CN116931555A

CN116931555A - Walking control method and system of battery replacement equipment, electronic equipment and storage medium

Info

Publication number: CN116931555A
Application number: CN202210352106.2A
Authority: CN
Inventors: 张建平; 倪波; 唐欣然; 胡淼国; 赵明焕
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2023-10-24

Abstract

The invention discloses a walking control method, a walking control system, electronic equipment and a storage medium of battery replacement equipment, wherein the walking control method comprises the following steps: controlling the power conversion equipment to move towards the bottom of the power conversion vehicle; acquiring a trigger signal to obtain the residual walking amount of the power conversion equipment; and controlling the power exchange equipment to move the residual walking amount so as to reach a preset power exchange position corresponding to the bottom of the power exchange vehicle. According to the invention, the battery replacement equipment is controlled to walk towards the bottom of the battery replacement vehicle, the residual walking amount required to continue to walk is calculated after the trigger signal is received, the battery replacement equipment is controlled to move by the residual walking amount, and finally the preset battery replacement position below the bottom of the battery replacement vehicle such as a truck is reached; the situation that the power conversion equipment cannot accurately reach the preset power conversion position due to deviation of the walking amount caused by slipping and the like can be effectively avoided, accurate control of the power conversion equipment reaching the power conversion position is realized, the precision of walking control is ensured, and the power conversion efficiency is improved.

Description

Walking control method and system of battery replacement equipment, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of new energy power conversion control, in particular to a walking control method and system of power conversion equipment, electronic equipment and a storage medium.

Background

With the development and popularization of new energy vehicles, the battery pack quick-change technology also develops rapidly. At present, the development of quick-change technology of small passenger cars is most mature, and batteries of the passenger cars are fixed on a chassis of the car, so that when a battery pack is replaced, special battery replacement equipment is required to be moved to the bottom of the car for battery disassembly or installation. Moreover, due to the small weight of the passenger car, the volume of the battery pack is relatively small, and the operability of battery replacement is very convenient.

However, for large vehicles, such as heavy trucks and light trucks, the vehicle body and cargo weight are large, resulting in large vehicles requiring a high battery pack capacity that must be large enough to support hundreds of kilometers of travel. Therefore, in the prior art, large battery containers of a new energy series are fixed on a girder of a vehicle in a top hanging mode, and the battery containers are arranged close to a cab, so that larger potential safety hazards are brought to a driver and the vehicle in the driving process and the top hanging power change process; if the battery fails, the driver is directly injured. In addition, the lifting mode has high requirements on the place of the power exchange station, and the power exchange station is required to have a large enough area to execute the battery transferring and the battery storing of the lifting equipment, so that the station building cost is high.

Therefore, for large vehicles, there is a strong need for a safer and more reliable power conversion mode that is easy to popularize. For example, a chassis-type power conversion mode of a passenger car is adopted. In the chassis type power exchange mode, before the battery pack is detached or installed, the power exchange equipment (or called a power exchange trolley) is controlled to be moved to a power exchange position below the power exchange trolley, and then lifting operation of a power exchange platform on the power exchange equipment and battery pack detachment or installation operation are performed to complete the whole power exchange process.

However, in the existing battery-changing device control mode, generally, a walking control scheme is pre-written, and the vehicle type of the same battery-changing vehicle moves to the bottom of the corresponding battery-changing vehicle according to the preset walking amount under the preset walking control scheme; however, because the battery volume and the weight of the large-sized vehicle are very large, the running control scheme does not consider the situation that the large-weight battery replacement equipment (particularly when carrying a battery pack with large weight) can slip and the like, so that the vehicle bottom position reached according to the preset running amount is not the preset battery replacement position at all, and the position deviation exists between the two positions, and finally, the subsequent battery replacement operation cannot be effectively completed, and the actual battery replacement requirement cannot be met.

Disclosure of Invention

The invention aims to overcome the defect that the running control precision of a power conversion vehicle such as a heavy truck or a light truck is lower and the actual power conversion requirement cannot be met in the prior art, and provides a running control method, a running control system, electronic equipment and a storage medium of power conversion equipment.

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

the invention provides a walking control method of a battery changing device, which is applied to a bottom type battery changing mode of a battery changing vehicle, wherein the battery changing vehicle is provided with a beam body for locking a quick-change battery pack, the battery changing device is used for disassembling and assembling the quick-change battery pack at the bottom of the battery changing vehicle, and the walking control method comprises the following steps:

controlling the power conversion equipment to move towards the bottom of the power conversion vehicle;

acquiring a trigger signal to obtain and adjust the residual walking amount of the battery replacing equipment;

and controlling the power changing equipment to move the residual walking amount so as to reach a preset power changing position corresponding to the bottom of the power changing vehicle.

