CN114312443A - Control method and control system of battery replacement equipment - Google Patents
Control method and control system of battery replacement equipment Download PDFInfo
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- CN114312443A CN114312443A CN202011062575.8A CN202011062575A CN114312443A CN 114312443 A CN114312443 A CN 114312443A CN 202011062575 A CN202011062575 A CN 202011062575A CN 114312443 A CN114312443 A CN 114312443A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses a control method and a control system of battery replacing equipment, wherein the battery replacing equipment comprises a battery replacing platform and a lifting mechanism, and the lifting mechanism is used for driving the battery replacing platform to ascend to a height matched with a locking mechanism on a battery replacing vehicle; the control method comprises the following steps: acquiring a target value of the lifting height; and driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time, judging whether the actual lifting height reaches a target value, and stopping driving the lifting mechanism to lift if the actual lifting height reaches the target value. According to the invention, the actual lifting height of the lifting mechanism can be accurately controlled to be an expected target value by detecting and judging the actual lifting height of the lifting mechanism in real time, so that the servo motor can accurately drive the lifting mechanism to stop driving when the lifting mechanism is lifted to the target value, and compared with the existing mode that the lifting mechanism is controlled only based on the preset height value by the servo motor, the control on the lifting height of the lifting mechanism is more accurate, and the efficiency of disassembling and assembling the battery can be further improved.
Description
Technical Field
The invention relates to the field of battery replacement control of electric automobiles, in particular to a control method and a control system of battery replacement equipment.
Background
The electric automobile waiting for replacing the battery keeps still after running to a parking space on the clamping lane, a background control end of the battery replacing station can send an instruction to the battery replacing equipment to enable the battery replacing equipment to drive into the vehicle bottom, the position of the battery replacing platform on the battery replacing station is adjusted in the horizontal direction to be aligned with the position of the battery in a battery bracket on the vehicle bottom, then the background control end sends the instruction to the battery replacing equipment again, a servo motor on the battery replacing equipment drives a lifting mechanism on the battery replacing equipment to lift for a preset height value, the height adjustment of the battery replacing platform in the vertical direction is completed, and the battery is disassembled and installed through an unlocking mechanism on the battery replacing equipment after the height adjustment is in place.
Patent application publication CN105584465A discloses a quick battery changing device for an electric vehicle, which comprises a box body, a charging frame, a quick battery changing device, an auxiliary getting-on slope, an auxiliary getting-off slope, a lane clamping and a stacker crane. The electric vehicle drives into the box body to complete battery replacement in the box body, and the traveling direction of the stacker crane is parallel to the traveling direction of the battery quick-change equipment and is perpendicular to the traveling direction of the electric vehicle. In addition, a battery replacing method of the electric vehicle battery rapid replacing device is also provided. The layout design of the quick battery replacement device for the electric vehicle makes the quick battery replacement device more compact and the quick battery replacement more convenient.
The patent application publication CN108688625A discloses a battery assembling and disassembling control system, an electric automobile battery replacing control system and a method thereof, wherein the battery assembling and disassembling control system comprises a battery mounting seat, a battery replacing device, a battery transferring device and an assembling and disassembling controller; the battery replacement device receives a battery removal instruction or a battery installation instruction from the loading and unloading controller: the battery replacing device takes out the battery from the battery mounting seat according to the battery removing instruction, moves the battery to the side edge of the battery transferring device, and takes the battery down from the battery replacing device by the battery transferring device; the battery replacing device moves to the side edge of the battery transferring device according to the battery installation instruction, the battery transferring device places the battery on the battery replacing device, and the battery replacing device moves the battery into the battery installation seat.
The structures of the electric automobile and the battery replacement equipment and the battery replacement control are disclosed in the prior art, but the lifting control of the battery replacement equipment is realized by adopting a preset height value. However, the control effect of the existing method of driving the lifting mechanism to lift by the servo motor to preset the height value depends on the control precision of the servo motor, and for the case of poor precision, the lifting control based on the preset height value has inaccurate height control of the battery replacement platform, which finally affects the efficiency of battery disassembly and assembly, and even causes failure in disassembly and assembly to damage equipment or batteries.
