reliable and stable automatically change method for electrically ensure electricity changing robot can in real time, accurately complete battery
Take and become to be even more important.
Summary of the invention
To solve the problems, such as in background technique, the present invention propose it is a kind of can accurately, quickly, safety based on motion control
The bus of device moves battery methods certainly.
The specific technical solution of the present invention is:
The electricity that changes of bus is respectively that bus and charging cabinet directly change electric mode and bus by pallet and fill
Electric cabinet changes the mode of electricity indirectly.
Firstly, first providing the specific steps that bus and charging cabinet directly change the mode of electricity:
1) bus, which enters, changes electric region, and host computer, motion controller and battery replacement device are opened；
2) host computer sends communication instruction packet to motion controller；Communication instruction packet is divided into move packet, battery is taken to refer to
Packet, preparation instruction packet of taking pictures are enabled, error move packet is eliminated and puts Battery Directive packet；It is each instruction packet in parameter include
Command number, coordinates of targets, device type, device numbering and battery types；
Before move packet takes battery, electric discharge pond for charging cabinet, pallet takes before battery, electric discharge pond and bus
Before vehicle takes battery, electric discharge pond, the bottom axis servomotor controlled in battery replacement device is moved, and the beam worker for taking battery to act is completed
Make；
Bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device is taken to be moved, completion takes battery to act；
The bottom axis servomotor that preparation instruction packet of taking pictures is used to control in battery replacement device is moved, and is completed camera arrival and is most closed
Suitable picture-taking position；
Before error move packet is eliminated for charging cabinet and pallet electric discharge pond, the bottom eliminated in battery replacement device is watched
The error that axis is generated due to battery self weight is taken, the preparation of electric discharge pond movement is completed；
It puts bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device to be moved, completes the movement of electric discharge pond；
Bottom axis servomotor includes track travel axis, pallet fork axis, lifting shaft, azimuth axis, pitch axis, push-pull shaft and latch release shaft；
3) battery swap is carried out according to directly changing electric mode between bus and charging cabinet；One piece of battery, which uses, directly changes electricity
The step of mode is successively: bus takes empty electric battery, charging cabinet to be vented electric battery, charging cabinet takes full electric battery and bus to put
Full electricity battery；
When carrying out bus and taking empty electric battery: motion controller successively execute move packet, preparation instruction packet of taking pictures,
Take Battery Directive packet；
When carrying out charging cabinet emptying electricity battery: motion controller, which successively executes, eliminates error move packet, electric discharge pond
Instruction packet；
When progress charging cabinet takes full electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When progress bus piles battery: motion controller successively executes move packet, puts Battery Directive packet；
Motion controller repeats work above to the full electric battery on the electric battery of sky all on bus and charging cabinet
It swaps.
Specific steps of the bus in such a way that pallet and charging cabinet change electricity indirectly are provided again: the following steps are included:
1) bus, which enters, changes electric region, and host computer, motion controller and battery replacement device are opened；
2) host computer sends communication instruction packet to motion controller；Communication instruction packet is divided into move packet, battery is taken to refer to
Packet, preparation instruction packet of taking pictures are enabled, error move packet is eliminated and puts Battery Directive packet；It is each instruction packet in parameter include
Command number, coordinates of targets, device type, device numbering and battery types；
Before move packet takes battery, electric discharge pond for charging cabinet, pallet takes before battery, electric discharge pond and bus
Before vehicle takes battery, electric discharge pond, the bottom axis servomotor controlled in battery replacement device is moved, and the beam worker for taking battery to act is completed
Make；
Bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device is taken to be moved, completion takes battery to act；
The bottom axis servomotor that preparation instruction packet of taking pictures is used to control in battery replacement device is moved, and is completed camera arrival and is most closed
Suitable picture-taking position；
Before error move packet is eliminated for charging cabinet and pallet electric discharge pond, the bottom eliminated in battery replacement device is watched
The error that axis is generated due to battery self weight is taken, the preparation of electric discharge pond movement is completed；
It puts bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device to be moved, completes the movement of electric discharge pond；
Bottom axis servomotor includes track travel axis, pallet fork axis, lifting shaft, azimuth axis, pitch axis, push-pull shaft and latch release shaft；
3) electric mode is changed indirectly according to the structure use for being provided with pallet between bus and charging cabinet carry out battery friendship
It changes；One piece of battery is using the step of changing electric mode indirectly: charging cabinet takes full electric battery, pallet to pile battery, bus
Empty electric battery, pallet is taken to be vented electric battery, pallet takes full electric battery, bus to pile battery, pallet takes empty electricity electricity
Pond and charging cabinet are vented electric battery；
When progress charging cabinet takes full electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When progress pallet piles battery: motion controller, which successively executes, eliminates error move packet, electric discharge pond
Instruction packet；
When carrying out bus and taking empty electric battery: motion controller successively execute move packet, preparation instruction packet of taking pictures,
Take Battery Directive packet；
When carrying out pallet emptying electricity battery: motion controller, which successively executes, eliminates error move packet, electric discharge pond
Instruction packet；
When progress pallet takes full electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When progress bus piles battery: motion controller successively executes move packet, puts Battery Directive packet；
When progress pallet takes empty electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When carrying out charging cabinet emptying electricity battery: motion controller, which successively executes, eliminates error move packet, electric discharge pond
Instruction packet；
Motion controller repeats work above to the full electric battery on the electric battery of sky all on bus and charging cabinet
It swaps.
