CN114475341A

CN114475341A - Battery swapping control method, system, medium and electronic device based on battery swapping device

Info

Publication number: CN114475341A
Application number: CN202011158792.7A
Authority: CN
Inventors: 张建平; 陈志民; 陆文成
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2020-10-26
Filing date: 2020-10-26
Publication date: 2022-05-13

Abstract

The invention discloses a battery swapping control method, a system, a medium and electronic equipment based on battery swapping equipment, wherein the battery swapping control method comprises the following steps: controlling the battery replacing equipment to lift the battery pack to a first preset height at the bottom of the electric automobile; controlling the battery replacement equipment to move the lock shaft of the battery pack to a locking position along the lock groove; acquiring a first real-time image of the movable part relative to the fixed part in the process that the lock shaft of the battery pack moves along the lock groove; and judging whether the locking mechanism is locked or not according to the first real-time image and the first standard image when the movable part is positioned at the locking position, and executing corresponding action. According to the technical scheme, secondary modules on the electric automobile side and the battery replacing equipment side are not needed, the problem that in the process of interaction between the secondary modules and the battery replacing equipment, signals are prone to losing accuracy due to external interference, and battery replacing efficiency is affected is solved, the cost of the secondary modules can be saved, and the battery replacing process is optimized.

Description

Battery swapping control method, system, medium and electronic device based on battery swapping device

Technical Field

The invention relates to the technical field of battery replacement of electric automobiles, in particular to a battery replacement control method, a battery replacement control system, a battery replacement control medium and electronic equipment based on battery replacement equipment.

Background

The electric automobile replaces oil with electricity, can realize zero emission and low noise, and is an important means for solving the problems of energy and environment. With the shortage of petroleum resources and the development of battery technology, the performance and the economical efficiency of electric vehicles are close to or even better than those of traditional fuel vehicles, and the electric vehicles are gradually popularized and applied worldwide. A new generation of energy-saving and environment-friendly automobiles represented by electric automobiles is a necessary trend in the development of the automobile industry. As an important premise and foundation for large-scale popularization and application of electric vehicles, development of electric vehicle battery charging and replacing technology and construction of electric vehicle battery charging and replacing facilities attract extensive attention from all parties.

Generally, a battery replacing device (e.g., a battery replacing trolley) is used to replace a battery pack in an electric vehicle, and during the process of placing the battery pack into a battery box of the electric vehicle, it is necessary to ensure that the battery pack is in an upper position (i.e., lifted to a chassis position of the electric vehicle) and in a front position (i.e., pushed to a position where the battery pack can be locked).

In the prior art, secondary modules are generally required to be arranged on an electric automobile side and a battery replacement device side, an in-place detection sensor and a front in-place detection sensor are arranged on the electric automobile side, and signals respectively detected by the in-place detection sensor and the front in-place detection sensor arranged on the electric automobile side are used for guiding the battery replacement device to lift and push a battery pack, so that the battery pack can be accurately locked or unlocked. However, in the process that signals detected by the upper in-place detection sensor and the front in-place detection sensor on the electric vehicle side are interacted with the battery replacement device through the secondary module, the signals easily lose accuracy due to external interference, the battery replacement efficiency is influenced, and the cost of the secondary module is high, so that the cost optimization of the battery replacement process is not facilitated.

Disclosure of Invention

The invention aims to overcome the defects that in the prior art, a secondary module is needed when signals are interacted between a battery replacement device and an electric automobile, the battery replacement cost is high, signals detected by an upper in-place detection sensor and a front in-place detection sensor on the electric automobile side are needed to guide the battery replacement device to adjust the position of a battery pack, the accuracy is poor, and the battery replacement efficiency is low, and provides a battery replacement control method, a system, a medium and an electronic device based on the battery replacement device.

The invention solves the technical problems through the following technical scheme:

the utility model provides a trade electric control method based on trade electric equipment, trade electric equipment is used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the locking to fix the battery package, locking mechanism includes fixed part and movable part, have in the fixed part and supply battery package locking shaft to move the locked groove to the locking position, the movable part is relative the fixed part switches between locking state and unblock state to close or open the opening that the locking shaft passed in and out the locked groove, trade electric control method includes:

controlling the battery replacing equipment to lift the battery pack to a first preset height at the bottom of the electric automobile;

controlling the battery replacement equipment to move a lock shaft of the battery pack to the locking position along the lock groove;

acquiring a first real-time image of the movable part relative to the fixed part in the process that the lock shaft of the battery pack moves along the lock groove;

and judging whether the locking of the locking mechanism is finished or not according to the first real-time image and a first standard image when the movable part is positioned at the locking position, and executing corresponding action.

According to the technical scheme, the secondary modules on the electric automobile side and the battery replacing device side are not required to be relied on, the problem that the battery replacing efficiency is influenced because signals lose accuracy easily due to external interference in the process of interaction of the secondary modules and the battery replacing device is avoided, the cost of the secondary modules can be saved, and the battery replacing process is optimized.

Preferably, the step of determining whether the locking mechanism is locked according to the first real-time image and the first standard image when the movable portion is located at the locking position, and executing the corresponding action includes:

judging whether the first real-time image and the first standard image when the movable part is positioned at the locking position are within a preset error range;

if so, stopping the battery replacing equipment from moving the battery pack to the locking position in the locking groove.

According to the technical scheme, whether locking is completed or not is judged through the first real-time image and the first standard image, the judgment standard is visual and clear, the locking condition can be adjusted in real time through the judgment result, and the accuracy of the battery replacement process is improved.

Preferably, the step of controlling the battery replacing device to lift the battery pack to a first preset height at the bottom of the electric vehicle includes:

acquiring a first real-time height of the battery replacement equipment from a reference plane, wherein the reference plane is a running plane of the battery replacement equipment or a parking plane of the electric automobile;

judging whether the first real-time height falls into a first preset height range or not;

if not, controlling the lifting height of the battery replacing equipment according to a first height difference value between the first real-time height and the first preset height until the battery replacing equipment lifts the battery pack to reach the first preset height at the bottom of the electric automobile.

This technical scheme accomplishes the lift of battery package jointly through the contrast of real-time height and predetermined height, has improved the accuracy of lifting the battery package.

Preferably, after the step of controlling the battery replacing device to lift the battery pack to a first preset height at the bottom of the electric vehicle, the method further includes:

and triggering a first battery replacement signal, and controlling the battery replacement equipment to move the lock shaft of the battery pack to the locking position along the lock groove after waiting for a first preset time.

The technical scheme improves the safety of the battery replacement process.

Preferably, the step of triggering the first power switching signal includes:

detecting whether the distance between a guide fork of the battery replacing device and a battery bracket is smaller than a preset threshold value, if so, generating a first battery replacing signal, wherein the first battery replacing signal is used for controlling an ignition switch of the electric automobile to be switched to a closed state.

According to the technical scheme, a specific optimal mode for triggering the first battery replacement signal is provided, the battery replacement process is guaranteed to be in a flameout state of the automobile, and the safety of battery replacement operation is improved.

Preferably, before the step of controlling the battery replacing device to lift the battery pack to a first preset height at the bottom of the electric vehicle, the method further includes:

and triggering a second battery replacement signal and waiting for a second preset time.

The technical scheme improves the safety of the battery replacement process.

Preferably, the step of triggering the second power switching signal includes:

receiving vehicle state information sent by the electric vehicle, wherein the vehicle state information comprises license plate information and key signals, and the license plate information corresponds to the key signals one to one;

analyzing the key signal;

and if the key signal indicates that the electric automobile is not in a flameout state, generating a second battery replacement signal corresponding to the license plate information, wherein the second battery replacement signal is used for controlling an ignition switch of the electric automobile corresponding to the license plate information to be switched to a closed state.

According to the technical scheme, a specific optimal mode for triggering the second battery replacement signal is provided, the battery replacement process is guaranteed to be in a flameout state of the automobile, and the safety of battery replacement operation is improved.

Preferably, the movable part comprises a bolt;

the step of collecting a first real-time image of the movable part relative to the fixed part in the process of moving the lock shaft of the battery pack along the lock groove comprises the following steps of: acquiring a real-time image of the first end part of the lock tongue relative to the fixing part in the process that the lock shaft of the battery pack moves along the lock groove;

the step of judging whether the locking mechanism is locked or not according to the first real-time image and the first standard image when the movable part is located at the locking position, and executing corresponding actions comprises the following steps: and judging whether the locking of the locking mechanism is finished according to the first end part real-time image and a first standard image when the lock tongue is positioned at the locking position, and adjusting the moving distance of the battery pack according to a judgment result.

According to the technical scheme, whether the locking of the locking mechanism is completed or not is judged according to the real-time state of the lock tongue, and the judgment result is visual and accurate.

Preferably, the movable part comprises a locking rod and a bolt, and the locking rod drives the bolt to rotate so as to open or close the opening of the lock groove;

the step of collecting a first real-time image of the movable part relative to the fixed part in the process of moving the lock shaft of the battery pack along the lock groove comprises the following steps of: acquiring a real-time image of the second end part of the side wall of the fixed part, protruding from the locking rod, in the process that the locking shaft of the battery pack moves along the locking groove;

the step of judging whether the locking mechanism is locked or not according to the first real-time image and the first standard image when the movable part is located at the locking position, and executing corresponding actions comprises the following steps: and judging whether the locking of the locking mechanism is finished according to the second end real-time image and a first standard image of the locking rod in a locking state, and adjusting the moving distance of the battery pack according to a judgment result.