Disclosure of Invention
The invention aims to overcome the defect that the lifting control of a lifting mechanism of a battery replacement device based on a preset height value is inaccurate in the prior art, and provides a control method and a control system of the battery replacement device, which can improve the lifting control accuracy.
The invention solves the technical problems through the following technical scheme:
the invention provides a control method of a battery replacing device, wherein the battery replacing device comprises a battery replacing platform and a lifting mechanism, and the lifting mechanism is used for driving the battery replacing platform to ascend to a height matched with a locking mechanism on a battery replacing vehicle; the control method comprises the following steps:
acquiring a target value of the lifting height;
and driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time, judging whether the actual lifting height reaches the target value, and if so, stopping driving the lifting mechanism to lift.
In the scheme, the mode of detecting and judging the actual lifting height of the lifting mechanism in real time can accurately control the lifting height value of the lifting mechanism to be the target value, so that the servo motor can accurately drive the lifting mechanism to stop driving when the lifting mechanism is lifted to the target value, and compared with the mode of carrying out lifting control on the basis of the preset height value only by the existing servo motor, the control on the lifting height of the lifting mechanism is more accurate, and the efficiency of disassembling and assembling the battery can be improved.
Preferably, the step of obtaining the target value includes:
determining the height of a chassis of a battery replacement vehicle according to the vehicle type of the battery replacement vehicle;
determining the target value according to the height of the chassis.
In the scheme, the height of the corresponding chassis is determined according to different vehicle types, and the height value of the lifting mechanism needing to be lifted in the battery replacing process is determined according to the height of the chassis, so that the obtained target value can adapt to the self characteristics of the battery replacing vehicles of different vehicle types, the lifting control precision in the battery replacing process is improved, and the battery disassembling and assembling efficiency is further improved.
Preferably, the battery replacement platform is fixedly arranged on one surface of the lifting mechanism facing the bottom of the vehicle, and the step of obtaining the target value includes:
after the battery replacement platform is aligned with a locking mechanism on a battery replacement vehicle, detecting a height difference between the battery replacement platform and a chassis of the battery replacement vehicle;
determining the target value according to the height difference.
In the scheme, after the battery replacing device and the battery replacing vehicle are aligned in the horizontal direction and kept motionless, the target value is set through actually measuring the height difference between the battery replacing platform and the chassis of the battery replacing vehicle, the problem that the lifting height control is not accurate enough when the lifting height is different in different vehicle types and different vehicle conditions is solved, the accuracy of the lifting control in the battery replacing process is further improved, and the efficiency of battery dismounting is further improved.
Preferably, the step of determining the target value according to the height of the chassis is:
and determining the target value according to the height of the chassis and the tire pressure of the battery replacement vehicle.
In the scheme, in addition to the vehicle type, the tire pressure condition of the battery replacement vehicle during battery replacement is also considered in the process of determining the target value of the battery dismounting and mounting, when the tire pressure is large, the height between the chassis and the ground is relatively high, and when the tire pressure is relatively small, the height between the chassis and the ground is relatively low. In the scheme, the determined target value is more objective by combining the actual condition of the tire pressure during battery replacement, more accurate control of the lifting height of the battery replacement vehicle is realized, and the efficiency of battery disassembly and assembly can be further improved.
Preferably, a distance detection sensor is arranged on the upper surface of the base of the battery replacement device, and is used for detecting a first distance between the lower surface of the top end of the lifting mechanism and the base, and determining the actual lifting height of the lifting mechanism according to the first distance.
In the scheme, the distance detection sensor is arranged on the upper surface of the base of the battery replacing equipment, so that the real-time monitoring of the actual lifting height of the lifting mechanism is realized, the lifting height value of the lifting mechanism is accurately controlled to be a target value, and finally the efficiency of disassembling and assembling the battery can be improved.