It should be understood that the motion controller comprising the concrete steps that of executing that move packet controlled:
A1) motion controller disassembles move packet, judges move Packet type, and root according to equipment and battery types
Different moves is executed according to move Packet type；
A2) if executing move to charging cabinet or bus, lifting shaft, row are updated with the communication value of host computer respectively
Walk the target position of axis, azimuth axis and pitch axis；If move is executed to pallet, according to pallet level number and battery sizes
Type updates the target position of lifting shaft, azimuth axis and pitch axis respectively with the memory setting value of motion controller；Target velocity
It sets with operation mode and is initially set both from motion controller inside, while starting the operation of each axis servomotor, operation step becomes
Step is measured to update；
A3) judge whether track travel axis, lifting shaft, azimuth axis and pitch axis movement are completed, continue to execute as unfinished
Step a2)；If completed, track travel axis, lifting shaft, azimuth axis and pitch axis are started into SD zero, operation step variable Step
It updates；
A4) if executing move to charging cabinet or bus, pallet fork axis is updated with the communication value of host computer respectively
Target position；If move is executed to pallet, according to pallet level number and battery sizes type respectively with motion controller
Memory setting value update pallet fork axis target position；Target velocity and operation mode setting are both from motion controller inside
Initial setting, is performed simultaneously the starting of pallet fork axis, and operation step variable Step updates；
A5) judge whether the movement of pallet fork axis is completed, continue to execute step a4 as unfinished)；If completed, pallet fork axis is opened
Dynamic SD zero, operation step variable Step update；
A6) bottom axis servomotor starting SD zero, order complete mark and set 1, and operation step variable Step is reset, original state SD
Zero, move end-of-packet.
Take what Battery Directive packet controlled to comprise the concrete steps that it should be understood that motion controller executes:
B1) motion controller dismantling takes Battery Directive packet, takes Battery Directive Packet type according to equipment and battery types judgement,
And different Battery Directive is taken according to taking Battery Directive Packet type to execute；
B2) being ready to carry out takes battery to act, and whether differentiation latch release shaft angle first in battery lock normally enters range, normally
Range are as follows: solution lock-bit ± 0.3 °, if thening follow the steps b3 in normal range (NR)), otherwise, executes latch release shaft and be moved to solution lock-bit, transport
Row step variable Step updates；
B3) if battery is taken to charging cabinet or bus execution, according to battery sizes type with the memory of motion controller
Target position, target velocity and the operation mode of setting value update push-pull shaft；
If battery is taken to pallet execution, according to pallet level number and battery sizes type respectively with motion controller
Target position, target velocity and the operation mode of memory setting value update push-pull shaft；
It executes push-pull shaft and starts to push-and-pull advanced potential, operation step variable Step updates；
B4) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
B5 latch release shaft target position, target velocity and operation mode) are updated, executes latch release shaft to locking position；
B6) judge whether latch release shaft movement is completed, continue to execute as unfinished, if completed, latch release shaft is started into SD
Zero, operation step variable Step updates, and performs the next step；
B7) if taking battery to charging cabinet or bus execution, distinguished more according to battery sizes type with memory setting value
Target position, target velocity and the operation mode of new push-pull shaft and lifting shaft；The target position of setting and target velocity must be true
Push-pull shaft and lifting shaft work compound are protected, takes out battery stably；
If taking battery to pallet execution, pushed away according to pallet level number and battery sizes type with the update of memory setting value
The target position of pulling shaft and lifting shaft, target velocity and operation mode, the target position of setting and target velocity must assure that and push away
Pulling shaft and lifting shaft work compound, take out battery stably；
It executes push-pull shaft servo and returns to push-and-pull original position, while starting lifting shaft rising, operation step variable Step updates；
B8) judge whether lifting shaft movement is completed, continue to execute as unfinished, if completed, lifting shaft is started into SD
Zero, operation step variable Step updates；
B9) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
B10 " battery is taken to fail ") is determined whether, if any report " battery is taken to fail " mistake, if it has not, each axis starts SD
Zero, order completes mark and sets 1, and operation step variable Step is reset, and original state SD zero so far takes Battery Directive end-of-packet.
It should be understood that motion controller, which executes, eliminates comprising the concrete steps that of being controlled of error move packet:
C1 error move packet is eliminated in) motion controller dismantling, is eliminated error according to equipment and battery types judgement and is moved
Dynamic instruction Packet type, and different elimination error moves is executed according to error move Packet type is eliminated；
C2 error move) is eliminated if executing to pallet, including pallet level number and battery sizes type
It deposits and increases a upward offset on the basis of setting object height to update target position, target velocity and the behaviour of lifting shaft
Operation mode updates target position, target velocity and the behaviour of azimuth axis and pitch axis with the memory setting value of motion controller respectively
Operation mode；
If being executed to charging cabinet and eliminating error move, according to battery sizes type on the basis of lifting shaft communication value
It is upper to increase a upward offset to update target position, target velocity and the operation mode of lifting shaft, with the logical of host computer
News value updates target position, target velocity and the operation mode of walking axle, azimuth axis and pitch axis respectively；
C3) judge whether track travel axis, lifting shaft, azimuth axis and pitch axis movement are completed, continue to execute as unfinished
Step c2)；If completed, track travel axis, lifting shaft, azimuth axis and pitch axis are started into SD zero, operation step variable Step
It updates, performs the next step；
C4 error move) is eliminated if executing to charging cabinet, updates the target position of pallet fork axis with communication value respectively,
Eliminate error move if executing to pallet, according to pallet level number and battery sizes type respectively with memory setting value more
The target position of new pallet fork axis；Target velocity and operation mode setting are initially set both from motion controller inside, pallet fork
Axis execution is acted to advanced potential；
C5) judge whether the movement of pallet fork axis is completed, continue to execute step c4 as unfinished)；If completed, pallet fork axis is opened
Dynamic SD zero, operation step variable Step update；
C6) bottom axis servomotor starting SD zero, order complete mark and set 1, and operation step variable Step is reset, original state SD
Zero, eliminate error move end-of-packet.