This technical scheme is concrete to accomplish the locking through spring bolt and lock bar cooperation jointly to can judge whether the locking of locking mechanism is accomplished according to the real-time status of lock bar, further improve the accuracy that the locking state was judged.

Preferably, the step of determining whether the locking of the locking mechanism is completed according to the second end real-time image and a first standard image of the locking rod in the locking state, and the step of adjusting the moving distance of the battery pack according to the determination result includes:

and acquiring a distance difference value of the end part of the locking rod from a preset datum line according to a real-time image of the second end part of the locking rod protruding out of the side wall of the fixing part, and translating the locking shaft of the battery pack according to the distance difference value.

In the technical scheme, the battery pack is translated by the distance difference value of the distance between the end part of the locking rod and the preset reference line, the standard is simple, and the calculation difficulty is simplified.

Preferably, a first unit to be detected is arranged on the lock shaft of the battery pack, and a first lock falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the first lock-falling detection sensor detects the first unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to the locking position;

and/or the presence of a gas in the gas,

the movable part comprises a lock tongue, a second unit to be detected is arranged on the lock tongue, and a second lock falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the second lock-falling detection sensor detects the second unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to the locking position;

and/or the presence of a gas in the gas,

the movable part comprises a locking rod, a third unit to be tested is arranged on the locking rod, and a third lock falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: and judging whether the third drop lock detection sensor detects the third unit to be detected, and if so, determining that the lock shaft of the battery pack moves to the locking position.

According to the technical scheme, the locking result is further confirmed through the plurality of lock falling detection sensors, and the high-efficiency and accurate completion of the battery replacement process is guaranteed.

Preferably, the first preset height comprises a first lifting height and a second lifting height, and the lifting speed of the battery swapping device in the first lifting height is greater than the lifting speed of the battery swapping device in the second lifting height; when the battery pack is lifted to the second lifting height, the lock shaft of the battery pack enters the fixed part, and the lock shaft jacks up the movable part to open an opening through which the lock shaft enters the lock groove.

According to the technical scheme, different lifting speeds are set for different preset heights, efficiency is considered, meanwhile, the lock shaft of the battery pack can be prevented from being damaged, and safety is improved.

Preferably, before controlling the battery replacing device to lift the battery pack to a first preset height at the bottom of the electric vehicle, the method further includes:

controlling the battery replacing equipment to move the lock shaft of the battery pack to a first preset coordinate so as to align the lock shaft of the battery pack with the locking mechanism;

alternatively, the first and second electrodes may be,

the method comprises the steps of acquiring a first real-time alignment image of the locking mechanism in real time through a visual sensor, and adjusting the position of a lock shaft according to the first real-time alignment image so as to align the lock shaft of the battery pack with the locking mechanism.

This technical scheme carries out the counterpoint operation earlier before utilizing to trade electrical equipment to lift the battery package, has improved the accuracy of lifting to can avoid the risk of the battery package collision or scratch that causes because of the counterpoint is inaccurate.

Preferably, the battery replacement control method further includes:

and after the battery pack reaches the locking position, controlling the battery replacement equipment to descend.

According to the technical scheme, the battery replacement can be timely finished, so that the electric automobile can be conveniently started and driven away as soon as possible, and the battery replacement for other electric automobiles can be continued conveniently.

Preferably, the battery replacement control method further includes:

and after the battery pack reaches the locking position, controlling the lock shaft of the battery pack to retreat for a preset distance in the direction of the opening of the lock groove so as to enable the lock shaft to abut against the movable part.

This technical scheme can improve the fastness of battery package locking, prevents that the battery package from taking place to slide when supplying power for electric automobile and causing contact failure, has improved user experience.

The utility model provides a trade electric control method based on trade electric equipment, trade electric equipment is used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the locking to fix the battery package, locking mechanism includes fixed part and movable part, have in the fixed part and supply battery package locking shaft to move the locked position the locked groove, the movable part is relative the fixed part switches between locked state and unlocked state to close or open the opening that the locking shaft passed in and out the locked groove, trade electric control method includes:

controlling the battery replacement equipment to lift to a second preset height at the bottom of the electric automobile;

controlling the battery replacing equipment to move a lock shaft of the battery pack to an unlocking pre-tightening position along the lock groove, so that the movable part moves to an unlocking state from a locking state relative to the fixed part;

acquiring a second real-time image of the movable part relative to the fixed part in the process that the movable part moves to an unlocking state;

and judging whether the unlocking of the locking mechanism is finished or not according to the second real-time image and a second standard image when the movable part is in the unlocking state, and executing corresponding action.

Preferably, the step of determining whether the locking mechanism is unlocked and completed according to the second real-time image and the second standard image when the movable portion is in the unlocked state, and executing the corresponding action includes:

judging whether the second real-time image and a second standard image of the movable part in an unlocking state are within a preset error range or not;

if not, the battery replacing equipment is controlled to move the lock shaft of the battery pack to an unlocking pre-tightening position along the lock groove.

According to the technical scheme, whether unlocking is completed or not is judged through the second real-time image and the second standard image, the judgment standard is visual and clear, the unlocking condition can be adjusted in real time through the judgment result, and the accuracy of the battery replacement process is improved.

Preferably, the step of controlling the battery replacement device to be lifted to a second preset height at the bottom of the electric vehicle includes:

acquiring a second real-time height from the electricity replacing device to a reference plane, wherein the reference plane is a running plane of the electricity replacing device or a parking plane of the electric automobile;

judging whether the second real-time height falls into a second preset height range or not;

if not, controlling the lifting height of the battery replacing equipment according to a second height difference value between the second real-time height and a second preset height until the battery replacing equipment reaches the second preset height at the bottom of the electric automobile.

According to the technical scheme, the lifting of the battery replacing equipment is completed together by comparing the real-time height with the preset height, and the lifting accuracy is improved.

Preferably, after the step of controlling the battery replacement device to be lifted to a second preset height at the bottom of the electric vehicle, the method further includes:

and triggering a third battery replacement signal, and controlling the battery replacement equipment to move the lock shaft of the battery pack to an unlocking pre-tightening position along the lock groove after waiting for a third preset time.

The technical scheme improves the safety of the battery replacement process.

Preferably, the step of triggering the third power switching signal includes:

detecting whether the distance between a guide fork of the battery replacing device and a battery bracket is smaller than a preset threshold value, if so, generating a third battery replacing signal, wherein the third battery replacing signal is used for controlling an ignition switch of the electric automobile to be switched to a closed state.

According to the technical scheme, a specific optimal mode for triggering the third battery replacement signal is provided, the battery replacement process is guaranteed to be in a flameout state of the automobile, and the safety of battery replacement operation is improved.

Preferably, before the step of controlling the battery replacement device to be lifted to a second preset height at the bottom of the electric vehicle, the method further includes:

and triggering a fourth power switching signal and waiting for a fourth preset time.

The technical scheme improves the safety of the battery replacement process.

Preferably, the step of triggering the fourth switching signal includes:

analyzing the key signal;

and if the key signal indicates that the electric automobile is not in a flameout state, generating a fourth battery replacement signal corresponding to the license plate information, wherein the fourth battery replacement signal is used for controlling an ignition switch of the electric automobile corresponding to the license plate information to be switched to a closed state.

According to the technical scheme, a specific optimal mode for triggering the fourth battery replacement signal is provided, the battery replacement process is guaranteed to be in a flameout state of the automobile, and the safety of battery replacement operation is improved.

Preferably, the movable part comprises a bolt;

the step of collecting a second real-time image of the movable part relative to the fixed part in the process of moving the movable part to the unlocking state comprises the following steps: acquiring a real-time image of a third end part of the lock tongue relative to the fixing part;

the step of judging whether the locking mechanism is unlocked completely according to the second real-time image and the second standard image when the movable part is in the unlocking state, and executing corresponding actions comprises the following steps: and judging whether the unlocking of the locking mechanism is finished according to the third end real-time image and a second standard image when the lock tongue is positioned at an unlocking pre-tightening position, and adjusting the moving distance of the battery pack according to a judgment result.

According to the technical scheme, whether the locking mechanism is unlocked completely or not is judged according to the real-time state of the lock tongue, and the judgment result is visual and accurate.

the step of collecting a second real-time image of the movable part relative to the fixed part in the process that the lock shaft of the battery pack moves along the lock groove comprises the following steps: acquiring a fourth end part real-time image of the side wall of the fixing part, protruding from the locking rod, in the process that the locking shaft of the battery pack moves along the locking groove;

the step of judging whether the locking mechanism is unlocked and completed according to the second real-time image and the second standard image when the movable part is located at the unlocking and pre-tightening position and executing corresponding actions comprises the following steps of: and judging whether the unlocking of the locking mechanism is finished according to the fourth end real-time image and a second standard image of the locking rod in an unlocking state, and adjusting the moving distance of the battery pack according to a judgment result.

This technical scheme is specific to accomplish the unblock through spring bolt and lock bar cooperation jointly to can judge whether the unblock of locking mechanism is accomplished according to the real-time state of lock bar, further improve the accuracy that the state of knowing the lock was judged.