Preferably, the control method further comprises the step of detaching the first battery from a battery bracket of the battery replacement vehicle and/or the step of mounting the second battery to the battery bracket of the battery replacement vehicle:
the step of detaching the first battery from the battery bracket of the battery replacement vehicle comprises:
after the battery replacing platform rises to the dismounting height, an unlocking ejector rod on the battery replacing equipment is driven to move to an unlocking position and is pre-pushed forwards to unlock the first battery;
the step of mounting a second battery to a battery bracket of the battery replacement vehicle comprises:
after the battery replacing platform rises to the dismounting height, an unlocking ejector rod on the battery replacing equipment is driven to move to a reset position and move forwards to lock the second battery.
The scheme defines a specific control mode for disassembling and assembling the battery, and when the battery is disassembled, the unlocking ejector rod on the unlocking mechanism is driven to move and pre-push the battery after the battery replacing platform is controlled to ascend in place; when the battery is installed, after the battery replacement platform is controlled to ascend in place, the unlocking ejector rod on the unlocking mechanism is driven to move to the reset position and move forwards to lock the second battery. According to the scheme, the unlocking and locking are further reliably controlled by accurately controlling the lifting height of the level-changing platform.
Preferably, the step of obtaining the target value of the lifting height further comprises the following steps:
adjusting the battery replacement platform to be aligned with a locking mechanism on the battery replacement vehicle in the horizontal direction based on the parking position of the battery replacement vehicle.
In the scheme, before accurate lifting control is carried out on the battery changing platform, an electric automobile to be controlled to be changed is required to be controlled to be kept still after the electric automobile runs to a parking space on a clamping lane, a background control end of the battery changing station can send an instruction to the battery changing equipment to enable the battery changing equipment to drive the battery changing equipment into the automobile bottom, and the battery changing platform on the battery changing station is aligned to a locking mechanism on the battery changing vehicle in the horizontal direction adjusting position, so that the battery can be accurately assembled and disassembled after the accurate lifting control is carried out on the battery changing platform.
The invention provides a control system of a battery replacing device, wherein the battery replacing device comprises a battery replacing platform and a lifting mechanism, and the lifting mechanism is used for driving the battery replacing platform to ascend to a height matched with a locking mechanism on a battery replacing vehicle; the control system includes:
the first acquisition module is used for acquiring a target value of the lifting height;
and the real-time detection module is used for driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time and judging whether the actual lifting height reaches the target value, and if so, stopping driving the lifting mechanism to lift.
Preferably, the first obtaining module includes:
the chassis height determining unit is used for determining the height of the chassis of the battery replacing vehicle according to the vehicle type of the battery replacing vehicle;
a first determination unit for determining the target value in dependence on the height of the chassis.
Preferably, trade electric platform set firmly in elevating system one side towards the vehicle bottom, first acquisition module includes:
the height difference determining unit is used for detecting the height difference between the battery replacing platform and a chassis of the battery replacing vehicle after the battery replacing platform is aligned with a locking mechanism on the battery replacing vehicle;
a second determination unit for determining the target value according to the height difference.
Preferably, the first determination unit is configured to determine the target value according to a height of the chassis and a tire pressure of the battery replacement vehicle.
Preferably, a distance detection sensor is arranged on the upper surface of the base of the battery replacement device, and is used for detecting a first distance between the lower surface of the top end of the lifting mechanism and the base, and determining the actual lifting height of the lifting mechanism according to the first distance.
Preferably, the control system further comprises a battery disassembling control module and/or a battery assembling control module;
the battery disassembling control module is used for driving an unlocking ejector rod on the battery replacing equipment to move to an unlocking position and pre-push forwards to unlock the first battery after the battery replacing platform rises to the disassembling height;
the battery loading control module is used for driving an unlocking ejector rod on the battery replacing equipment to move to a reset position and move forwards after the battery replacing platform rises to the dismounting height so as to lock the second battery.
