CN114248662A - Unlocking method and unlocking control device based on RGV (reduced graphics volume) trolley - Google Patents
Unlocking method and unlocking control device based on RGV (reduced graphics volume) trolley Download PDFInfo
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- CN114248662A CN114248662A CN202010954679.3A CN202010954679A CN114248662A CN 114248662 A CN114248662 A CN 114248662A CN 202010954679 A CN202010954679 A CN 202010954679A CN 114248662 A CN114248662 A CN 114248662A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000004590 computer program Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention provides an unlocking method and an unlocking control device based on an RGV (reduced graphics volume) trolley, wherein the unlocking method comprises the following steps: when an unlocking instruction is received, controlling a servo motor to drive an unlocking device to unlock; acquiring output torque acted on the unlocking device by a servo motor and position information of the unlocking device in the movement process of the unlocking device; and when the unlocking is determined to be completed according to the output torque and the position information of the unlocking device, outputting prompt information for completing the unlocking. The unlocking is determined to be completed only when the output torque and the position information meet the preset condition at the same time, so that the accuracy of outputting the prompt information for completing the unlocking can be improved. And when the unlocking device is controlled to move, the success rate of unlocking the RGV trolley can be improved by controlling the unlocking device to reach the preset unlocking point and controlling the output torque to reach the torque when unlocking, and the situation that the output torque does not reach the unlocking torque when the unlocking device reaches the preset unlocking point, so that the unlocking failure is caused is avoided.
Description
Technical Field
The invention relates to the field of charging and battery replacing of electric automobiles, in particular to an unlocking method and an unlocking control device based on an RGV (reduced graphics volume) trolley.
Background
With the continuous development of the technology, the market share of the electric automobile is continuously improved. As is well known, a power battery provides power for an electric vehicle, and when the power battery has a low electric quantity, the electric quantity needs to be supplemented. The process of electric quantity replenishment usually lasts for several hours, and when the car owner urgently needs to use the car, the car owner's demand often can't be satisfied. Therefore, when the power battery is low in charge, a strategy of directly replacing the power battery is provided, but when the Rail Guided Vehicle (RGV) unlocks the power battery, the unlocking success rate is low. How to improve the unlocking success rate of the RGV is a problem to be considered.
Disclosure of Invention
The invention aims to provide an unlocking method and an unlocking control device based on an RGV (reduced graphics volume) trolley so as to improve the unlocking success rate of the RGV trolley.
In order to achieve the above object, the present invention provides an unlocking method based on an RGV car, comprising: when an unlocking instruction is received, controlling a servo motor to drive an unlocking device to unlock;
in the movement process of the unlocking device, acquiring the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device;
and when the unlocking is determined to be completed according to the output torque and the position information of the unlocking device, outputting prompt information for completing the unlocking.
Optionally, the obtaining of the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device includes:
and acquiring identification information sent by a servo driver, wherein the identification information comprises output torque acted on the unlocking device by the servo motor and position information of the unlocking device.
Optionally, determining that unlocking is completed according to the position information of the output torque and the unlocking device, comprising:
and if the output torque reaches a preset torque value and the unlocking device reaches a preset position, determining that unlocking is finished.
Optionally, the method further comprises:
and if the unlocking device is determined to reach the preset critical travel position, controlling the servo motor to stop working and outputting alarm information.
Optionally, the step of determining that the unlocking device reaches the preset critical stroke position includes:
acquiring prompt information sent by a sensor when the unlocking device reaches a preset critical travel position;
and determining that the unlocking device reaches a preset critical travel position according to the prompt information.
Optionally, the number of sensors is at least two.
Optionally, the method further comprises:
and when the unlocking device is determined not to be unlocked within the preset time according to the output torque and the position information of the unlocking device, outputting prompt information of the unlocking not to be unlocked.
Another embodiment of the present invention provides an unlocking control apparatus based on an RGV car, including:
the control module is used for controlling the servo motor to drive the unlocking device to unlock when an unlocking instruction is received;
the acquisition module is used for acquiring the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device in the movement process of the unlocking device;
and the output module is used for outputting prompt information for completing unlocking when the unlocking is determined to be completed according to the output torque and the position information of the unlocking device.
Yet another embodiment of the present invention provides an RGV trolley comprising an unlocking control device as described above.
Yet another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements the unlocking method as described above.