Preferably, the step of adjusting the moving distance of the battery pack according to the comparison between the real-time image of the fourth end portion and the second standard image of the locking rod in the completely unlocked state and the judgment result includes:

and acquiring a distance difference value of the end part of the locking rod from a preset reference line according to a real-time image of the fourth end part of the locking rod protruding out of the side wall of the fixing part, and translating the locking shaft of the battery pack according to the distance difference value.

Preferably, a fourth unit to be tested is arranged on the lock shaft of the battery pack, and a first unlocking detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the first unlocking detection sensor detects the fourth unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to the unlocking pre-tightening position;

and/or the presence of a gas in the gas,

the movable part comprises a lock tongue, a fifth unit to be tested is arranged on the lock tongue, and a second unlocking detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the second unlocking detection sensor detects the fifth unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to the unlocking pre-tightening position;

and/or the presence of a gas in the gas,

the movable part comprises a locking rod, a sixth unit to be tested is arranged on the locking rod, and a third unlocking detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: and judging whether the third unlocking detection sensor detects the sixth unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to the unlocking pre-tightening position.

According to the technical scheme, the unlocking result is further confirmed through the unlocking detection sensors, and the high-efficiency and accurate completion of the battery replacement process is guaranteed.

Preferably, the second preset height comprises a third lifting height and a fourth lifting height, and the lifting speed of the battery swapping device in the third lifting height is greater than the lifting speed of the battery swapping device in the fourth lifting height; and at the third lifting height, a guide fork of the battery replacing device just enters the battery bracket, and at the fourth lifting height, the battery replacing device contacts the battery pack to be unlocked.

This technical scheme is through setting up different lifting speed for the difference is predetermine highly, when taking into account efficiency, can also guarantee to trade the guide fork of electric equipment and not receive the damage, has improved the security.

Preferably, before controlling the battery replacement device to lift to a second preset height at the bottom of the electric vehicle, the method further includes:

controlling the battery replacement equipment to move to a second preset coordinate so as to align the battery replacement equipment with the battery pack to be unlocked;

alternatively, the first and second electrodes may be,

acquiring a second real-time alignment image of the battery replacing equipment in real time through a visual sensor, and adjusting the position of the battery replacing equipment according to the second real-time alignment image so as to align the battery replacing equipment with the battery pack to be unlocked.

This technical scheme carries out the counterpoint operation earlier before lifting and trades electrical equipment, has improved the accuracy of lifting to can avoid trading electrical equipment collision or the risk of scratching because of the counterpoint is inaccurate to cause.

Preferably, the battery replacement control method further includes:

and after the battery pack is unlocked, controlling the battery replacing equipment to clamp and take out the battery pack.

According to the technical scheme, the battery pack can be efficiently and accurately acquired by the battery replacing equipment.

Preferably, the battery replacement control method further includes:

and when the battery pack is taken out, controlling the battery replacement equipment to descend.

According to the technical scheme, the battery pack can be taken down in time, so that the battery pack can enter a subsequent charging process as soon as possible.

The utility model provides a trade electric control system based on trade electric equipment, trade electric equipment and be used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the locking fixed the battery package, locking mechanism includes fixed part and movable part, have in the fixed part and supply battery package locking axle to move the locked groove to the locking position, the movable part is relative the fixed part switches between locking state and unlocking state to close or open the locking axle business turn over the opening of locked groove, trade electric control system includes:

the first lifting control module is used for controlling the battery replacing equipment to lift the battery pack to a first preset height at the bottom of the electric automobile;

the first translation control module is used for controlling the battery replacement equipment to move the lock shaft of the battery pack to the locking position along the lock groove;

the first image acquisition module is used for acquiring a first real-time image of the movable part relative to the fixed part in the process that the lock shaft of the battery pack moves along the lock groove;

and the locking adjusting module is used for judging whether the locking of the locking mechanism is finished or not according to the first real-time image and the first standard image when the movable part is positioned at the locking position, and executing corresponding action.

the second lifting control module is used for controlling the battery replacement equipment to be lifted to a second preset height at the bottom of the electric automobile;

the second translation control module is used for controlling the battery replacing equipment to move the lock shaft of the battery pack to an unlocking pre-tightening position along the lock groove, so that the movable part moves to an unlocking state from a locking state relative to the fixed part;

the second image acquisition module is used for acquiring a second real-time image of the movable part relative to the fixed part in the process that the movable part moves to the unlocking state;

and the unlocking adjusting module is used for judging whether the locking mechanism is unlocked completely according to the second real-time image and a second standard image when the movable part is in an unlocking state, and executing corresponding action.

An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the power swapping control method based on a power swapping device when executing the computer program.

A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the aforementioned swapping control method based on a swapping device.

The positive progress effects of the invention are as follows: according to the battery replacement control method and system for the battery replacement equipment, provided by the invention, in the process of controlling the locking or unlocking of the battery pack, secondary modules on the electric automobile side and the battery replacement equipment side are not required, the problem that in the process of interaction between the secondary modules and the battery replacement equipment, signals are easy to lose accuracy due to external interference, and the battery replacement efficiency is influenced is avoided, the cost of the secondary modules can be saved, and the battery replacement flow is optimized.

Drawings

Fig. 1 is a schematic structural view of a lock mechanism in embodiments 1 to 6 of the present invention.

Fig. 2 is a flowchart of a first specific implementation of a battery swap control method according to embodiment 1 of the present invention.

Fig. 3 is a flowchart of step S13 of the first embodiment of example 1 of the present invention.

Fig. 4 is a schematic diagram illustrating a principle of determining whether the lock mechanism is locked in embodiments 1 and 3 of the present invention.

Fig. 5 is a flowchart of a second embodiment of a power swapping control method in embodiment 1 of the present invention.

Fig. 6 is a flowchart of a third specific implementation of a power swapping control method in embodiment 1 of the present invention.

Fig. 7 is a flowchart of a fourth specific implementation of the battery swap control method in embodiment 1 of the present invention.

Fig. 8 is a flowchart of step S19 in the fourth embodiment of the power swapping control method in embodiment 1 of the present invention.

Fig. 9 is a flowchart of a first specific implementation of a battery swap control method according to embodiment 2 of the present invention.

Fig. 10 is a flowchart of step S23 of the first embodiment of embodiment 2 of the present invention.

Fig. 11 is a schematic diagram illustrating a principle of determining whether the lock mechanism is unlocked in embodiments 2 and 4 of the present invention.

Fig. 12 is a flowchart of a second embodiment of a battery swap control method according to embodiment 2 of the present invention.

Fig. 13 is a flowchart of a third embodiment of a power swapping control method in embodiment 2 of the present invention.

Fig. 14 is a flowchart of a fourth embodiment of a power swapping control method in embodiment 2 of the present invention.

Fig. 15 is a flowchart of step S29 in the fourth embodiment of the power swapping control method according to embodiment 2 of the present invention.

Fig. 16 is a block diagram of a power swapping control system based on a power swapping device in embodiment 3 of the present invention.

Fig. 17 is a block diagram of a power swapping control system based on a power swapping device in embodiment 4 of the present invention.

Fig. 18 is a block diagram of an electronic device according to embodiment 5 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.

Example 1

The embodiment provides a battery replacement control method based on battery replacement equipment, the battery replacement equipment is used for replacing a battery pack on an electric vehicle, a locking mechanism is arranged on the electric vehicle and used for locking and fixing the battery pack, the locking mechanism comprises a fixed part and a movable part, a locking groove for a locking shaft of the battery pack to move to a locking position is formed in the fixed part, and the movable part is switched between a locking state and an unlocking state relative to the fixed part so as to close or open an opening through which the locking shaft enters or exits the locking groove.

Specifically, as shown in fig. 1, the fixed part may include a lock base 10, the movable part may include a lock bar 11 and a lock tongue 12, the lock tongue 12 is rotatably installed on the lock base 10 around a rotation axis, the lock base 10 has a lock groove, the lock shaft of the battery pack is locked and fixed, the lock groove has an opening, the lock shaft of the battery pack enters and exits the lock groove through the opening, the lock bar 11 is rotatably connected with the lock tongue 12 and is disposed above the lock base 10, the lock tongue 12 is driven to rotate by directly driving the lock tongue 12 or the lock bar 11, so that the lock tongue 12 is switched between a locked state and an unlocked state, so as to close or open the opening of the lock groove, the lock bar 11 may be a bar member of a long-strip-shaped bar structure, the lock bar 11 may be movably connected with the lock bases 10 through the lock tongue 12, so as to realize synchronous locking and unlocking of the lock shafts by the lock tongues 12.

As shown in fig. 2, the battery swapping control method may include the following steps: step S10: controlling the battery replacing equipment to lift the battery pack to a first preset height at the bottom of the electric automobile;

specifically, the real-time height of the battery replacement equipment from a reference plane can be acquired, and the reference plane is a running plane of the battery replacement equipment or a parking plane of the electric vehicle; then, judging whether the first real-time height falls into a first preset height range; if not, controlling the lifting height of the battery replacing equipment according to a first height difference value between the first real-time height and the first preset height until the battery replacing equipment lifts the battery pack to reach the first preset height at the bottom of the electric automobile.

In the step, a distance meter or a visual sensor is arranged on the battery replacing equipment, a real-time height value of the battery replacing equipment relative to a running plane or an electric automobile parking plane in the lifting process is detected, whether the real-time height value reaches a first preset height or not is judged, and the lifting is stopped if the real-time height value reaches the first preset height.