Preferably, the control system further comprises an alignment module;
the alignment module is used for adjusting the battery replacement platform to be aligned with a locking mechanism on the battery replacement vehicle in the horizontal direction based on the parking position of the battery replacement vehicle before the first acquisition module is called.
The positive progress effects of the invention are as follows: compared with the prior art, the control method and the control system for the battery replacement equipment provided by the invention can accurately control the lifting height value of the lifting mechanism to be an expected target value by detecting and judging the actual lifting height of the lifting mechanism in real time, so that the servo motor can accurately drive the lifting mechanism to stop driving when the lifting mechanism is lifted to the target value, and compared with the existing mode that the lifting control is carried out only on the basis of the preset height value by the servo motor, the control method and the control system for the battery replacement equipment are more accurate in the lifting height control of the lifting mechanism, and further can improve the efficiency of battery disassembly and assembly.
Drawings
Fig. 1 is a schematic partial structure diagram of a power swapping station according to an embodiment of the present invention.
Fig. 2 is a partial side view of the power swapping station according to the embodiment of the present invention.
Fig. 3 is a flowchart of a control method for a battery swapping device in embodiment 1 of the present invention.
Fig. 4 is a flowchart of a step of obtaining a target value in embodiment 1 of the present invention.
Fig. 5 is a flowchart of a step of obtaining a target value in embodiment 2 of the present invention.
Fig. 6 is a block schematic diagram of a control system of a battery swapping device in embodiment 3 of the present invention.
Fig. 7 is a schematic structural diagram of a first obtaining module in embodiment 3 of the present invention.
Fig. 8 is a schematic structural diagram of a first obtaining module in embodiment 4 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
It should be noted that in the following embodiments, as shown in fig. 1 and fig. 2, the battery replacing vehicle 20 stops at a parking position on a lane formed by an upper slope 40, a vehicle carrying platform 60, a lower slope 50, and the like, a driving channel 31 and a battery replacing platform 32 are arranged on the battery replacing device 30, and a background control end of the battery replacing station sends an instruction to the battery replacing device 30 to control the battery replacing device, including controlling the battery replacing device 30 to drive into the vehicle bottom of the battery replacing vehicle 20, and controlling the battery replacing device 30 to move horizontally or lift vertically. Have locking mechanism on trading electric vehicle 20, locking mechanism includes the unblock ejector pin, and locking mechanism's specific structure is current structure, and it is no longer repeated here. Example 1
The embodiment provides a control method of a battery replacement device, wherein the battery replacement device comprises a battery replacement platform and a lifting mechanism, and the lifting mechanism is used for driving the battery replacement platform to ascend to a height matched with a locking mechanism on a battery replacement vehicle; trade the upper surface of electric equipment's base and be equipped with distance detection sensor, distance detection sensor is used for detecting the first distance between the lower surface on elevating system's top and the base.
As shown in fig. 3, the control method provided in this embodiment includes the following steps:
And 103, driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time, judging whether the actual lifting height reaches a first target value, if so, stopping driving the lifting mechanism to lift, and executing step 104, otherwise, continuing driving the lifting mechanism to lift until the actual lifting height reaches a preset target value.
The detection of the actual lifting height of the lifting mechanism is realized by determining the actual lifting height of the lifting mechanism according to the first distance.
And step 104, after the battery replacing platform rises to the dismounting height, driving an unlocking ejector rod on the battery replacing equipment to move to an unlocking position and pre-push forwards to unlock the first battery.
And 105, controlling the battery replacement equipment to transfer the fed first battery to a preset position, placing the fully charged second battery on the battery replacement platform and returning to the parking position of the battery replacement vehicle.
And step 106, adjusting the battery replacement platform to be aligned with a locking mechanism on the battery replacement vehicle in the horizontal direction based on the parking position of the battery replacement vehicle.
The first target value and the second target value may be the same or different, depending on actual needs. When the first target value and the second target value are the same, the present embodiment may also omit step 107.