In the scheme, the power conversion equipment is controlled to walk towards the bottom of the power conversion vehicle, the residual walking amount required to continue to walk is calculated after the trigger signal is received, the power conversion equipment is controlled to move according to the residual walking amount, and finally the preset power conversion position below the bottom of the power conversion vehicle such as a truck is reached; the situation that the power conversion equipment cannot accurately reach the preset power conversion position due to deviation of the walking amount caused by slipping and the like can be effectively avoided, accurate control of the power conversion equipment reaching the power conversion position is realized, the precision of walking control is ensured, and the power conversion efficiency is improved.

Preferably, the power conversion equipment is arranged to move back and forth in a preset power conversion channel, a detection device is arranged at a preset detection position of the power conversion channel, and an induction device is arranged on the power conversion equipment in a matching way;

the step of acquiring the trigger signal comprises the following steps:

when the power conversion equipment moves to the preset detection position, the sensing device senses the detection device to generate the trigger signal.

In the scheme, the detection element is arranged at the preset detection position of the power exchange channel, once the power exchange equipment reaches the position, the power exchange equipment is timely and automatically triggered, the walking amount of the power exchange equipment is ensured to be effectively determined, the residual walking amount is further obtained through automatic triggering calculation, final walking control is realized, whether a trigger signal is acquired as a node of sectional type driving control, and the walking control precision of the power exchange equipment is ensured.

Preferably, at least two preset detection positions are respectively arranged on two sides of the power conversion channel, and each preset detection position is provided with the detection device;

when the battery exchange device moves to the preset detection position, the sensing device senses the detection device, so that the step of generating the trigger signal comprises the following steps:

When the power conversion equipment moves to the preset detection position, the sensing device senses the detection device so as to acquire a detection position arrival signal; and when a plurality of different detection devices acquire the detection bit arrival signals synchronously, determining to generate the trigger signals.

In the scheme, the detection elements of the detection points synchronously detect the arrival signals to determine that the battery replacement equipment does pass through the preset detection points, so that false alarm of one or two detection elements is avoided, the accuracy and reliability of trigger signal acquisition are ensured, the timeliness of subsequent residual walking quantity acquisition is further ensured, and the accuracy of whole walking control of the battery replacement equipment is finally improved.

Preferably, the walking control method further comprises:

when a plurality of different detection devices do not acquire the detection bit arrival signals synchronously, abnormal prompt information is generated, and the power conversion equipment is controlled to stop walking.

In the scheme, once only part of detection elements acquire the arrival signals and part of detection elements do not acquire the arrival signals, prompt information is generated, and the power conversion equipment is controlled to stop, so that staff can intervene and process, and the effectiveness of walking control is ensured.

Preferably, before the step of obtaining the trigger signal to obtain the remaining running amount of the power conversion device, the method further includes:

acquiring the total amount to be walked of the battery changing equipment after the battery changing equipment starts from an initial position;

the step of obtaining the trigger signal to obtain the residual walking amount of the power conversion equipment comprises the following steps of:

acquiring a first distance between the preset detection position and the initial position of the battery exchange equipment;

and calculating a difference value between the total to-be-walked amount and the first distance, and taking the difference value as the residual walking amount.

In the scheme, once the trigger signal is acquired, the distance between the detection point and the initial origin is acquired (preset or acquired in real time and the like), and then the distance from the preset detection point to the preset potential change position, namely the residual walking amount, is directly calculated based on the total walking amount to be walked of the power conversion equipment, and the distance between the established detection point and the initial origin and the total walking amount to be walked are fixed, so that the residual walking amount is also inevitably feasible and effective in calculation, the deviation of the walking amount caused by slipping and the like of the power conversion equipment is effectively avoided, the precision of walking control is ensured, and the power conversion efficiency is ensured to a great extent.

Preferably, before the step of controlling the power conversion equipment to walk and move towards the bottom of the power conversion vehicle, the method further comprises:

presetting an initial walking total amount of the battery replacement equipment after the battery replacement equipment starts from the initial position;

the step of obtaining the total amount to be walked after the battery replacing equipment starts from the initial position comprises the following steps:

judging whether the position deviation between the actual power change stop position and the preset power change stop position of the power change vehicle is within a set threshold range, and if yes, taking the initial running total as the total to-be-walked.