The technical method of the invention has the following beneficial effects:
the unlocking is determined to be completed only when the output torque and the position information simultaneously meet the preset condition, wherein the preset condition can be, for example, the output torque reaches the torque when the unlocking is completed and the unlocking device reaches the preset unlocking point, and the accuracy of outputting the prompt information for completing the unlocking can be improved. And when the unlocking device is controlled to move, the success rate of unlocking the RGV trolley can be improved by controlling the unlocking device to reach the preset unlocking point and controlling the output torque to reach the torque when unlocking, and the situation that the output torque does not reach the unlocking torque when the unlocking device reaches the preset unlocking point, so that the unlocking failure is caused is avoided.
Drawings
FIG. 1 is a schematic flow chart of an RGV-based unlocking method provided by the present invention;
FIG. 2 is a schematic flow chart of another RGV-based unlocking method provided by the present invention;
FIG. 3 is a schematic diagram of an unlocking control device, an actuator and an unlocking device according to the present invention;
fig. 4 is a schematic structural diagram of an unlocking control device based on an RGV car provided by the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
In an electric vehicle power exchanging station, when a power battery needs to be replaced for an electric vehicle, a locking mechanism of the power battery is generally opened through an RGV (reduced graphics volume) trolley, so that the power battery is unlocked, and then the power battery is replaced.
Referring to fig. 1, a schematic flow chart of an unlocking method based on an RGV car is provided for a preferred embodiment of the present invention, and is applied to an unlocking control device, where the unlocking control device may be, for example, a programmable logic controller, an industrial personal computer, or a single chip microcomputer. The unlocking method comprises the following steps:
s101: and when an unlocking instruction is received, controlling the servo motor to drive the unlocking device to unlock.
When the power battery needs to be unlocked, the upper computer sends an unlocking instruction to the unlocking control device. When the unlocking control device receives the unlocking instruction, the unlocking control device can send an unlocking command to the servo driver, and then the servo driver controls the servo motor to drive the unlocking device to unlock according to the unlocking command of the unlocking control device.
S102: and acquiring the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device in the movement process of the unlocking device.
In the movement process of the unlocking device, the unlocking control device can judge whether the unlocking device reaches a preset unlocking point or not by acquiring the position information of the unlocking device. By acquiring the output torque of the servo motor acting on the unlocking device, whether the output torque reaches the torque when unlocking can be judged.
S103: and when the unlocking is determined to be completed according to the output torque and the position information of the unlocking device, outputting prompt information for completing the unlocking.
The unlocking is determined to be completed only when the output torque and the position information simultaneously meet the preset condition, wherein the preset condition can be, for example, the output torque reaches the torque when the unlocking is completed and the unlocking device reaches the preset unlocking point, and the accuracy of outputting the prompt information for completing the unlocking can be improved. And when the unlocking device is controlled to move, the success rate of unlocking the RGV trolley can be improved by controlling the unlocking device to reach the preset unlocking point and controlling the output torque to reach the torque when unlocking, and the situation that the output torque does not reach the unlocking torque when the unlocking device reaches the preset unlocking point, so that the unlocking failure is caused is avoided.
For example, the obtaining of the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device includes:
and acquiring identification information sent by a servo driver, wherein the identification information comprises output torque acted on the unlocking device by the servo motor and position information of the unlocking device.
The unlocking control device and the servo controller can perform data transmission through a signal line or a proprietary network, and after the unlocking control device obtains the identification information, the identification information can be analyzed, so that the output torque and the position information can be obtained.
Further, determining that unlocking is completed according to the output torque and the position information of the unlocking device, comprising:
and if the output torque reaches a preset torque value and the unlocking device reaches a preset position, determining that unlocking is finished.
When the unlocking means reaches a preset position (a preset unlocking point), the unlocking means next performs an unlocking operation. In the unlocking process, even if the unlocking device reaches the preset position, the output torque does not reach the preset torque value, and the unlocking may not be completed. Only when the unlocking device reaches the preset position and the output torque reaches the preset torque value, the unlocking is determined to be completed, so that the unlocking success rate can be improved, and the unlocking accuracy can be determined.
For example, if it is determined that the unlocking device reaches a preset critical travel position, the servo motor is controlled to stop working, and alarm information is output.