And 108, driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time, judging whether the actual lifting height reaches a second target value, if so, stopping driving the lifting mechanism to lift, executing the step 109, and if not, continuing driving the lifting mechanism to lift. And determining the actual lifting height of the lifting mechanism according to the first distance.
And step 109, after the battery replacing platform rises to the dismounting height, driving an unlocking ejector rod on the battery replacing equipment to move to the reset position and move forwards so as to lock the second battery.
As shown in fig. 4, in this embodiment, the step of obtaining the target value specifically includes:
determining the height of a chassis of the battery replacement vehicle according to the vehicle type of the battery replacement vehicle;
the target value is determined based on the height of the chassis.
In this embodiment, the heights of the corresponding chassis are determined according to different vehicle types, and then the height value of the lifting mechanism needing to be lifted in the battery replacing process is determined according to the heights of the chassis, so that the obtained target value can adapt to the self characteristics of the battery replacing vehicles of different vehicle types, the lifting control precision in the battery replacing process is improved, and the battery disassembling and assembling efficiency is further improved.
In this embodiment, when the battery replacement vehicle drives into the battery replacement station, the battery replacement station can acquire the license plate number of the battery replacement vehicle, and then upload the license plate number to the cloud, the cloud queries all vehicle information of the battery replacement vehicle based on the license plate number and issues the vehicle information to the battery replacement station, and the vehicle information includes the vehicle type of the battery replacement vehicle and the height value and other information of the corresponding chassis. The specific determination method of the vehicle type is the prior art, and the present embodiment does not specifically limit the vehicle type, as long as the vehicle type can be obtained.
In this embodiment, through the mode of carrying out real-time detection and judgement to the actual lifting height of elevating system, the height value that can accurately control elevating system lift is the target value for servo motor can be accurate drive elevating system stop drive when going up and down to the target value, for current servo motor only based on predetermineeing the height value and carry out lift control's mode, it is more accurate to the control of elevating system lifting height, and then can improve the efficiency of dismouting battery.
Example 2
The embodiment provides a control method of a battery replacement device, wherein a battery replacement platform is fixedly arranged on one surface of a lifting mechanism facing to a vehicle bottom, and the embodiment is the same as the embodiment 1 in steps 101 to 109, except that the step of obtaining a target value is different. As shown in fig. 5, the step of acquiring the target value in this embodiment includes:
after the battery replacement platform is aligned with a locking mechanism on the battery replacement vehicle, detecting the height difference of the chassis of the battery replacement platform and the chassis of the battery replacement vehicle;
and determining a target value according to the height difference and the tire pressure of the battery replacing vehicle.
The tire pressure data of the wheels in the embodiment can be acquired in a communication connection mode with the battery replacement vehicle; preferably, the current tire pressure data of the four wheels are acquired simultaneously, and the target value of the lifting height is obtained through processing based on the four tire pressure data. As a specific example of tire pressure data processing, the data with the highest value in the four-wheel tire pressure data can be selected as the tire pressure of the battery replacement vehicle, and then the target value of the lifting height is determined according to the tire pressure of the battery replacement vehicle, so that the battery replacement platform and the vehicle chassis can be sufficiently attached, and the efficiency and the success of subsequent battery dismounting operation can be improved. In addition, in this embodiment, the height difference between the chassis of the battery replacement platform and the chassis of the battery replacement vehicle can be obtained through actual measurement by the infrared distance detection sensor arranged on the battery replacement platform.
In other alternative implementations, the step of determining the target value based on the height of the chassis may also determine the target value based on the height of the chassis without considering the tire pressure.
In this embodiment, after the battery replacement device and the battery replacement vehicle are aligned in the horizontal direction and kept motionless, the target value is set through actually measuring the height difference between the battery replacement platform and the chassis of the battery replacement vehicle, so that the problem that the lifting height control is not accurate enough when the lifting height is different in different vehicle types and different vehicle conditions is solved, the accuracy of the lifting control in the battery replacement process is further improved, and the efficiency of disassembling and assembling the battery is further improved.