Preferably, the first preset height comprises a first lifting height and a second lifting height, and the lifting speed of the power swapping device in the first lifting height is greater than the lifting speed of the power swapping device in the second lifting height; when the battery pack is lifted to the second lifting height, the lock shaft of the battery pack enters the fixed part and jacks up the movable part to open the opening through which the lock shaft enters the lock groove.

Through setting up different lifting speed for different preset height, when taking into account efficiency, can also guarantee that the lock axle of battery package does not receive the damage, improved the security.

In addition, a person skilled in the art can adaptively set different lifting speeds according to the requirements of a specific application scenario, and the embodiment is not limited in this respect.

Step S11: controlling the battery replacement equipment to move the lock shaft of the battery pack to a locking position along the lock groove; the locked position is a position where the lock shaft of the battery pack is completely fixed by the lock tongue.

Step S12: acquiring a first real-time image of the movable part relative to the fixed part in the process that the lock shaft of the battery pack moves along the lock groove;

specifically, the first real-time image may be a real-time image of a first end of the bolt 12 relative to the fixed portion; the first live image may be a live image of the second end of the locking lever 11 protruding the side wall of the fixed portion.

Step S13: and judging whether the locking mechanism is locked or not according to the first real-time image and the first standard image when the movable part is positioned at the locking position, and executing corresponding action.

Specifically, as shown in fig. 3, step S13 may include:

step S131: judging whether the first real-time image and the first standard image when the movable part is located at the locking position are within a preset error range;

if yes, go to step S132: and stopping the battery replacement equipment to move the battery pack to the locking position in the locking groove.

If not, go to step S11: and controlling the battery replacement equipment to move the lock shaft of the battery pack to the locking position along the lock groove.

It should be noted that the real-time image and the standard image may be in a video form or a photo form, and this embodiment is not limited to this. When the real-time image and the standard image are in a video form, the images are compared in a unit of frame (each frame can be used as an independent picture), and when the real-time image and the standard image are in a picture form, the images are compared in a unit of each picture.

If the first real-time image is a first end portion real-time image of the lock tongue 12 relative to the fixing portion, whether locking of the locking mechanism is completed or not can be judged according to the first end portion real-time image and a first standard image when the lock tongue 12 is located at the locking position, and the moving distance of the battery pack is adjusted according to a judgment result. And if the locking is not completed, continuing to move the lock shaft in the lock groove.

If the first real-time image is a second end portion real-time image of the locking rod 11 protruding out of the side wall of the fixing portion, whether locking of the locking mechanism is completed or not can be judged according to the second end portion real-time image and a first standard image of the locking rod 11 in a locking state, and the moving distance of the battery pack is adjusted according to a judgment result. If the judgment result is that the locking is not completed, the lock shaft is continuously moved in the lock groove.

Further, it is possible to obtain a distance difference of the end 13 of the lock lever 11 from a preset reference line based on a real-time image of the second end of the lock lever 11 protruding out of the side wall of the fixing part, and to translate the lock shaft of the battery pack based on the distance difference.

Specifically, the real-time image of the second end of the locking rod can be acquired, the distance data is processed according to the pixels of the real-time image, and then whether the distance data falls into a preset standard distance range or not is judged, and if the distance data does not fall into the preset standard distance range, the locking shaft of the battery pack continues to be translated in the locking groove.

More specifically, referring to fig. 4, the camera is fixedly installed below the locking mechanism, and continuously shoots the locking mechanism at a upward angle from bottom to top, collects a real-time image of the movable portion, continuously compares a plurality of consecutive real-time images with a standard image, determines whether to perform a distance determination operation according to a degree of coincidence between the end 13 of the lock lever 11 in the real-time image and the end 13 of the lock lever 11 in the standard image, and calculates a distance d3 between a boundary line 18 where the end 13 of the lock lever 11 is located and a left boundary line 17 (i.e., a preset reference line) of the field of view bezel 14 of the camera according to the real-time image if the degree of coincidence is within a preset range, and the field of view bezel 14 and the left boundary line 17 are also at fixed positions since the camera is always at the fixed position. Next, it is determined whether d3 is within a preset standard distance range, where the standard distance range is an area range formed by a first standard line 15 and a second standard line 16, where the distance between the first standard line 15 and the left boundary line 17 is a first distance d1, the distance between the second standard line 16 and the left boundary line 17 is within a second distance d2, and if d3 is between d1 and d2, the locking mechanism is considered to be locked. It is understood that the preset standard distance range is set in consideration of errors in the fitting process of the battery mechanism and the locking mechanism of different electric vehicles.

In this embodiment, the conventional prior art in the field of imaging may be used to process the pixels of the real-time image into distance data.

Whether the locking of the locking mechanism is completed or not can be judged through the real-time state of the lock tongue 12 or the locking rod 11, and the judgment result is visual and accurate.

It can be understood that can set up a plurality of lock axles on the side of battery package, insert simultaneously and be located a plurality of lock bases 10 on the electric automobile in, fix the battery package on the battery automobile, utilize the action of locking pole 11 can be automatic lock a plurality of lock axles simultaneously on by lock base 10, improve greatly and trade electric efficiency.

In other embodiments, as shown in fig. 5, step S10 may be preceded by:

step S14: controlling the battery replacement equipment to move the lock shaft of the battery pack to a first preset coordinate so as to align the lock shaft of the battery pack with the locking mechanism; alternatively, step S15: the first real-time alignment image of the locking mechanism is collected in real time through the visual sensor, and the position of the lock shaft is adjusted according to the first real-time alignment image, so that the lock shaft of the battery pack is aligned with the locking mechanism.

This embodiment carries out the counterpoint operation earlier before utilizing to trade electrical equipment to lift the battery package, has improved the accuracy of lifting to can avoid the risk of colliding or scraping because of the inaccurate battery package that causes of counterpoint.

In this embodiment, the battery swapping control method may further include the following steps:

step S16: and when the battery pack reaches the locking position, the battery replacement equipment is controlled to descend.

In the process, after the battery pack reaches the locking position, the clamping mechanism on the battery replacement device is controlled to release the clamping of the battery pack, then the clamping mechanism retracts, and then the battery replacement device is controlled to descend at a preset speed. According to the embodiment, the battery replacement equipment can be controlled to descend in time to finish the battery replacement in time, so that the electric automobile can be started and driven away as soon as possible, and the battery replacement can be continued for other electric automobiles conveniently.

step S17: when the battery pack reaches the locking position, the lock shaft of the battery pack is controlled to retreat for a preset distance in the direction of the opening of the lock groove, so that the lock shaft abuts against the movable part. This embodiment can improve the fastness of battery package locking, prevents that the battery package from taking place to slide when supplying power for electric automobile and causing contact failure, has improved user experience.

In other embodiments, as shown in fig. 6, the following steps may be further included after step S10:

step S18: and triggering a first battery replacement signal and waiting for a first preset time. After waiting for the first preset, step S11 is executed.

Specifically, whether the distance between a guide fork of the battery replacing device and the battery bracket is smaller than a preset threshold value or not can be detected, if yes, a first battery replacing signal is generated, and the first battery replacing signal is used for controlling an ignition switch of the electric automobile to be switched to a closed state. The guide fork can be arranged at the upper part of the battery replacing device. Specifically, a detection object is arranged on the guide fork, a detection sensor is arranged on the battery bracket, when the distance between the guide fork and the battery bracket is smaller than a preset threshold value, the detection sensor on the battery bracket detects the detection object and sends a detection signal to an ignition control unit of the electric automobile, and the ignition control unit controls ignition to be turned off according to the detection signal.

In other embodiments, as shown in fig. 7, step S10 may further include the following steps before:

step S19: and triggering a second battery replacement signal and waiting for a second preset time. After waiting for the second preset time, step S10 is executed.

Preferably, as shown in fig. 8, step S19 may specifically include:

step S191: receiving vehicle state information sent by an electric vehicle, wherein the vehicle state information comprises license plate information and key signals, and the license plate information corresponds to the key signals one to one; step S192: analyzing the key signal; step S193: and if the key signal indicates that the electric automobile is not in a flameout state, generating a second battery replacement signal corresponding to the license plate information, wherein the second battery replacement signal is used for controlling an ignition switch of the electric automobile corresponding to the license plate information to be switched to a closed state. In this embodiment, the first battery replacement signal and/or the second battery replacement signal are/is set, so that the battery replacement process is ensured to be in a flameout state of the automobile, and the safety of the battery replacement operation is improved.

In the embodiment, a first unit to be detected is arranged on a lock shaft of the battery pack, and a first lock falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the first lock-falling detection sensor detects a first unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to a locking position; and/or the movable part comprises a lock tongue 12, a second unit to be detected is arranged on the lock tongue 12, and a second lock falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether a second unit to be detected is detected by a second lock-falling detection sensor, and if so, determining that the lock shaft of the battery pack moves to a locking position; and/or the movable part comprises a locking rod 11, a third unit to be detected is arranged on the locking rod 11, and a third lock falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: and judging whether the third drop lock detection sensor detects a third unit to be detected, if so, determining that the lock shaft of the battery pack moves to the locking position.

Preferably, the first unit under test, the second unit under test and the third unit under test may be magnetic elements (e.g., permanent magnets), the magnetic elements are outwardly diverged with magnetic fields (magnetic lines), and the lock drop detection sensor may detect the magnetic elements by recognizing the magnetic fields.