It should be understood that motion controller executes comprising the concrete steps that of putting that Battery Directive packet controlled:
D1 Battery Directive packet is put in) motion controller dismantling, puts Battery Directive Packet type according to equipment and battery types judgement,
And different Battery Directive is put according to putting Battery Directive Packet type and executing；
D2) if electric discharge pond is executed to charging cabinet or bus, according to battery sizes type with the memory of motion controller
Setting value updates target position, target velocity and the operation mode of push-pull shaft and lifting shaft, the target position of setting and target speed
Degree must assure that push-pull shaft and lifting shaft work compound, make battery is at the uniform velocity stable to be put into；
If electric discharge pond is executed to pallet, according to pallet level number and battery sizes type respectively with motion controller
Memory setting value updates target position, target velocity and the operation mode of push-pull shaft and lifting shaft, the target position of setting and mesh
Mark speed must assure that push-pull shaft and lifting shaft work compound, be put into battery stably；
Push-pull shaft servo is executed to push-and-pull advanced potential, while starting lifting shaft decline, operation step variable Step updates；
D3) judge whether lifting shaft movement is completed, continue to execute as unfinished, if completed, lifting shaft is started into SD
Zero, operation step variable Step updates；
D4) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
D5 latch release shaft target position, target velocity and operation mode) are updated, servo is executed and starts to solution lock-bit；
D6) judge whether latch release shaft movement is completed, continue to execute as unfinished, if completed, latch release shaft is started into SD
Zero, operation step variable Step updates；
D7 push-pull shaft target position, target velocity and operation mode) are updated, executes push-pull shaft servo to push-and-pull security bit；
D8) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
D9 " failure of electric discharge pond ") is determined whether, if any report " failure of electric discharge pond " mistake, if it has not, each axis starts SD
Zero, order completes mark and sets 1, and operation step variable Step is reset, and original state SD zero puts Battery Directive end-of-packet.
It should be understood that preparation instruction packet of taking pictures sets push-pull shaft execution once with the memory setting value of motion controller
Fixed movement makes camera reach most suitable picture-taking position.
The beneficial effects of the present invention are:
1, due to motion controller a large amount of movements by analysis, compression, arrange and form instruction packet and host computer is handed over
Mutually, changing galvanic process is is generated by the flexible combination of instruction packet, therefore make process establishment clear thinking, succinct and flexible；
2, interaction is segmented the present invention in batches every time, and only current action is completed and next group of data are all updated and completed,
It will start the execution of new round communication instruction packet, it can be ensured that the real-time and accuracy of communication data.
3, present invention employs directly changing electric mode and changing two kinds of electric mode indirectly, can be suitable for changing electric bus vehicle
Intensive situation and to change electric car not be very intensive situation has and higher changes electrical efficiency.
Detailed description of the invention
Fig. 1 is that the present invention changes electric system communication topological diagram；
Fig. 2 be directly change technique change electric flow chart；
Fig. 3 is the flow chart that electricity preparation is changed in indirect processes；
Fig. 4 is the flow chart that electric process is changed in indirect processes；
Fig. 5 is the flow chart of battery charging process in indirect processes.
Specific embodiment
According to bus quantity number and charging cabinet battery service condition, the present invention provide two kinds of process programs for user
Selection；
First, bus battery and charging cabinet battery directly swap, the program requires the column of charging cabinet at least one empty
Not busy position, and for change electric bus vehicle it is intensive in the case of be relatively applicable in (referred to as directly change technique)；Second, bus battery passes through
Pallet and charging cabinet battery swap, and the program does not do any requirement to charging cabinet, while it is very intensive for changing electric car not
The case where have and higher change electrical efficiency (referred to as change indirectly galvanic process).
Upper system will walk sequence requirement according to galvanic process is changed after changing electricity order starting for the first time or completing one group of communication command
Communication instruction packet is sent to No. 1 and No. 2 motion controllers respectively, every piece of taking for battery will be by " preparation of taking pictures ", " shifting
It is dynamic ", " taking battery ", " it is mobile to eliminate error " and " electric discharge pond " " five communication instruction packets, each instruction wrap include command number,
The interactive information such as coordinates of targets, device type, device numbering and battery types.
Herein it should be understood that wherein, the purpose of eliminating error move packet, is: due in the empty electricity walking of battery replacement device
When with full electricity walking, since battery self weight will cause the error of coordinate value, in order to eliminate the error, before putting Battery Directive all
It can first carry out and eliminate error move.
And motion controller unpacks to communication instruction packet according to interactive information such as communication command, device types, is classified
And bottom axis servomotor control instruction (instruction of unpacking) is decomposed to, control electricity changing robot is completed to change electric current journey step by step.Bottom
Axis servomotor includes track travel axis (X), pallet fork axis (Y), lifting shaft (Z), azimuth axis (B), pitch axis (C), push-pull shaft (T) reconciliation
Lock shaft (S).
The execution of each communication instruction packet starts, and host computer is reported data to the connected storage that motion controller is opened up,
Including command number, coordinates of targets, device type, device numbering and battery types etc., motion controller can separately save current life
Order number, while All_Done (mark is completed in order) being reset, it is detected when starting in Fixed Time Interval in communication instruction packet
After bit machine Refresh Data completes signal, it just can formally start the execution of communication instruction packet, it is ensured that every group of data are all to update
The latest data crossed.When each communication instruction packet is finished, All_Done (mark is completed in order) can all be set to 1, and host computer
Detect All_Done jump simultaneously by current action it is corresponding with the motion controller command number saved act compared with, if
Unanimously, it just will start the execution of new round communication instruction packet, each communication instruction packet arrives next communication again from start to end
Instruction packet starts to be not always the case, until technological action is fully completed.