In addition, in the process of determining the target value for disassembling and assembling the battery, in addition to the vehicle type, the tire pressure condition of the battery replacement vehicle during battery replacement is also considered in the embodiment, when the tire pressure is relatively high, the height between the chassis and the ground is relatively high, and when the tire pressure is relatively low, the height between the chassis and the ground is relatively low. In the embodiment, the actual condition of the tire pressure during battery replacement is combined, the determined target value is more objective, more accurate control of the lifting height of the battery replacement vehicle is realized, and the efficiency of battery disassembly and assembly can be further improved.
Example 3
The embodiment provides a control system of a battery replacement device, wherein the battery replacement device comprises a battery replacement platform and a lifting mechanism, and the lifting mechanism is used for driving the battery replacement platform to ascend to a height matched with a locking mechanism on a battery replacement vehicle; trade the upper surface of electric equipment's base and be equipped with distance detection sensor, distance detection sensor is used for detecting the first distance between the lower surface on elevating system's top and the base.
As shown in fig. 6, the control system includes an alignment module 1, a first acquisition module 2, a real-time detection module 3, a battery removal control module 4, a transfer control module 5, and a battery installation control module 6.
The alignment module 1 is used for adjusting the battery replacement platform to align with a locking mechanism on the battery replacement vehicle in the horizontal direction based on the parking position of the battery replacement vehicle.
The first obtaining module 2 is configured to obtain a target value of the elevation height, which is a first target value here.
The real-time detection module 3 is used for driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time and judging whether the actual lifting height reaches a first target value, if so, stopping driving the lifting mechanism to lift and calling the battery disassembling control module 4, and if not, continuing driving the lifting mechanism to lift until the actual lifting height reaches a preset target value.
The detection of the actual lifting height of the lifting mechanism is realized by determining the actual lifting height of the lifting mechanism according to the first distance.
The battery disassembling control module 4 is used for driving an unlocking ejector rod on the battery replacing equipment to move to an unlocking position and pre-push forwards after the battery replacing platform rises to the disassembling height so as to unlock the first battery.
The transfer control module 5 is used for controlling the power exchanging device to transfer the fed first battery to a preset position, placing the fully charged second battery on the power exchanging platform and returning the fully charged second battery to a parking position of the power exchanging vehicle, and then sequentially calling the alignment module 1, the first obtaining module 2 and the real-time detection module 3, wherein the target value of the obtained lifting height is a second target value.
The first target value and the second target value may be the same or different, depending on actual needs. When the first target value and the second target value are the same, the present embodiment may also omit the operation of calling the first obtaining module 2 again.
The battery loading control module 6 is used for driving an unlocking ejector rod on the battery replacing equipment to move to a reset position and move forwards after the real-time detection module 3 is called for the second time and the battery replacing platform rises to the dismounting height, so that the second battery is locked.
As shown in fig. 7, in this embodiment, the first obtaining module 2 specifically includes:
the chassis height determining unit is used for determining the height of the chassis of the battery replacing vehicle according to the vehicle type of the battery replacing vehicle;
a first determination unit for determining a target value based on the height of the chassis.
In this embodiment, the heights of the corresponding chassis are determined according to different vehicle types, and then the height value of the lifting mechanism needing to be lifted in the battery replacing process is determined according to the heights of the chassis, so that the obtained target value can adapt to the self characteristics of the battery replacing vehicles of different vehicle types, the lifting control precision in the battery replacing process is improved, and the battery disassembling and assembling efficiency is further improved.
In this embodiment, when the battery replacement vehicle drives into the battery replacement station, the battery replacement station can acquire the license plate number of the battery replacement vehicle, and then upload the license plate number to the cloud, the cloud queries all vehicle information of the battery replacement vehicle based on the license plate number and issues the vehicle information to the battery replacement station, and the vehicle information includes the vehicle type of the battery replacement vehicle and the height value and other information of the corresponding chassis. The specific determination method of the vehicle type is the prior art, and the present embodiment does not specifically limit the vehicle type, as long as the vehicle type can be obtained.