When the unlocking device moves, the unlocking device can move within the allowed travel, and if the allowed travel is exceeded, the unlocking device can be damaged, so that unnecessary economic loss is caused. When the unlocking device moves to a preset critical stroke position, namely, the maximum stroke allowed to be reached by the unlocking device is reached, in order to avoid the situation that the unlocking device continues to move and exceeds the allowed stroke, the unlocking control device controls the servo motor to stop working, and alarm information is output, so that the unlocking process stops. The alarm information may be, for example, prompted by an alarm lamp, may also be prompted by voice, and may also be prompted by text, for example. And then the staff can detect RGV dolly and unlocking device through the suggestion of alarm information to get rid of the problem. After the problem is eliminated, the unlocking device can continue the unlocking operation.
Specifically, the step of determining that the unlocking device reaches the preset critical travel position includes:
acquiring prompt information sent by a sensor when the unlocking device reaches a preset critical travel position;
and determining that the unlocking device reaches a preset critical travel position according to the prompt information.
The number of the sensors is at least two, and the sensors can comprise an unlocking limit sensor, an unlocking limit sensor and a middle sensor, wherein the unlocking limit sensor and the unlocking limit sensor are used for limiting and protecting the unlocking device, and the middle sensor is used for marking a middle position. The sensor can be arranged on the RGV trolley, the unlocking device or both the RGV trolley and the unlocking device. When the unlocking device reaches the preset critical travel position, the unlocking limit sensor and the unlocking limit sensor can send prompt information that the unlocking device reaches the preset critical travel position to the unlocking control device, and then the unlocking control device controls the servo motor to stop working according to the prompt information, so that the unlocking device is subjected to limiting protection, and the unlocking device is prevented from being damaged.
Optionally, when it is determined that the unlocking device does not complete unlocking within a preset time according to the position information of the output torque and the unlocking device, a prompt message of incomplete unlocking is output.
Under normal conditions, the unlocking device can complete the unlocking operation within the preset time, wherein the preset time can be 30 seconds, 1 minute, 25 seconds or 2 minutes, if the preset time is exceeded, the unlocking device still does not output the prompt message for completing the unlocking, the unlocking device or the RGV possibly breaks down, or external factors interfere the unlocking device or the RGV, so that the unlocking device cannot smoothly complete the unlocking. Under the condition, the staff can check the on-site condition in time according to the prompt message of incomplete unlocking output by the unlocking control device and eliminate the condition influencing unlocking of the unlocking device in time, so that smooth unlocking of the unlocking device is ensured, and the occurrence of an accident condition is avoided.
Referring next to fig. 2, a schematic flow chart of another RGV-based unlocking method provided by the present invention is shown. The unlocking process is further explained with reference to fig. 2. Specifically, the unlocking flow in fig. 2 includes the following steps:
s201: the controller receives an unlocking instruction.
S202: and the controller issues an unlocking instruction.
S203: the actuator drives the unlocking device to unlock, wherein the actuator comprises a servo controller and a servo motor, and the servo controller controls the servo motor to drive the unlocking device to unlock.
S204: and if the limit sensor is triggered, controlling the unlocking device to stop unlocking and eliminating the problem.
S205: and if the limit position sensor is not triggered and the output torque and the output position reach set values, confirming that the unlocking is successful.
S206: and if the limit position sensor is not triggered and the output torque and the output position do not reach the set values, the actuator continues to drive the unlocking device until the output torque and the output position reach the set values, and the unlocking is confirmed to be completed.
The composition schematic diagram of the controller, the actuator and the unlocking device can be as shown in fig. 3. The controller and the actuator can carry out information interaction, and the controller can send a command instruction to the actuator, so that the actuator drives the unlocking device to unlock. Meanwhile, the controller can also acquire the position information of the unlocking device and the output torque acting on the unlocking device, so that whether the unlocking device completes unlocking or not is determined, and the actuator is controlled to stop working when the unlocking device reaches the limit position.
Based on the same technical concept as the unlocking method, referring to fig. 4, the structural schematic diagram of the unlocking control device based on the RGV trolley provided by the invention includes:
the control module 401 is used for controlling the servo motor to drive the unlocking device to unlock when an unlocking instruction is received;
an obtaining module 402, configured to obtain, during a movement process of the unlocking device, an output torque of the servo motor acting on the unlocking device and position information of the unlocking device;
and an output module 403, configured to output a prompt message of completing unlocking when it is determined that unlocking is completed according to the output torque and the position information of the unlocking device.
Optionally, the obtaining module 402 is configured to, in obtaining the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device, specifically:
and acquiring identification information sent by a servo driver, wherein the identification information comprises output torque acted on the unlocking device by the servo motor and position information of the unlocking device.