It changes battery process below by way of two kinds for taking one piece of battery of bus to be described respectively, to illustrate
The process for changing galvanic process is generated by communication instruction packet, finally again to the mistake unpacked, classify and decomposed inside each communication instruction packet
Journey is described in detail.
1, bus battery and charging cabinet battery directly swap and (directly change technique)
As shown in Fig. 2, every piece of taking for battery will be by " preparation of taking pictures ", " movement ", " taking Battery Directive ", " elimination mistake
Difference is mobile " and " electric discharge pond " five communication instruction packets, it takes the sequential combination that technique is exactly this five instruction packets and generates.Usually
In bus two sides, five pieces of batteries are installed in side, 4 pieces of batteries are installed in the other side.
The step of replacing one piece of battery is successively are as follows: it is full that bus takes empty electric battery, the electric battery of charging cabinet emptying, charging cabinet to take
Battery and bus pile battery；
When carrying out bus and taking empty electric battery: motion controller successively execute move packet, preparation instruction packet of taking pictures,
Take Battery Directive packet；
When carrying out charging cabinet emptying electricity battery: motion controller, which successively executes, eliminates error move packet, electric discharge pond
Instruction packet；
When progress charging cabinet takes full electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When progress bus piles battery: motion controller successively executes move packet, puts Battery Directive packet；
Motion controller repeats work above to the full electric battery on the electric battery of sky all on bus and charging cabinet
It swaps.
2, bus battery swaps by pallet and charging cabinet battery and (changes galvanic process indirectly)
Bus battery is swapped by pallet and charging cabinet battery, can be held according to the state that pallet stores battery
Three kinds of row are changed galvanic process, that is, are changed electric preparatory technology, changed galvanic process and battery charge technology, be described separately below.
1) electric preparatory technology is changed
Electric preparatory technology is changed, i.e., charging cabinet is expired into battery and is put into sequentially in either order without battery status in pallet
The process of pallet is prepared to execute with the exchange of the battery of bus.That changes one piece of battery of electric preparatory technology takes process such as
Shown in Fig. 3:
Change taking including " movement ", " taking battery ", " eliminate error mobile " and " discharging for one piece of battery of electric preparatory technology
Four, pond " communication instruction packet changes the sequential combination that electric preparatory technology is exactly this four instruction packets and generates.
2) galvanic process is changed
It changes galvanic process pallet is expired into the empty electric battery of battery and bus and swap sequentially in either order, complete
Bus changes electric current journey.Change one piece of battery of galvanic process to take process as shown in Figure 4:
Change one piece of battery of galvanic process take including " preparation of taking pictures ", " movement ", " taking battery ", " eliminate error mobile " and
" electric discharge pond " five communication instruction packets, change the sequential combination that galvanic process is exactly this five instruction packets and generate.
3) battery charge technology
Battery charge technology is handed over temporary aerial electric battery and the full electric battery of charging cabinet sequentially in either order
It changes.One piece of battery of battery charge technology to take process as shown in Figure 5:
One piece of battery of battery charge technology takes including " movement ", " taking battery ", " it is mobile to eliminate error " and " electric discharge
Four, pond " communication instruction packet, battery charge technology are exactly that the sequential combination of this four instruction packets generates.
Three, communication instruction packet
It can be seen that, no matter which kind of changes galvanic process, all include " movement ", " taking battery ", " eliminate error to move from the description above
It is dynamic " and " electric discharge pond " four communication instruction packets, only with when bus battery swap more than one " preparation of taking pictures " instruction wrap.
The starting of each axis includes to the update of target position, target velocity and operation mode and axis starting target triggering
Four elements, wherein target position is set perhaps from the communication value of host computer or from the memory of motion controller
Value, target velocity is set by the percentage of Rated motor speed, from the memory setting value of motion controller, operation
Mode includes three kinds of servo absolute position, bar code absolute position, servo incremental counter control models, in automatic running, walking
Axis and lifting shaft select bar code absolute position mode, and pallet fork axis, azimuth axis, pitch axis, push-pull shaft and latch release shaft select servo
Absolute position mode.
How will unpack to " movement ", " taking battery ", the movement of elimination error and " electric discharge pond " four instruction packet inside below,
Classification and the process decomposed are described in detail.
(1) move packet
When command code is 1, move packet function is executed.
A1) motion controller disassembles move packet, judges move Packet type according to device type, and according to movement
Instruction Packet type executes different moves；Specifically judge that method is: if device number for 1, i.e., executes shifting to charging cabinet
It is dynamic to instruct, if device number is 2 i.e. to pallet execution move, if it is to execute movement to bus to refer to that device number, which is 3,
It enables；
A2) if executing move to charging cabinet or bus, lifting shaft, row are updated with the communication value of host computer respectively
Walk the target position of axis, azimuth axis and pitch axis；If move is executed to pallet, according to pallet level number and battery sizes
Type updates the target position of lifting shaft, azimuth axis and pitch axis respectively with the memory setting value of motion controller；Target velocity
It sets with operation mode and is initially set both from motion controller inside, while starting the operation of each axis servomotor, operation step becomes
Step is measured to update；
A3) judge whether track travel axis, lifting shaft, azimuth axis and pitch axis movement are completed, continue to execute as unfinished
Step a2)；If completed, track travel axis, lifting shaft, azimuth axis and pitch axis are started into SD zero, operation step variable Step
It updates；
A4) if executing move to charging cabinet or bus, pallet fork axis is updated with the communication value of host computer respectively
Target position；If move is executed to pallet, according to pallet level number and battery sizes type respectively with motion controller
Memory setting value update pallet fork axis target position；Target velocity and operation mode setting are both from motion controller inside
Initial setting, is performed simultaneously the starting of pallet fork axis, and operation step variable Step updates；
A5) judge whether the movement of pallet fork axis is completed, continue to execute step a4 as unfinished)；If completed, pallet fork axis is opened
Dynamic SD zero, operation step variable Step update；
A6) bottom axis servomotor starting SD zero, order complete mark and set 1, and operation step variable Step is reset, original state SD
Zero, move end-of-packet.