In this embodiment, through the mode of carrying out real-time detection and judgement to the actual lifting height of elevating system, the height value that can accurately control elevating system lift is the target value for servo motor can be accurate drive elevating system stop drive when going up and down to the target value, for current servo motor only based on predetermineeing the height value and carry out lift control's mode, it is more accurate to the control of elevating system lifting height, and then can improve the efficiency of dismouting battery.
Example 4
This embodiment provides a trade control system of electrical equipment, trades electric platform and sets firmly in the one side of elevating system towards the vehicle bottom, and this embodiment is the same basically with embodiment 3, and the difference lies in the realization mode of first acquisition module 2 is different. As shown in fig. 8, the first obtaining module 2 in this embodiment includes:
the height difference determining unit is used for detecting the height difference of the chassis of the battery replacing platform and the chassis of the battery replacing vehicle after the battery replacing platform is aligned with a locking mechanism on the battery replacing vehicle;
and the second determining unit is used for determining the target value according to the height difference and the tire pressure of the battery replacement vehicle.
The tire pressure acquisition mode of the battery replacement vehicle is the prior art, and the embodiment does not limit the tire pressure acquisition mode. In addition, in this embodiment, the height difference between the chassis of the battery replacement platform and the chassis of the battery replacement vehicle can be obtained through actual measurement by the infrared distance detection sensor arranged on the battery replacement platform.
In other alternative implementations, the second determination unit may also determine the target value in dependence on the height of the chassis, without taking into account the tire pressure.
In this embodiment, after the battery replacement device and the battery replacement vehicle are aligned in the horizontal direction and kept motionless, the target value is set through actually measuring the height difference between the battery replacement platform and the chassis of the battery replacement vehicle, so that the problem that the lifting height control is not accurate enough when the lifting height is different in different vehicle types and different vehicle conditions is solved, the accuracy of the lifting control in the battery replacement process is further improved, and the efficiency of disassembling and assembling the battery is further improved.
In addition, in the process of determining the target value for disassembling and assembling the battery, in addition to the vehicle type, the tire pressure condition of the battery replacement vehicle during battery replacement is also considered in the embodiment, when the tire pressure is relatively high, the height between the chassis and the ground is relatively high, and when the tire pressure is relatively low, the height between the chassis and the ground is relatively low. In the embodiment, the actual condition of the tire pressure during battery replacement is combined, the determined target value is more objective, more accurate control of the lifting height of the battery replacement vehicle is realized, and the efficiency of battery disassembly and assembly can be further improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (14)
1. A control method of a battery replacement device comprises a battery replacement platform and a lifting mechanism, and is characterized in that the lifting mechanism is used for driving the battery replacement platform to ascend to a height matched with a locking mechanism on a battery replacement vehicle; the control method comprises the following steps:
acquiring a target value of the lifting height;
and driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time, judging whether the actual lifting height reaches the target value, and if so, stopping driving the lifting mechanism to lift.
2. The control method of a battery swapping device as claimed in claim 1, wherein the step of obtaining the target value comprises:
determining the height of a chassis of a battery replacement vehicle according to the vehicle type of the battery replacement vehicle;
determining the target value according to the height of the chassis.
3. The control method of the battery replacement device according to claim 1, wherein the battery replacement platform is fixedly arranged on a surface of the lifting mechanism facing the bottom of the vehicle, and the step of obtaining the target value comprises:
after the battery replacement platform is aligned with a locking mechanism on a battery replacement vehicle, detecting a height difference between the battery replacement platform and a chassis of the battery replacement vehicle;
determining the target value according to the height difference.
4. The control method of the battery replacement equipment as claimed in claim 2, wherein the step of determining the target value according to the height of the chassis is:
and determining the target value according to the height of the chassis and the tire pressure of the battery replacement vehicle.