Optionally, determining that unlocking is completed according to the position information of the output torque and the unlocking device, comprising:
and if the output torque reaches a preset torque value and the unlocking device reaches a preset position, determining that unlocking is finished.
Optionally, the control module 401 is further configured to:
and if the unlocking device is determined to reach the preset critical travel position, controlling the servo motor to stop working and outputting alarm information.
Optionally, the step of determining that the unlocking device reaches the preset critical stroke position includes:
acquiring prompt information sent by a sensor when the unlocking device reaches a preset critical travel position;
and determining that the unlocking device reaches a preset critical travel position according to the prompt information.
Optionally, the number of sensors is at least two.
Optionally, the output module 403 is further configured to:
and when the unlocking device is determined not to be unlocked within the preset time according to the output torque and the position information of the unlocking device, outputting prompt information of the unlocking not to be unlocked.
The embodiment of the unlocking control device is the unlocking control device corresponding to the embodiment of the unlocking method, all implementation means in the embodiment of the unlocking method are suitable for the embodiment of the unlocking control device, and the same technical effect can be achieved.
Another embodiment of the present invention provides an RGV trolley comprising an unlocking control device as described above.
The embodiment of the invention provides an RGV (small target volume) trolley, which can improve the success rate of an unlocking device during unlocking by installing the unlocking control device, thereby improving the competitiveness of the RGV trolley in the market.
Yet another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements the unlocking method as described above.
In an embodiment of the present invention, a computer-readable storage medium is provided, where a computer program stored on the computer-readable storage medium, when executed, implements the steps of the unlocking method described above, so that when the computer program is applied to an unlocking control device on an RGV car, the success rate of unlocking the unlocking device is improved.
Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of RGV-based cart unlocking, the method comprising:
when an unlocking instruction is received, controlling a servo motor to drive an unlocking device to unlock;
in the movement process of the unlocking device, acquiring the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device;
and when the unlocking is determined to be completed according to the output torque and the position information of the unlocking device, outputting prompt information for completing the unlocking.
2. The unlocking method according to claim 1, wherein acquiring the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device comprises:
and acquiring identification information sent by a servo driver, wherein the identification information comprises output torque acted on the unlocking device by the servo motor and position information of the unlocking device.
3. The unlocking method according to claim 1, wherein determining that unlocking is completed based on the output torque and the position information of the unlocking means includes:
and if the output torque reaches a preset torque value and the unlocking device reaches a preset position, determining that unlocking is finished.
4. The unlocking method according to claim 1, further comprising:
and if the unlocking device is determined to reach the preset critical travel position, controlling the servo motor to stop working and outputting alarm information.
5. The unlocking method according to claim 4, wherein the step of determining that the unlocking device reaches the preset threshold travel position comprises:
acquiring prompt information sent by a sensor when the unlocking device reaches a preset critical travel position;
and determining that the unlocking device reaches a preset critical travel position according to the prompt information.
6. The unlocking method according to claim 5, wherein the number of the sensors is at least two.
7. The unlocking method according to claim 1, further comprising:
and when the unlocking device is determined not to be unlocked within the preset time according to the output torque and the position information of the unlocking device, outputting prompt information of the unlocking not to be unlocked.
8. An unlocking control device based on an RGV (reduced gauge volume) trolley is characterized by comprising:
the control module is used for controlling the servo motor to drive the unlocking device to unlock when an unlocking instruction is received;
the acquisition module is used for acquiring the output torque of the servo motor acting on the unlocking device and the position information of the unlocking device in the movement process of the unlocking device;
and the output module is used for outputting prompt information for completing unlocking when the unlocking is determined to be completed according to the output torque and the position information of the unlocking device.
9. An RGV cart comprising the unlock control apparatus of claim 8.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed implements the unlocking method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010954679.3A CN114248662A (en) | 2020-09-11 | 2020-09-11 | Unlocking method and unlocking control device based on RGV (reduced graphics volume) trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010954679.3A CN114248662A (en) | 2020-09-11 | 2020-09-11 | Unlocking method and unlocking control device based on RGV (reduced graphics volume) trolley |
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| CN114248662A true CN114248662A (en) | 2022-03-29 |
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| CN202010954679.3A Pending CN114248662A (en) | 2020-09-11 | 2020-09-11 | Unlocking method and unlocking control device based on RGV (reduced graphics volume) trolley |
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| CN111267597A (en) * | 2020-01-23 | 2020-06-12 | 奥动新能源汽车科技有限公司 | Unlocking device and shuttle comprising same |
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