The locking result can be further confirmed by a plurality of lock falling detection sensors, and the high-efficiency and accurate completion of the battery replacement process is guaranteed.

When the battery replacement control method based on the battery replacement equipment operates, the secondary modules on the electric vehicle side and the battery replacement equipment side do not need to be relied on, the problem that the battery replacement efficiency is affected because signals easily lose accuracy due to external interference in the process of interaction between the secondary modules and the battery replacement equipment is avoided, the cost of the secondary modules can be saved, and the battery replacement flow is optimized.

Example 2

Specifically, as shown in fig. 1, the fixed part may include a lock base 10, the movable part may include a lock bar 11 and a lock tongue 12, the lock tongue 12 is rotatably installed on the lock base 10 around a rotation axis, the lock base 10 has a lock groove, the lock shaft of the battery pack is locked and fixed, the lock groove has an opening, the lock shaft of the battery pack enters and exits the lock groove through the opening, the lock bar 11 is rotatably connected with the lock tongue 12 and is disposed above the lock base 10, the lock tongue 12 is driven to rotate by directly driving the lock tongue 12 or the lock bar 11, so that the lock tongue 12 is switched between a locked state and an unlocked state, so as to close or open the opening of the lock groove, the lock bar 11 may be a bar member of a long-strip-shaped bar structure, the lock bar 11 may be movably connected with the lock bases 10 through the lock tongue 12, so as to realize synchronous locking and unlocking of the lock shafts by the plurality of lock tongues.

As shown in fig. 9, the battery replacement control method may include the following steps:

step S20: controlling the battery replacement equipment to lift to a second preset height at the bottom of the electric automobile;

specifically, a second real-time height of the battery replacement device from a reference plane can be acquired, wherein the reference plane is a running plane of the battery replacement device or a parking plane of the electric vehicle; judging whether the second real-time height falls into a second preset height range or not; if not, controlling the lifting height of the battery replacing equipment according to a second height difference value between the second real-time height and a second preset height until the battery replacing equipment reaches the second preset height at the bottom of the electric automobile.

The method comprises the steps that a distance meter or a visual sensor is arranged on the battery replacing equipment, the real-time height value of the battery replacing equipment relative to a running plane or an electric automobile parking plane in the lifting process is detected, whether the real-time height value reaches a second preset height or not is judged, and the lifting is stopped if the real-time height value reaches the second preset height.

The elevating of the battery replacing equipment is completed together by comparing the real-time height with the preset height, and the elevating accuracy is improved.

Step S21: the battery replacing device is controlled to move the lock shaft of the battery pack to an unlocking pre-tightening position along the lock groove (namely, the battery replacing device is controlled to move the battery pack to the opening direction of the lock groove), so that the movable part moves from a locking state to an unlocking state relative to the fixed part;

preferably, the second preset height comprises a third lifting height and a fourth lifting height, and the lifting speed of the battery swapping device in the third lifting height is greater than the lifting speed of the battery swapping device in the fourth lifting height; and at the fourth lifting height, the battery replacing device is contacted with the battery pack to be unlocked.

Through setting up different lifting speed for different preset height, when taking into account efficiency, can also guarantee to trade the guide fork of electric equipment and not receive the damage, improved the security.

In addition, the person skilled in the art can adaptively set different lifting speeds according to the requirements of a specific application scenario, and the embodiment is not limited to this.

Step S22: acquiring a second real-time image of the movable part relative to the fixed part in the process of moving the movable part to the unlocking state;

specifically, the second real-time image may be a real-time image of a third end of the lock tongue 12 relative to the fixing portion, or the second real-time image may also be a real-time image of a fourth end of the lock rod 11 protruding from the side wall of the fixing portion.

Step S23: and judging whether the locking mechanism is unlocked completely according to the second real-time image and the second standard image when the movable part is in the unlocking state, and executing corresponding action.

Specifically, as shown in fig. 10, step S23 may specifically include:

step S231: judging whether the second real-time image and the second standard image of the movable part in the unlocking state are within a preset error range or not;

if not, go to step S21: controlling the battery replacement equipment to move a lock shaft of the battery pack to an unlocking pre-tightening position along the lock groove, so that the movable part moves from a locking state to an unlocking state relative to the fixed part;

if yes, go to step S232: and the battery replacement stopping equipment moves the lock shaft of the battery pack to the unlocking pre-tightening position along the lock groove.

If the second real-time image is a third end real-time image of the bolt 12 relative to the fixing part, the third end real-time image of the bolt 12 relative to the fixing part can be collected, then whether the locking mechanism is unlocked completely is judged according to the third end real-time image and a second standard image when the bolt 12 is located at an unlocking pre-tightening position, and the moving distance of the battery pack is adjusted according to the judgment result.

If the second real-time image is a fourth end real-time image of the protruding fixing portion side wall of the locking rod 11, the fourth end real-time image of the protruding fixing portion side wall of the locking rod 11 in the process that the locking shaft of the battery pack moves along the locking groove can be collected; and then, judging whether the unlocking of the locking mechanism is finished according to the real-time image of the fourth end part and a second standard image of the locking rod 11 in the unlocking state, and adjusting the moving distance of the battery pack according to the judgment result.

Further, the distance difference of the end 13 of the locking rod 11 from the fixing part can be obtained according to the real-time image of the fourth end of the protruding fixing part side wall of the locking rod 11, and the locking shaft of the battery pack can be translated according to the distance difference.

Specifically, the fourth end real-time image of the locking rod can be acquired, the distance data is processed according to the pixels of the real-time image, whether the distance data falls outside the preset standard distance or not is judged, and if the distance data does not fall outside the preset standard distance, the locking shaft of the battery pack continues to be translated in the locking groove.

More specifically, referring to fig. 11, the camera is fixedly installed below the locking mechanism, and continuously shoots the locking mechanism at a upward angle from bottom to top, collects a real-time image of the moving part, continuously compares a plurality of consecutive real-time images with a standard image, determines whether to perform a distance determination operation according to a degree of coincidence between an end 13 of the lock lever 11 in the real-time image and an end 13 of the lock lever 11 in the standard image, and calculates a distance d5 between a boundary line 18 where the end 13 of the lock lever 11 is located and a left boundary line 17 (i.e., a preset reference line) of the field of view bezel 14 of the camera according to the real-time image if the degree of coincidence is within a preset range, and the field of view bezel 14 and the left boundary line 17 are also at fixed positions since the camera is always at the fixed position. Next, it is determined whether d5 is outside the preset standard distance, where the standard distance is defined by the third standard line 19, and the distance between the third standard line 19 and the left boundary line 17 is the fourth distance d4, and if d5 is greater than d4, it is determined that the unlocking of the locking mechanism is completed.

In this embodiment, the conventional prior art in the field of imaging may be used to process the pixels of the real-time image into distance data. Whether the unlocking of the locking mechanism is completed or not can be judged through the real-time state of the lock tongue 12 or the locking rod 11, and the judgment result is visual and accurate.

In other embodiments, as shown in fig. 12, in other embodiments, step S20 may be preceded by:

step S24: controlling the battery replacement equipment to move to a second preset coordinate so as to align the battery replacement equipment with the battery pack to be unlocked; alternatively, step S25: and acquiring a second real-time alignment image of the battery replacing equipment in real time through the visual sensor, and adjusting the position of the battery replacing equipment according to the second real-time alignment image so as to align the battery replacing equipment with the battery pack to be unlocked.

This embodiment carries out earlier the counterpoint operation before lifting and swaping the electrical equipment, has improved the accuracy of lifting to can avoid because of the risk of the electrical equipment collision or scratch that the counterpoint is inaccurate to cause.

In this embodiment, the battery swapping control method further includes:

step S26: and after the battery pack is unlocked, the battery replacing equipment is controlled to clamp and take out the battery pack.

In the process, after the battery pack is unlocked, the clamping mechanism on the battery replacing device is controlled to extend out towards the battery pack, and then the clamping mechanism is controlled to clamp the battery pack and take the battery pack out of the battery bracket. The battery pack acquisition method and the battery pack acquisition device can ensure that battery replacement equipment can efficiently and accurately acquire the battery pack.

In this embodiment, the battery swapping control method further includes:

step S27: and when the battery pack is taken out, the battery replacement equipment is controlled to descend. The battery pack can be taken down in time by the implementation mode, so that the battery pack can enter a subsequent charging process as soon as possible.

As shown in fig. 13, in other embodiments, the following steps may be further included after step S20:

step S28: and triggering a third power switching signal and waiting for a third preset time. And then, controlling the battery replacement equipment to move the lock shaft of the battery pack to the unlocking pre-tightening position along the lock groove.

Specifically, whether the distance between a guide fork of the battery replacing device and the battery bracket is smaller than a preset threshold value or not can be detected, if yes, a third battery replacing signal is generated, and the third battery replacing signal is used for controlling an ignition switch of the electric automobile to be switched to a closed state. The guide fork can be arranged at the upper part of the battery replacing device. Specifically, a detection object is arranged on the guide fork, a detection sensor is arranged on the battery bracket, when the distance between the guide fork and the battery bracket is smaller than a threshold value, the detection sensor detects the detection object and sends a detection signal to the ignition control unit, and the ignition control unit controls ignition to be turned off according to the detection signal.