5. The control method of the battery replacement device as claimed in claim 1, wherein a distance detection sensor is arranged on an upper surface of a base of the battery replacement device, the distance detection sensor is used for detecting a first distance between a lower surface of a top end of the lifting mechanism and the base, and an actual lifting height of the lifting mechanism is determined according to the first distance.
6. The control method of a battery swapping device as claimed in claim 3, characterized in that the control method further comprises the step of detaching a first battery from a battery bracket of the swapping vehicle and/or the step of mounting a second battery to the battery bracket of the swapping vehicle:
the step of detaching the first battery from the battery bracket of the battery replacement vehicle comprises:
after the battery replacing platform rises to the dismounting height, an unlocking ejector rod on the battery replacing equipment is driven to move to an unlocking position and pre-push forwards so as to unlock the first battery;
the step of mounting a second battery to a battery bracket of the battery replacement vehicle comprises:
after the battery replacing platform rises to the dismounting height, an unlocking ejector rod on the battery replacing equipment is driven to move to a reset position and move forwards so as to lock the second battery.
7. The control method of the battery replacement equipment as claimed in claim 1, further comprising, before the step of obtaining the target value of the elevation height, the steps of:
adjusting the battery replacement platform to be aligned with a locking mechanism on the battery replacement vehicle in the horizontal direction based on the parking position of the battery replacement vehicle.
8. A control system of a battery replacing device comprises a battery replacing platform and a lifting mechanism, and is characterized in that the lifting mechanism is used for driving the battery replacing platform to ascend to a height matched with a locking mechanism on a battery replacing vehicle; the control system includes:
the first acquisition module is used for acquiring a target value of the lifting height;
and the real-time detection module is used for driving the lifting mechanism to lift, detecting the actual lifting height of the lifting mechanism in real time and judging whether the actual lifting height reaches the target value, and if so, stopping driving the lifting mechanism to lift.
9. The control system of the battery swapping device of claim 8, wherein the first obtaining module comprises:
the chassis height determining unit is used for determining the height of the chassis of the battery replacing vehicle according to the vehicle type of the battery replacing vehicle;
a first determination unit for determining the target value in dependence on the height of the chassis.
10. The control system of battery replacement equipment as claimed in claim 8, wherein the battery replacement platform is fixedly disposed on a surface of the lifting mechanism facing a bottom of the vehicle, and the first obtaining module comprises:
the height difference determining unit is used for detecting the height difference between the battery replacing platform and a chassis of the battery replacing vehicle after the battery replacing platform is aligned with a locking mechanism on the battery replacing vehicle;
a second determination unit for determining the target value according to the height difference.
11. The control system of the battery replacement device according to claim 9, wherein the first determination unit is configured to determine the target value according to a height of the chassis and a tire pressure of the battery replacement vehicle.
12. The control system of the battery replacement device as claimed in claim 8, wherein a distance detection sensor is disposed on an upper surface of a base of the battery replacement device, the distance detection sensor is configured to detect a first distance between a lower surface of a top end of the lifting mechanism and the base, and an actual lifting height of the lifting mechanism is determined according to the first distance.
13. The control system of the battery swapping device as in claim 10, further comprising a battery removal control module and/or a battery installation control module;
the battery disassembling control module is used for driving an unlocking ejector rod on the battery replacing equipment to move to an unlocking position and pre-push forwards to unlock the first battery after the battery replacing platform rises to the disassembling height;
the battery loading control module is used for driving an unlocking ejector rod on the battery replacing equipment to move to a reset position and move forwards after the battery replacing platform rises to the dismounting height so as to lock the second battery.
14. The control system of a swapping device of claim 8, further comprising an alignment module;
the alignment module is used for adjusting the battery replacement platform to be aligned with a locking mechanism on the battery replacement vehicle in the horizontal direction based on the parking position of the battery replacement vehicle before the first acquisition module is called.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011062575.8A CN114312443A (en) | 2020-09-30 | 2020-09-30 | Control method and control system of battery replacement equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011062575.8A CN114312443A (en) | 2020-09-30 | 2020-09-30 | Control method and control system of battery replacement equipment |
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