(2) Battery Directive packet is taken
Taking Battery Directive packet that is, after the Overall Steps of completion move packet, is continued on the basis of move packet
Execute subsequent action.
B1) motion controller dismantling takes Battery Directive packet, takes Battery Directive Packet type according to equipment and battery types judgement,
And different Battery Directive is taken according to taking Battery Directive Packet type to execute；
B2) being ready to carry out takes battery to act, and whether differentiation latch release shaft angle first in battery lock normally enters range, normally
Range are as follows: solution lock-bit ± 0.3 °, if thening follow the steps b3 in normal range (NR)), otherwise, executes latch release shaft and be moved to solution lock-bit, transport
Row step variable Step updates；
B3) if battery is taken to charging cabinet or bus execution, according to battery sizes type with the memory of motion controller
Target position, target velocity and the operation mode of setting value update push-pull shaft；
If battery is taken to pallet execution, according to pallet level number and battery sizes type respectively with motion controller
Target position, target velocity and the operation mode of memory setting value update push-pull shaft；
It executes push-pull shaft and starts to push-and-pull advanced potential, operation step variable Step updates；
B4) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
B5 latch release shaft target position, target velocity and operation mode) are updated, executes latch release shaft to locking position；
B6) judge whether latch release shaft movement is completed, continue to execute as unfinished, if completed, latch release shaft is started into SD
Zero, operation step variable Step updates, and performs the next step；
B7) if taking battery to charging cabinet or bus execution, distinguished more according to battery sizes type with memory setting value
Target position, target velocity and the operation mode of new push-pull shaft and lifting shaft；The target position of setting and target velocity must be true
Push-pull shaft and lifting shaft work compound are protected, takes out battery stably；
If taking battery to pallet execution, pushed away according to pallet level number and battery sizes type with the update of memory setting value
The target position of pulling shaft and lifting shaft, target velocity and operation mode, the target position of setting and target velocity must assure that and push away
Pulling shaft and lifting shaft work compound, take out battery stably；
It executes push-pull shaft servo and returns to push-and-pull original position, while starting lifting shaft rising, operation step variable Step updates；
B8) judge whether lifting shaft movement is completed, continue to execute as unfinished, if completed, lifting shaft is started into SD
Zero, operation step variable Step updates；
B9) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
B10 " battery is taken to fail ") is determined whether, if any report " battery is taken to fail " mistake, if it has not, each axis starts SD
Zero, order completes mark and sets 1, and operation step variable Step is reset, and original state SD zero so far takes Battery Directive end-of-packet.
(3) error move packet is eliminated
C1 error move packet is eliminated in) motion controller dismantling, is eliminated error according to equipment and battery types judgement and is moved
Dynamic instruction Packet type, and different disappear is executed according to error move Packet type is eliminated
Except error move；
C2 error move) is eliminated if executing to pallet, including pallet level number and battery sizes type
It deposits and increases a upward offset on the basis of setting object height to update target position, target velocity and the behaviour of lifting shaft
Operation mode updates target position, target velocity and the behaviour of azimuth axis and pitch axis with the memory setting value of motion controller respectively
Operation mode；
If being executed to charging cabinet and eliminating error move, according to battery sizes type on the basis of lifting shaft communication value
It is upper to increase a upward offset to update target position, target velocity and the operation mode of lifting shaft, with the logical of host computer
News value updates target position, target velocity and the operation mode of walking axle, azimuth axis and pitch axis respectively；
C3) judge whether track travel axis, lifting shaft, azimuth axis and pitch axis movement are completed, continue to execute as unfinished
Step c2)；If completed, track travel axis, lifting shaft, azimuth axis and pitch axis are started into SD zero, operation step variable Step
It updates, performs the next step；
C4 error move) is eliminated if executing to charging cabinet, updates the target position of pallet fork axis with communication value respectively,
Eliminate error move if executing to pallet, according to pallet level number and battery sizes type respectively with memory setting value more
The target position of new pallet fork axis；Target velocity and operation mode setting are initially set both from motion controller inside, pallet fork
Axis execution is acted to advanced potential；
C5) judge whether the movement of pallet fork axis is completed, continue to execute step c4 as unfinished)；If completed, pallet fork axis is opened
Dynamic SD zero, operation step variable Step update；
C6) bottom axis servomotor starting SD zero, order complete mark and set 1, and operation step variable Step is reset, original state SD
Zero, eliminate error move end-of-packet.