In other embodiments, as shown in fig. 14, step S20 may further include the following steps before:

step S29: and triggering a fourth power switching signal and waiting for a fourth preset time. And then, controlling the battery replacement equipment to lift to a second preset height at the bottom of the electric automobile.

Preferably, as shown in fig. 15, step S29 may specifically include: step S291: receiving vehicle state information sent by an electric vehicle, wherein the vehicle state information comprises license plate information and key signals, and the license plate information corresponds to the key signals one to one; step S292: analyzing the key signal; step S293: and if the key signal indicates that the electric automobile is not in a flameout state, generating a fourth battery replacement signal corresponding to the license plate information, wherein the fourth battery replacement signal is used for controlling an ignition switch of the electric automobile corresponding to the license plate information to be switched to a closed state.

According to the embodiment, the third battery replacement signal and/or the fourth battery replacement signal are/is set, so that the battery replacement process is ensured to be in a flameout state of the automobile, and the safety of the battery replacement operation is improved.

In this embodiment, a fourth unit to be tested is arranged on the lock shaft of the battery pack, and a first unlocking detection sensor is arranged on a battery bracket of the electric vehicle; the battery replacement control method further comprises the following steps: judging whether the first unlocking detection sensor detects the fourth unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to an unlocking pre-tightening position; and/or the movable part comprises a lock tongue 12, a fifth unit to be tested is arranged on the lock tongue 12, and a second unlocking detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the second unlocking detection sensor detects a fifth unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to an unlocking pre-tightening position; and/or the movable part comprises a locking rod 11, a sixth unit to be detected is arranged on the locking rod 11, and a third unlocking detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: and judging whether the third unlocking detection sensor detects the sixth unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to an unlocking pre-tightening position.

Preferably, the fourth unit under test, the fifth unit under test and the sixth unit under test may be magnetic elements (e.g., permanent magnets), the magnetic elements are outwardly diverged with magnetic fields (magnetic lines), and the lock drop detection sensor may detect the magnetic elements by recognizing the magnetic fields.

The unlocking result can be further confirmed by the unlocking detection sensors, and the high-efficiency and accurate completion of the battery replacement process is guaranteed.

Example 3

The embodiment provides a trade electric control system based on trade electric equipment, trade electric equipment and be used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the fixed battery package of locking, locking mechanism includes fixed part and movable part, has the locked groove that supplies battery package locking axle to remove to the locking position in the fixed part, and the relative fixed part of movable part switches between locking state and unblock state to close or open the opening of locking axle business turn over locked groove.

As shown in fig. 16, the battery swapping control system 2 in this embodiment may include:

the first lifting control module 21 is used for controlling the battery replacing equipment to lift the battery pack to a first preset height at the bottom of the electric automobile;

the first lifting control module 21 is used for acquiring the real-time height of the battery replacement equipment from a reference plane, wherein the reference plane is a running plane of the battery replacement equipment or a parking plane of the electric vehicle; judging whether the first real-time height falls into a first preset height range or not; if not, controlling the lifting height of the battery replacement device according to a first height difference value between the first real-time height and the first preset height until the battery replacement device lifts the battery pack to reach the first preset height at the bottom of the electric automobile.

Preferably, the first preset height comprises a first lifting height and a second lifting height, and the lifting speed of the power swapping device in the first lifting height is greater than the lifting speed of the power swapping device in the second lifting height; and at the second lifting height, the locking shaft of the battery pack enters the fixed part and jacks up the movable part so as to open the opening through which the locking shaft enters the locking groove.

The first translation control module 22 is used for controlling the battery replacement equipment to move the lock shaft of the battery pack to the locking position along the lock groove; the locked position is a position where the lock shaft of the battery pack is completely fixed by the lock tongue 12.

The first image acquisition module 23 is used for acquiring a first real-time image of the movable part relative to the fixed part in the process that the lock shaft of the battery pack moves along the lock groove;

And the locking adjusting module 24 is used for judging whether the locking of the locking mechanism is finished according to the first real-time image and the first standard image when the movable part is located at the locking position, and executing corresponding actions.

Specifically, the locking adjustment module 24 is configured to determine whether the first real-time image and the first standard image when the movable portion is located at the locking position are within a preset error range; if so, stopping the battery replacement equipment from moving the battery pack to the locking position in the locking groove; if so, the first translation control module 22 is invoked.

If the first real-time image is a first end part real-time image of the lock tongue 12 relative to the fixing part, the first image acquisition module 23 is configured to acquire the first end part real-time image of the lock tongue 12 relative to the fixing part in the process that the lock shaft of the battery pack moves along the lock groove; the locking adjusting module 24 is configured to determine whether the locking mechanism is locked according to the first end real-time image and the first standard image when the lock tongue 12 is located at the locking position, and adjust the moving distance of the battery pack according to the determination result.

If the first real-time image is a real-time image of the second end part of the side wall of the protruding fixing part of the locking rod 11, the first image acquisition module 23 is used for acquiring the real-time image of the second end part of the side wall of the protruding fixing part of the locking rod 11 in the process that the locking shaft of the battery pack moves along the locking groove; and the locking adjusting module 24 is used for judging whether the locking of the locking mechanism is completed according to the second end real-time image and the first standard image of the locking rod 11 in the locking state, and adjusting the moving distance of the battery pack according to the judgment result.

The locking adjusting module 24 is used for acquiring a distance difference value of the end 13 of the locking rod 11 from the fixing part according to the second end real-time image of the protruding fixing part side wall of the locking rod 11, and translating the locking shaft of the battery pack according to the distance difference value.

Specifically, the distance data can be processed according to the pixels of the real-time image, and then whether the distance data falls within a preset standard distance range or not is judged, and if the distance data does not fall within the preset standard distance range, the lock shaft of the battery pack continues to be translated in the lock groove.

In addition, can set up a plurality of lock axles on the side of battery package, insert simultaneously and be located a plurality of lock base 10 on the electric automobile in, fix the battery package on the battery automobile, utilize the action of locking pole 11 can be automatic with a plurality of lock axles by locking simultaneously on the lock base 10, improve greatly and trade electric efficiency.

In other embodiments, the battery swapping control system 2 further includes a first alignment control module 25, where the first alignment control module 25 is configured to move the lock shaft of the battery pack to a first preset coordinate by using the battery swapping device, so as to align the lock shaft of the battery pack with the locking mechanism; or, the first alignment control module 25 is configured to control the vision sensor to acquire a first real-time alignment image of the locking mechanism in real time, and adjust the position of the lock shaft according to the first real-time alignment image, so that the lock shaft of the battery pack is aligned with the locking mechanism.

Further, the first lifting control module 21 is further configured to control the battery replacement device to descend after the battery pack reaches the locking position.

In the process, after the battery pack reaches the locking position, the clamping mechanism on the battery replacement device is controlled to release the clamping of the battery pack, then the clamping mechanism retracts, and then the battery replacement device is controlled to descend at a preset speed. The power switching equipment can be controlled to descend in time to finish power switching in time, so that the electric automobile can be started and driven away as soon as possible, and the power switching of other electric automobiles can be continued conveniently.

Further, the locking adjusting module 24 is further configured to control the lock shaft of the battery pack to retract a preset distance toward the opening of the lock slot after the battery pack reaches the locking position, so that the lock shaft abuts against the movable portion.

This embodiment can also improve the fastness of battery package locking, prevents that the battery package from taking place to slide when supplying power for electric automobile and causing contact failure, has improved user experience.

In other embodiments, the battery swapping control system 2 further includes a first battery swapping signal regulating and controlling module 26, configured to trigger the first battery swapping signal and wait for a first preset time.

The first battery replacement signal regulating and controlling module 26 is configured to detect whether a distance between a guide fork of the battery replacement device and the battery bracket is smaller than a preset threshold, and if so, generate a first battery replacement signal, where the first battery replacement signal is used to control an ignition switch of the electric vehicle to switch to an off state. The guide fork can be arranged at the upper part of the battery replacing device.

In other embodiments, the battery replacement control system 2 may further include a second battery replacement signal regulating and controlling module 27, configured to trigger a second battery replacement signal and wait for a second preset time.

The second battery replacement signal regulating and controlling module 27 is configured to receive vehicle state information sent by the electric vehicle, where the vehicle state information includes license plate information and key signals, and the license plate information corresponds to the key signals one to one; analyzing the key signal; and if the key signal indicates that the electric automobile is not in a flameout state, generating a second battery replacement signal corresponding to the license plate information, wherein the second battery replacement signal is used for controlling an ignition switch of the electric automobile corresponding to the license plate information to be switched to a closed state.

In this embodiment, the first battery replacement signal and/or the second battery replacement signal are/is set, so that the battery replacement process is ensured to be in a flameout state of the automobile, and the safety of the battery replacement operation is improved.