(4) Battery Directive packet is put
D1 Battery Directive packet is put in) motion controller dismantling, puts Battery Directive Packet type according to equipment and battery types judgement,
And different Battery Directive is put according to putting Battery Directive Packet type and executing；
D2) if electric discharge pond is executed to charging cabinet or bus, according to battery sizes type with the memory of motion controller
Setting value updates target position, target velocity and the operation mode of push-pull shaft and lifting shaft, the target position of setting and target speed
Degree must assure that push-pull shaft and lifting shaft work compound, make battery is at the uniform velocity stable to be put into；
If electric discharge pond is executed to pallet, according to pallet level number and battery sizes type respectively with motion controller
Memory setting value updates target position, target velocity and the operation mode of push-pull shaft and lifting shaft, the target position of setting and mesh
Mark speed must assure that two axis work compounds, be put into battery stably；
Push-pull shaft servo is executed to push-and-pull advanced potential, while starting lifting shaft decline, operation step variable Step updates；
D3) judge whether lifting shaft movement is completed, continue to execute as unfinished, if completed, lifting shaft is started into SD
Zero, operation step variable Step updates；
D4) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
D5 latch release shaft target position, target velocity and operation mode) are updated, servo is executed and starts to solution lock-bit；
D6) judge whether latch release shaft movement is completed, continue to execute as unfinished, if completed, latch release shaft is started into SD
Zero, operation step variable Step updates；
D7 push-pull shaft target position, target velocity and operation mode) are updated, executes push-pull shaft servo to push-and-pull security bit；
D8) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD
Zero, operation step variable Step updates；
D9 " failure of electric discharge pond ") is determined whether, if any report " failure of electric discharge pond " mistake, if it has not, each axis starts SD
Zero, order completes mark and sets 1, and operation step variable Step is reset, and original state SD zero puts Battery Directive end-of-packet.
Claims (7)
1. a kind of bus based on motion controller moves battery methods certainly, which comprises the following steps:
1) bus, which enters, changes electric region, and host computer, motion controller and battery replacement device are opened；
2) host computer sends communication instruction packet to motion controller；Communication instruction packet be divided into move packet, take Battery Directive packet,
Take pictures preparation instruction packet, eliminate error move packet and put Battery Directive packet；Parameter in each instruction packet includes order
Number, coordinates of targets, device type, device numbering and battery types；
Before move packet takes battery, electric discharge pond for charging cabinet, pallet takes before battery, electric discharge pond and bus takes
Before battery, electric discharge pond, the bottom axis servomotor controlled in battery replacement device is moved, and the preparation for taking battery to act is completed；
Bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device is taken to be moved, completion takes battery to act；
The bottom axis servomotor that preparation instruction packet of taking pictures is used to control in battery replacement device is moved, and it is most suitable to complete camera arrival
Picture-taking position；
Before error move packet is eliminated for charging cabinet and pallet electric discharge pond, the bottom axis servomotor in battery replacement device is eliminated
Due to the error that battery self weight generates, the preparation of electric discharge pond movement is completed；
It puts bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device to be moved, completes the movement of electric discharge pond；
Bottom axis servomotor includes track travel axis, pallet fork axis, lifting shaft, azimuth axis, pitch axis, push-pull shaft and latch release shaft；
3) battery swap is carried out according to directly changing electric mode between bus and charging cabinet；One piece of battery, which uses, directly changes electric mode
The step of be successively: bus takes empty electric battery, charging cabinet to be vented electric battery, charging cabinet takes full electric battery and bus to pile electricity
Battery；
When progress bus takes empty electric battery: motion controller successively executes move packet, preparation instruction packet of taking pictures, takes electricity
Pond instruction packet；
When carrying out charging cabinet emptying electricity battery: motion controller successively executes and eliminates error move packet, puts Battery Directive
Packet；
When progress charging cabinet takes full electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When progress bus piles battery: motion controller successively executes move packet, puts Battery Directive packet；
Motion controller repeats work above and carries out to the full electric battery on the electric battery of sky all on bus and charging cabinet
Exchange.
2. a kind of bus based on motion controller moves battery methods certainly, which comprises the following steps:
1) bus, which enters, changes electric region, and host computer, motion controller and battery replacement device are opened；
2) host computer sends communication instruction packet to motion controller；Communication instruction packet be divided into move packet, take Battery Directive packet,
Take pictures preparation instruction packet, eliminate error move packet and put Battery Directive packet；Parameter in each instruction packet includes order
Number, coordinates of targets, device type, device numbering and battery types；
Before move packet takes battery, electric discharge pond for charging cabinet, pallet takes before battery, electric discharge pond and bus takes
Before battery, electric discharge pond, the bottom axis servomotor controlled in battery replacement device is moved, and the preparation for taking battery to act is completed；
Bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device is taken to be moved, completion takes battery to act；
The bottom axis servomotor that preparation instruction packet of taking pictures is used to control in battery replacement device is moved, and it is most suitable to complete camera arrival
Picture-taking position；
Before error move packet is eliminated for charging cabinet and pallet electric discharge pond, the bottom axis servomotor in battery replacement device is eliminated
Due to the error that battery self weight generates, the preparation of electric discharge pond movement is completed；
It puts bottom axis servomotor of the Battery Directive packet for controlling in battery replacement device to be moved, completes the movement of electric discharge pond；
Bottom axis servomotor includes track travel axis, pallet fork axis, lifting shaft, azimuth axis, pitch axis, push-pull shaft and latch release shaft；
3) electric mode is changed indirectly according to the structure use for being provided with pallet between bus and charging cabinet carry out battery swap；One
Block battery is using the step of changing electric mode indirectly: charging cabinet takes full electric battery, pallet to pile battery, bus takes empty electricity
Battery, pallet are vented electric battery, pallet takes full electric battery, bus to pile battery, pallet takes empty electric battery and fills
Electric cabinet is vented electric battery；
When progress charging cabinet takes full electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When progress pallet piles battery: motion controller successively executes and eliminates error move packet, puts Battery Directive
Packet；
When progress bus takes empty electric battery: motion controller successively executes move packet, preparation instruction packet of taking pictures, takes electricity
Pond instruction packet；
When carrying out pallet emptying electricity battery: motion controller successively executes and eliminates error move packet, puts Battery Directive
Packet；
When progress pallet takes full electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When progress bus piles battery: motion controller successively executes move packet, puts Battery Directive packet；
When progress pallet takes empty electric battery: motion controller successively executes move packet, takes Battery Directive packet；
When carrying out charging cabinet emptying electricity battery: motion controller successively executes and eliminates error move packet, puts Battery Directive
Packet；
Motion controller repeats work above and carries out to the full electric battery on the electric battery of sky all on bus and charging cabinet
Exchange.