In other embodiments, a first unit to be tested is arranged on a lock shaft of the battery pack, and a first lock-falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control system 2 further comprises a lock-down determining module 28, wherein the lock-down determining module 28 is configured to determine whether the first lock-down detecting sensor detects the first unit to be detected, and if so, determine that the lock shaft of the battery pack moves to the locking position; and/or the movable part comprises a lock tongue 12, a second unit to be detected is arranged on the lock tongue 12, and a second lock falling detection sensor is arranged on a battery bracket of the electric automobile; the lock-falling determination module 28 is further configured to determine whether the second lock-falling detection sensor detects the second unit to be detected, and if so, determine that the lock shaft of the battery pack moves to the locking position; and/or the movable part comprises a locking rod 11, a third unit to be detected is arranged on the locking rod 11, and a third lock falling detection sensor is arranged on a battery bracket of the electric automobile; the lock-down determining module 28 is further configured to determine whether the third lock-down detecting sensor detects the third unit to be detected, and if so, determine that the lock shaft of the battery pack moves to the locking position.

When the battery replacement control system based on the battery replacement equipment operates, the secondary module on the electric automobile side and the secondary module on the battery replacement equipment side do not need to be relied on, the problem that the battery replacement efficiency is influenced due to the fact that signals lose accuracy easily due to external interference in the process of interaction between the secondary module and the battery replacement equipment is avoided, the cost of the secondary module can be saved, and the battery replacement flow is optimized.

Example 4

The utility model provides a trade electric control system based on trade electric equipment, trade electric equipment and be used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the fixed battery package of locking, locking mechanism includes fixed part and movable part, has in the fixed part and supplies battery package locking shaft to remove the locked groove to the locking position, the relative fixed part of movable part switches between locking state and unlocking state to close or open the opening that the locking shaft passed in and out the locked groove.

As shown in fig. 17, the battery replacement control system 3 in this embodiment may include:

the second lifting control module 31 is used for controlling the battery replacement equipment to be lifted to a second preset height at the bottom of the electric automobile;

specifically, the second lifting control module 31 is configured to acquire a second real-time height from the power exchanging device to a reference plane, where the reference plane is a running plane of the power exchanging device or a parking plane of the electric vehicle; judging whether the second real-time height falls into a second preset height range or not; if not, controlling the lifting height of the battery replacing equipment according to a second height difference value between the second real-time height and a second preset height until the battery replacing equipment reaches the second preset height at the bottom of the electric automobile.

Preferably, the second preset height comprises a third lifting height and a fourth lifting height, and the lifting speed of the battery swapping device in the third lifting height is greater than the lifting speed of the battery swapping device in the fourth lifting height; and at the fourth lifting height, the battery replacing device is contacted with the battery pack to be unlocked. Through setting up different lifting speed for different preset height, when taking into account efficiency, can also guarantee to trade the guide fork of electric equipment and not receive the damage, improved the security.

The person skilled in the art can adaptively set different lifting speeds according to the requirements of a specific application scenario, and the embodiment is not limited to this.

The second translation control module 32 is used for controlling the battery replacement device to move the lock shaft of the battery pack to an unlocking pre-tightening position along the lock groove, so that the movable part moves to an unlocking state from a locking state relative to the fixed part; the unlocked state is a state in which the movable portion releases the lock of the lock shaft and the battery pack can be removed.

The second image acquisition module 33 is used for acquiring a second real-time image of the movable part relative to the fixed part in the process of moving the movable part to the unlocking state;

the second real-time image may be a real-time image of a third end of the locking tongue 12 relative to the fixing portion, or the second real-time image may also be a real-time image of a fourth end of the locking rod 11 protruding out of the side wall of the fixing portion.

And the unlocking adjusting module 34 is used for judging whether the locking mechanism is unlocked completely according to the second real-time image and the second standard image when the movable part is in the unlocking state, and executing corresponding actions.

Specifically, the unlocking adjustment module 34 is configured to determine whether the second real-time image and the second standard image when the moving part is in the unlocking state are within a preset error range; if not, the second translation control module 32 is called; and if so, stopping the battery replacement equipment to move the lock shaft of the battery pack to the unlocking pre-tightening position along the lock groove.

If the second real-time image is a real-time image of a third end of the bolt 12 relative to the fixing part, the second image acquisition module 33 is configured to acquire a real-time image of the third end of the bolt 12 relative to the fixing part; and the locking adjusting module 24 is used for judging whether the locking mechanism is unlocked completely according to the third end real-time image and the second standard image when the lock tongue 12 is in the unlocking state, and adjusting the moving distance of the battery pack according to the judgment result.

If the second real-time image is a fourth end real-time image of the side wall of the protruding fixing part of the locking rod 11, the second image acquisition module 33 is used for acquiring the fourth end real-time image of the side wall of the protruding fixing part of the locking rod 11 in the process that the locking shaft of the battery pack moves along the locking groove; and the locking adjusting module 24 is used for judging whether the unlocking of the locking mechanism is completed according to the fourth end real-time image and the second standard image of the locking rod 11 in the unlocking state, and adjusting the moving distance of the battery pack according to the judgment result.

Whether the unlocking of the locking mechanism is completed or not can be judged through the real-time state of the lock tongue 12 or the locking rod 11, and the judgment result is visual and accurate.

In other embodiments, the battery swapping control system 3 may further include a third battery swapping signal regulating and controlling module 36, configured to trigger a third battery swapping signal and wait for a third preset time.

The third battery replacement signal regulating and controlling module 36 is configured to detect whether a distance between a guide fork of the battery replacement device and the battery bracket is smaller than a preset threshold, and if so, generate a third battery replacement signal, where the third battery replacement signal is used to control an ignition switch of the electric vehicle to switch to an off state.

In other embodiments, the battery swapping control system 3 further includes a fourth battery swapping signal regulating and controlling module 37, configured to trigger a fourth battery swapping signal and wait for a fourth preset time.

The fourth battery replacement signal regulating and controlling module 37 is configured to receive vehicle state information sent by the electric vehicle, where the vehicle state information includes license plate information and key signals, and the license plate information corresponds to the key signals one to one; analyzing the key signal; and if the key signal indicates that the electric automobile is not in a flameout state, generating a fourth battery replacement signal corresponding to the license plate information, wherein the fourth battery replacement signal is used for controlling an ignition switch of the electric automobile corresponding to the license plate information to be switched to a closed state.

In the embodiment, the third battery replacement signal and/or the fourth battery replacement signal are/is set, so that the battery replacement process is ensured to be in a flameout state of the automobile, and the safety of the battery replacement operation is improved.

In other embodiments, a fourth unit to be tested is arranged on the lock shaft of the battery pack, a first unlocking detection sensor is arranged on a battery bracket of the electric vehicle, the battery swapping control system 3 further includes an unlocking determination module 38, the unlocking determination module 38 is configured to determine whether the first unlocking detection sensor detects the fourth unit to be tested, and if so, it is determined that the lock shaft of the battery pack moves to the unlocking pre-tightening position; and/or the movable part comprises a lock tongue 12, a fifth unit to be tested is arranged on the lock tongue 12, a second unlocking detection sensor is arranged on a battery bracket of the electric automobile, the unlocking determination module 38 is also used for judging whether the fifth unit to be tested is detected by the second unlocking detection sensor, and if yes, the lock shaft of the battery pack is determined to move to the unlocking pre-tightening position; and/or the movable part comprises a locking rod 11, a sixth unit to be detected is arranged on the locking rod 11, a third unlocking detection sensor is arranged on a battery bracket of the electric automobile, the unlocking determination module 38 is also used for judging whether the third unlocking detection sensor detects the sixth unit to be detected, and if so, the locking shaft of the battery pack is determined to move to the unlocking pre-tightening position.

According to the embodiment, the unlocking result can be further confirmed through the unlocking detection sensors, and the high-efficiency and accurate completion of the battery replacement process is guaranteed.

In other embodiments, the battery swapping control system 3 further includes a second alignment control module 35, where the second alignment control module 35 is configured to move the battery swapping device to a second preset coordinate, so as to align the battery swapping device with the battery pack to be unlocked; or the second alignment control module 35 is further configured to control the vision sensor to acquire a second real-time alignment image of the battery replacement device in real time, and adjust the position of the battery replacement device according to the second real-time alignment image, so that the battery replacement device is aligned with the battery pack to be unlocked.

This embodiment carries out the counterpoint operation earlier before lifting and trades electrical equipment, has improved the accuracy of lifting to can avoid trading electrical equipment collision or the risk of scratching because of the counterpoint is inaccurate to cause.

Further, the unlocking adjustment module 34 is also used for controlling the battery replacing device to clamp and take out the battery pack after the battery pack is unlocked.

Further, the second lifting control module 31 is further configured to control the battery replacing device to descend after the battery pack is taken out.

The battery pack can be taken down in time by the implementation mode, so that the battery pack can enter a subsequent charging process as soon as possible.

Example 5

The present invention further provides an electronic device, as shown in fig. 18, the electronic device may include a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the power swapping control method based on the power swapping device in embodiment 1 or embodiment 2.

It should be understood that the electronic device shown in fig. 18 is only an example, and should not bring any limitation to the functions and the scope of the use of the embodiments of the present invention.

As shown in fig. 18, the electronic device 41 may be embodied in the form of a general purpose computing device, such as: which may be a server device. The components of the electronic device 41 may include, but are not limited to: the at least one processor 42, the at least one memory 43, and a bus 44 that connects the various system components (including the memory 43 and the processor 42).

The bus 44 may include a data bus, an address bus, and a control bus.

The memory 43 may include volatile memory, such as Random Access Memory (RAM)431 and/or cache memory 432, and may further include Read Only Memory (ROM) 433.