3. the bus according to claim 1 or 2 based on motion controller moves battery methods certainly, it is characterised in that:
What the motion controller execution move packet was controlled comprises the concrete steps that:
A1) motion controller disassembles move packet, judges move Packet type according to equipment and battery types, and according to shifting
Dynamic instruction Packet type executes different moves；
A2) if executing move to charging cabinet or bus, lifting shaft, walking are updated with the communication value of host computer respectively
The target position of axis, azimuth axis and pitch axis；If move is executed to pallet, according to pallet level number and battery sizes class
Type updates the target position of lifting shaft, azimuth axis and pitch axis respectively with the memory setting value of motion controller；Target velocity and
Operation mode setting is initially set both from motion controller inside, while starting the operation of each axis servomotor, operation step variable
Step updates；
A3) judge whether track travel axis, lifting shaft, azimuth axis and pitch axis movement are completed, continue to execute step as unfinished
a2)；If completed, track travel axis, lifting shaft, azimuth axis and pitch axis are started into SD zero, operation step variable Step updates；
A4) if executing move to charging cabinet or bus, the target of pallet fork axis is updated with the communication value of host computer respectively
Position；If executing move to pallet, according to pallet level number and battery sizes type respectively in motion controller
Deposit the target position that setting value updates pallet fork axis；Target velocity and operation mode setting are initial both from motion controller inside
Setting, is performed simultaneously the starting of pallet fork axis, and operation step variable Step updates；
A5) judge whether the movement of pallet fork axis is completed, continue to execute step a4 as unfinished)；If completed, pallet fork axis is started and is marked
It resets, operation step variable Step updates；
A6) bottom axis servomotor starting SD zero, order complete mark and set 1, and operation step variable Step is reset, original state SD zero,
Move end-of-packet.
4. the bus according to claim 1 or 2 based on motion controller moves battery methods certainly, it is characterised in that:
The motion controller executes comprising the concrete steps that of taking Battery Directive packet to be controlled:
B1) motion controller dismantling takes Battery Directive packet, takes Battery Directive Packet type, and root according to equipment and battery types judgement
Different Battery Directive is taken according to taking Battery Directive Packet type to execute；
B2) being ready to carry out takes battery to act, and whether differentiation latch release shaft angle first in battery lock normally enters range, normal range (NR)
Are as follows: solution lock-bit ± 0.3 °, if thening follow the steps b3 in normal range (NR)), otherwise, executes latch release shaft and be moved to solution lock-bit, operation step
Variable Step updates；
B3 it) if taking battery to charging cabinet or bus execution, is set according to battery sizes type with the memory of motion controller
Value updates target position, target velocity and the operation mode of push-pull shaft；
If battery is taken to pallet execution, according to pallet level number and battery sizes type respectively with the memory of motion controller
Target position, target velocity and the operation mode of setting value update push-pull shaft；
It executes push-pull shaft and starts to push-and-pull advanced potential, operation step variable Step updates；
B4) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD zero, fortune
Row step variable Step updates；
B5 latch release shaft target position, target velocity and operation mode) are updated, executes latch release shaft to locking position；
B6) judge whether latch release shaft movement is completed, continue to execute as unfinished, if completed, latch release shaft is started into SD zero, fortune
Row step variable Step updates, and performs the next step；
B7 it) if taking battery to charging cabinet or bus execution, is updated and is pushed away respectively with memory setting value according to battery sizes type
The target position of pulling shaft and lifting shaft, target velocity and operation mode；The target position of setting and target velocity, which must assure that, to be pushed away
Pulling shaft and lifting shaft work compound, take out battery stably；
If taking battery to pallet execution, push-pull shaft is updated with memory setting value according to pallet level number and battery sizes type
With target position, target velocity and the operation mode of lifting shaft, the target position of setting and target velocity must assure that push-pull shaft
With lifting shaft work compound, take out battery stably；
It executes push-pull shaft servo and returns to push-and-pull original position, while starting lifting shaft rising, operation step variable Step updates；
B8) judge whether lifting shaft movement is completed, continue to execute as unfinished, if completed, lifting shaft is started into SD zero, fortune
Row step variable Step updates；
B9) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD zero, fortune
Row step variable Step updates；
B10 " battery is taken to fail ") is determined whether, if any report " battery is taken to fail " mistake, if it has not, each axis starting SD zero, life
It enables completing to mark and sets 1, operation step variable Step is reset, and original state SD zero so far takes Battery Directive end-of-packet.
5. the bus according to claim 1 or 2 based on motion controller moves battery methods certainly, it is characterised in that:
What the motion controller execution elimination error move packet was controlled comprises the concrete steps that:
C1 error move packet is eliminated in) motion controller dismantling, is eliminated error movement according to equipment and battery types judgement and is referred to
Packet type is enabled, and executes different elimination error moves according to error move Packet type is eliminated；
C2 error move) is eliminated if executing to pallet, is set according to pallet level number and battery sizes type in memory
Increase a upward offset on the basis of the height that sets the goal to update the target position of lifting shaft, target velocity and operation mould
Formula updates target position, target velocity and the operation mould of azimuth axis and pitch axis with the memory setting value of motion controller respectively
Formula；
If being executed to charging cabinet and eliminating error move, increased on the basis of lifting shaft communication value according to battery sizes type
Add a upward offset to update target position, target velocity and the operation mode of lifting shaft, with the communication value of host computer
Target position, target velocity and the operation mode of walking axle, azimuth axis and pitch axis are updated respectively；
C3) judge whether track travel axis, lifting shaft, azimuth axis and pitch axis movement are completed, continue to execute step as unfinished
c2)；If completed, track travel axis, lifting shaft, azimuth axis and pitch axis are started into SD zero, operation step variable Step updates,
It performs the next step；
C4 error move) is eliminated if executing to charging cabinet, the target position of pallet fork axis is updated with communication value respectively, if right
Pallet, which executes, eliminates error move, updates goods respectively according to pallet level number and battery sizes type with memory setting value
The target position of fork shaft；Target velocity and operation mode setting are initially set both from motion controller inside, and pallet fork axis is held
Advanced potential is accomplished in action；
C5) judge whether the movement of pallet fork axis is completed, continue to execute step c4 as unfinished)；If completed, pallet fork axis is started and is marked
It resets, operation step variable Step updates；
C6) bottom axis servomotor starting SD zero, order complete mark and set 1, and operation step variable Step is reset, original state SD zero,
Eliminate error move end-of-packet.
6. the bus according to claim 1 or 2 based on motion controller moves battery methods certainly, it is characterised in that:
The motion controller executes comprising the concrete steps that of putting that Battery Directive packet controlled:
D1 Battery Directive packet is put in) motion controller dismantling, puts Battery Directive Packet type, and root according to equipment and battery types judgement
Different Battery Directive is put according to putting Battery Directive Packet type and executing；
D2 it) if executing electric discharge pond to charging cabinet or bus, is set according to battery sizes type with the memory of motion controller
Value updates target position, target velocity and the operation mode of push-pull shaft and lifting shaft, and the target position of setting and target velocity must
It must ensure push-pull shaft and lifting shaft work compound, make battery is at the uniform velocity stable to be put into；
If electric discharge pond is executed to pallet, according to pallet level number and battery sizes type respectively with the memory of motion controller
Setting value updates target position, target velocity and the operation mode of push-pull shaft and lifting shaft, the target position of setting and target speed
Degree must assure that two axis work compounds, be put into battery stably；
Push-pull shaft servo is executed to push-and-pull advanced potential, while starting lifting shaft decline, operation step variable Step updates；
D3) judge whether lifting shaft movement is completed, continue to execute as unfinished, if completed, lifting shaft is started into SD zero, fortune
Row step variable Step updates；
D4) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD zero, fortune
Row step variable Step updates；
D5 latch release shaft target position, target velocity and operation mode) are updated, servo is executed and starts to solution lock-bit；
D6) judge whether latch release shaft movement is completed, continue to execute as unfinished, if completed, latch release shaft is started into SD zero, fortune
Row step variable Step updates；
D7 push-pull shaft target position, target velocity and operation mode) are updated, executes push-pull shaft servo to push-and-pull security bit；
D8) judge whether push-pull shaft movement is completed, continue to execute as unfinished, if completed, push-pull shaft is started into SD zero, fortune
Row step variable Step updates；
D9 " failure of electric discharge pond ") is determined whether, if any report " failure of electric discharge pond " mistake, if it has not, each axis starting SD zero, life
It enables completing to mark and sets 1, operation step variable Step is reset, and original state SD zero puts Battery Directive end-of-packet.
7. the bus according to claim 1 or 2 based on motion controller moves battery methods certainly, it is characterised in that:
The preparation instruction packet of taking pictures makes push-pull shaft execute the movement once set with the memory setting value of motion controller, arrives camera
Up to most suitable picture-taking position.
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| CN111038454A (en) * | 2019-12-30 | 2020-04-21 | 山东厚德测控技术股份有限公司 | Unmanned aerial vehicle battery replacement system and closed-loop automatic control method |
| CN113829941B (en) * | 2021-09-26 | 2023-06-30 | 南京能瑞电力科技有限公司 | High-precision vehicle power exchange system |
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| EP1922857A4 (en) * | 2005-08-19 | 2009-11-25 | Robert Stepanian | Tethered digital butler consumer electronic device and method |
| CN202541496U (en) * | 2011-11-18 | 2012-11-21 | 山东鲁能智能技术有限公司 | Battery quick-change robot control system for electric bus |
| CN103507783B (en) * | 2012-06-27 | 2016-02-24 | 摩特克斯产品有限公司 | For automatically changing the system of electric vehicle battery |
| CN202641652U (en) * | 2012-06-29 | 2013-01-02 | 山东电力集团公司电力科学研究院 | Control system of electric passenger vehicle battery quickly replacing robot |
| CN102700513B (en) * | 2012-06-29 | 2015-02-04 | 山东鲁能智能技术有限公司 | Battery replacement robot with mobile temporary storage frame and battery replacement method |
| CN103318145B (en) * | 2013-05-30 | 2015-07-29 | 浙江瓿达科技有限公司 | Electric automobile rechargeable battery intelligence changes flow process |
| CN103693022B (en) * | 2013-11-28 | 2016-05-18 | 西安航天精密机电研究所 | The electric automobile of controlling based on PLC is from moving the battery methods that changes of battery means |
| CN103693024B (en) * | 2013-11-28 | 2016-08-17 | 西安航天精密机电研究所 | A kind of electric automobile Fully-automatic battery replacement control system and method |
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