The memory 43 may also include a program tool 435 (or utility tool) having a set (at least one) of program modules 434, such program modules 434 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

The processor 42 executes various functional applications and data processing, such as the steps of the power swapping device-based power swapping control method in the foregoing embodiment 1 or embodiment 2 of the present invention, by running the computer program stored in the memory 43.

The electronic device 41 may also communicate with one or more external devices 45 (e.g., a keyboard, a pointing device, etc.). Such communication may occur via an input/output (I/O) interface 46. Also, the model-generating electronic device 41 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network) via a network adapter 47.

As shown in FIG. 18, network adapter 47 may communicate with other modules of model-generating electronic device 41 via bus 44. It will be appreciated by those skilled in the art that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the model-generating electronics 41, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

It should be noted that although in the above detailed description several units/modules or sub-units/modules of the electronic device are mentioned, such division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.

Example 6

The present embodiment provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the power swapping device-based power swapping control method in the foregoing embodiment 1 or embodiment 2.

More specific ways in which the computer-readable storage medium may be employed may include, but are not limited to: a portable disk, a hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.

In a possible implementation manner, the present invention can also be implemented in the form of a program product, which includes program codes, and when the program product runs on a terminal device, the program codes are configured to enable the terminal device to execute steps of implementing the power swapping control method based on the power swapping device in embodiment 1 or embodiment 2.

Where program code for carrying out the invention is written in any combination of one or more programming languages, the program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device or entirely on the remote device.

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

1. The utility model provides a trade electric control method based on trade electric equipment, trade electric equipment is used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the locking to fix the battery package, locking mechanism includes fixed part and movable part, have in the fixed part and supply battery package locking shaft to move the locked groove to the locking position, the movable part is relative the fixed part switches between locking state and unblock state to close or open the opening that the locking shaft passed in and out the locked groove, characterized in that trade electric control method includes:

2. The battery swapping control method based on the battery swapping device as claimed in claim 1, wherein the step of determining whether the locking of the locking mechanism is completed according to the first real-time image and the first standard image when the movable portion is located at the locking position, and executing the corresponding action comprises:

3. The battery swapping control method based on the battery swapping device as claimed in claim 1, wherein the step of controlling the battery swapping device to lift the battery pack to a first preset height at the bottom of the electric vehicle comprises:

4. The battery replacement control method based on battery replacement equipment as claimed in claim 1,

the step of controlling the battery replacing device to lift the battery pack to a first preset height at the bottom of the electric automobile further comprises the following steps:

and triggering a first battery replacement signal and waiting for a first preset time.

5. The battery swapping control method based on the battery swapping device as claimed in claim 4,

the step of triggering the first power switching signal comprises:

6. The battery replacement control method based on battery replacement equipment as claimed in claim 1,

before the step of controlling the battery replacing device to lift the battery pack to a first preset height at the bottom of the electric automobile, the method further comprises the following steps:

7. The battery swapping control method based on the battery swapping device as claimed in claim 6,

the step of triggering the second power switching signal comprises:

analyzing the key signal;

8. The battery replacement control method based on battery replacement equipment as claimed in claim 1,

the movable part comprises a lock tongue;

9. The battery replacement control method based on battery replacement equipment as claimed in claim 1,

the movable part comprises a locking rod and a lock tongue, and the locking rod drives the lock tongue to rotate so as to open or close the opening of the lock groove;

10. The battery swapping control method based on the battery swapping device as claimed in claim 9, wherein the step of determining whether the locking of the locking mechanism is completed according to the second end real-time image and the first standard image of the locking rod in the locking state, and the step of adjusting the moving distance of the battery pack according to the determination result comprises:

11. The battery replacement control method based on battery replacement equipment as claimed in claim 1,

a first unit to be tested is arranged on a lock shaft of the battery pack, and a first lock falling detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the first lock falling detection sensor detects the first unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to the locking position;

and/or the presence of a gas in the gas,

12. The battery replacement control method based on battery replacement equipment as claimed in claim 1,

the first preset height comprises a first lifting height and a second lifting height, and the lifting speed of the battery replacement equipment in the first lifting height is greater than the lifting speed of the battery replacement equipment in the second lifting height; when the battery pack is lifted to the second lifting height, the lock shaft of the battery pack enters the fixed part, and the lock shaft jacks up the movable part to open an opening through which the lock shaft enters the lock groove.

13. The battery swapping control method based on the battery swapping device as claimed in claim 1, wherein before controlling the battery swapping device to lift the battery pack to a first preset height at the bottom of the electric vehicle, the method further comprises:

alternatively, the first and second electrodes may be,

14. The battery swapping control method based on the battery swapping device of any one of claims 1-13, wherein the battery swapping control method further comprises:

15. The battery swapping control method based on the battery swapping device of any one of claims 1-13, wherein the battery swapping control method further comprises:

16. The utility model provides a trade electric control method based on trade electric equipment, trade electric equipment is used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the locking to fix the battery package, locking mechanism includes fixed part and movable part, have in the fixed part and supply battery package locking shaft to move the locked groove to the locking position, the movable part is relative the fixed part switches between locking state and unblock state to close or open the opening that the locking shaft passed in and out the locked groove, characterized in that trade electric control method includes:

collecting a second real-time image of the movable part relative to the fixed part in the process that the movable part moves to an unlocking state;

17. The battery swapping control method based on the battery swapping device of claim 16,

the step of judging whether the locking mechanism is unlocked completely according to the second real-time image and the second standard image when the movable part is in the unlocking state, and executing corresponding actions comprises the following steps:

18. The battery swapping control method based on the battery swapping device of claim 16,

the step of controlling the battery replacement equipment to be lifted to a second preset height at the bottom of the electric automobile comprises the following steps of:

19. The battery swapping control method based on the battery swapping device of claim 16,

after the step of controlling the battery replacement device to lift to a second preset height at the bottom of the electric automobile, the method further comprises the following steps:

and triggering a third power switching signal and waiting for a third preset time.

20. The battery swapping control method based on the battery swapping device as claimed in claim 19,

the step of triggering the third power switching signal includes:

21. The battery swapping control method based on the battery swapping device of claim 16,

before the step of controlling the battery replacement equipment to lift to a second preset height at the bottom of the electric automobile, the method further comprises the following steps:

22. The battery swapping control method based on the battery swapping device of claim 21,

the step of triggering the fourth power switching signal includes:

analyzing the key signal;

23. The battery swapping control method based on the battery swapping device of claim 16,

the movable part comprises a lock tongue;

24. The battery swapping control method based on the battery swapping device of claim 16,

the step of collecting a second real-time image of the movable part relative to the fixed part in the process of moving the lock shaft of the battery pack along the lock groove comprises the following steps of: acquiring a fourth end part real-time image of the side wall of the fixing part, protruding from the locking rod, in the process that the locking shaft of the battery pack moves along the locking groove;

25. The battery swapping control method based on the battery swapping device as claimed in claim 24, wherein the step of adjusting the moving distance of the battery pack according to the judgment result by comparing the fourth end real-time image with a second standard image of the locking rod in a completely unlocked state comprises:

26. The battery swapping control method based on the battery swapping device of claim 16,

a fourth unit to be tested is arranged on a lock shaft of the battery pack, and a first unlocking detection sensor is arranged on a battery bracket of the electric automobile; the battery replacement control method further comprises the following steps: judging whether the first unlocking detection sensor detects the fourth unit to be detected or not, and if so, determining that the lock shaft of the battery pack moves to the unlocking pre-tightening position;

and/or the presence of a gas in the gas,

27. The battery swapping control method based on the battery swapping device of claim 16,

the second preset height comprises a third lifting height and a fourth lifting height, and the lifting speed of the battery replacement equipment in the third lifting height is greater than the lifting speed of the battery replacement equipment in the fourth lifting height; and at the third lifting height, a guide fork of the battery replacing device just enters the battery bracket, and at the fourth lifting height, the battery replacing device contacts the battery pack to be unlocked.

28. The battery swapping control method based on the battery swapping device as claimed in claim 16, wherein before controlling the battery swapping device to lift to a second preset height at the bottom of the electric vehicle, the method further comprises:

alternatively, the first and second electrodes may be,

29. The battery swapping control method based on the battery swapping device of any one of claims 16-28, wherein the battery swapping control method further comprises:

30. The battery swapping control method based on battery swapping equipment of claim 29, wherein the battery swapping control method further comprises:

31. The utility model provides a trade electric control system based on trade electric equipment, trade electric equipment and be used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the locking fixed the battery package, locking mechanism includes fixed part and movable part, it supplies battery package locking shaft to remove the locked groove to the locking position to have in the fixed part, the movable part is relative the fixed part switches between locking state and unlocking state to close or open the locking shaft business turn over the opening of locked groove, its characterized in that trades electric control system and includes:

32. The utility model provides a trade electric control system based on trade electric equipment, trade electric equipment and be used for changing the battery package on the electric automobile, be equipped with locking mechanism on the electric automobile, locking mechanism is used for the locking fixed the battery package, locking mechanism includes fixed part and movable part, it supplies battery package locking shaft to remove the locked groove to the locking position to have in the fixed part, the movable part is relative the fixed part switches between locking state and unlocking state to close or open the locking shaft business turn over the opening of locked groove, its characterized in that trades electric control system and includes:

33. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the power swapping device-based power swapping control method of any one of claims 1-30 when executing the computer program.

34. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the swapping device-based swapping control method according to any one of claims 1-30.