In the scheme, when the battery changing vehicle is actually stopped at the preset battery changing stopping position, namely, the battery changing vehicle is stopped in place at the moment and stopping deviation does not occur, the total to-be-walked amount of the battery changing equipment is the preset initial total walking amount, and the total to-be-walked amount is not required to be recalculated at the moment, so that the calculated amount is reduced to a certain extent, unnecessary calculation operation is avoided, the timeliness and the efficiency of the walking control are improved, and the walking control precision can be ensured.

Preferably, the walking control method further comprises:

when the position deviation between the actual power change stop position and the preset power change stop position of the power change vehicle exceeds the set threshold range, calculating to obtain the position deviation between the actual power change stop position and the preset power change stop position;

and calculating to obtain the total amount to be walked of the power conversion equipment after the power conversion equipment starts from the initial position according to the initial total amount to be walked and the position offset.

In the scheme, when the electric vehicle is not actually stopped at the preset electric vehicle changing stopping position, the offset of the electric vehicle changing position and the electric vehicle changing position are needed to be calculated in time, and the total waiting walking quantity of the electric vehicle changing equipment is further obtained, so that the problem that the electric vehicle changing equipment cannot timely and accurately reach the preset electric vehicle changing position if the electric vehicle changing equipment moves according to the unified initial total walking quantity due to the fact that the electric vehicle changing equipment is not stopped in place, the efficiency, the precision and the reliability of walking control are effectively guaranteed, and the feasibility of subsequent electric vehicle changing operation is further guaranteed.

Preferably, the step of controlling the power conversion device to move the remaining walking amount so as to reach a preset power conversion position corresponding to the bottom of the power conversion vehicle further includes:

judging whether a vision sensor at a preset position acquires preset power change positioning information representing that the preset power change position is reached, if yes, controlling the power change equipment to stop walking;

If not, the position of the power conversion equipment is adjusted until the vision sensor acquires the preset power conversion positioning information.

In the scheme, after the trigger signal is received, the power conversion equipment is controlled to move based on the calculated residual walking amount and then is temporarily stopped, and secondary power conversion positioning determination is performed by combining with the vision sensor to finish final power conversion positioning detection, namely whether the power conversion equipment receives preset power conversion positioning information or not is judged, and once the preset power conversion positioning information is received, the power conversion equipment can be exactly ensured to accurately reach the preset power conversion position, and further the walking control accuracy and reliability of the power conversion equipment are ensured so as to ensure the effectiveness of subsequent power conversion operation.

Preferably, the walking control method further comprises:

before the trigger signal is obtained, controlling the power conversion equipment to walk and move in a first walking mode;

after the trigger signal is obtained, controlling the battery replacement equipment to walk and move in a second walking mode;

wherein the moving speed in the first walking mode is greater than the moving speed in the second walking mode.

In this scheme, before not reaching the position of predetermineeing the detection, control trades the quick walking of electric equipment, reach the back of predetermineeing the detection, control trades the slow walking of electric equipment for the electric equipment is traded the bottom of electric vehicle as reasonable and quick as possible to the walking speed differentiation regulation of two control stages, realizes guaranteeing control accuracy, has improved the overall efficiency of trading electric control.

Preferably, each detection device comprises a plurality of magnetic strips or iron blocks protruding out of the ground;

the height of the detection device protruding out of the ground is within a preset height range, so that the detection position arrival signal is acquired.

In this scheme, set up detecting element such as magnetic stripe or iron plate of a certain quantity in trading the electric channel subaerial, and need guarantee to have certain setting height to can in time and gather effectively and obtain the detection position arrival signal, and then trigger the timely calculation of surplus walking volume in order to reach the accurate mobile control to trading electric equipment.

The invention also provides a traveling control system of a battery changing device, the traveling control system is applied to a bottom type battery changing mode of a battery changing vehicle, the battery changing vehicle is provided with a beam body for locking a quick change battery pack, the battery changing device is used for disassembling and assembling the quick change battery pack at the bottom of the battery changing vehicle, and the traveling control system comprises:

the walking control module is used for controlling the power conversion equipment to move towards the bottom of the power conversion vehicle;

the trigger signal acquisition module is used for acquiring a trigger signal to call the residual walking amount acquisition module to obtain and adjust the residual walking amount of the battery replacing equipment;

The walking control module is also used for controlling the power conversion equipment to move the residual walking amount so as to reach a preset power conversion position corresponding to the bottom of the power conversion vehicle.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the walking control method of the battery-changing device when executing the computer program.

The invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the walking control method of the battery exchange device.

On the basis of conforming to the common knowledge in the field, the preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the invention.

The invention has the positive progress effects that:

according to the invention, the battery replacement equipment is controlled to walk towards the bottom of the battery replacement vehicle, the residual walking amount required to continue to walk is calculated after the trigger signal is received, the battery replacement equipment is controlled to move by the residual walking amount, and finally the preset battery replacement position below the bottom of the battery replacement vehicle such as a truck is reached; the situation that the power conversion equipment cannot accurately reach the preset power conversion position due to deviation of the walking amount caused by slipping and the like can be effectively avoided, accurate control of the power conversion equipment reaching the power conversion position is realized, the precision of walking control is ensured, and the power conversion efficiency is improved.

Drawings

Fig. 1 is a schematic diagram of an assembled structure of a battery pack and a battery pack of a battery-powered vehicle (heavy truck) according to embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of an assembled structure of a battery pack and a battery pack of a battery-powered vehicle (light truck) according to embodiment 1 of the present invention.

Fig. 3 is a schematic structural view of a beam and a locking mechanism according to embodiment 1 of the present invention.

Fig. 4 is a schematic diagram of a battery pack structure of a battery-powered vehicle according to embodiment 1 of the present invention.

Fig. 5 is a schematic diagram of a power conversion device for a power conversion vehicle (heavy truck) according to embodiment 1 of the present invention.

Fig. 6 is a schematic diagram of a power conversion device for a power conversion vehicle (light truck) according to embodiment 1 of the present invention.

Fig. 7 is a flowchart of a walking control method of the battery exchange device according to embodiment 1 of the present invention.

Fig. 8 is a schematic view of the internal structure of the battery changing device for the battery changing vehicle (heavy truck) in fig. 6.

Fig. 9 is a flowchart of a walking control method of the battery exchange device according to embodiment 2 of the present invention.

Fig. 10 is a schematic block diagram of a walking control system of a battery exchange device according to embodiment 3 of the present invention.

Fig. 11 is a schematic block diagram of a walking control system of a battery exchange device according to embodiment 4 of the present invention.

Fig. 12 is a schematic structural diagram of an electronic device according to embodiment 5 of the present invention.

Detailed Description

The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.

Example 1

The walking control method of the battery exchange equipment is applied to a bottom type battery exchange mode of a battery exchange vehicle; among other things, replacement vehicles include, but are not limited to, truck vehicles, such as light trucks, heavy trucks, and the like. The vehicle body of the vehicle for replacing the electric vehicle has huge weight and strong cargo carrying capacity, and the vehicle can be divided into two parts: the large-scale independent container comprises a head part and a carriage part, wherein the carriage part is mainly a large-scale independent container which can be hung on the head part. In addition, a beam body extending in the longitudinal direction of the vehicle body, that is, a vehicle beam structure is provided on the mechanism of the vehicle head portion.

As shown in fig. 1, the nose portion of a heavy truck 100 may be followed by a tail portion (not shown in fig. 1) of a large container or the like, allowing for a particularly high cargo capacity of the heavy truck. The heavy truck 100 of fig. 1 has a beam body, specifically two beams 102 extending along the length of the body, for locking the quick-change battery pack 101. The two vehicle beams 102 are respectively provided with a locking mechanism (partially covered by the battery pack in fig. 1), and the battery pack 101 is connected by the locking mechanism. That is, the battery pack 101 is detachably connected to the beam 102 from the bottom of the heavy truck 100, so that a bottom power conversion mode is realized, safety during running of the vehicle is improved, and a battery replacement process is safer and more reliable. As shown in fig. 2, the lower part of the cargo box structure of the light truck 200, i.e. the roof structure and wheels, etc., on which the smaller containers are fixed for loading, naturally, has a much smaller loading capacity than the heavy truck, and the head structure in front of the roof is also not shown in fig. 2. As shown in fig. 2, the light truck 200 also has a beam body 201 for locking the quick-change battery pack, specifically, two vehicle beams 201 extending in the longitudinal direction of the vehicle body. The two vehicle beams 201 are respectively provided with a locking mechanism (partially covered by the battery pack in fig. 1), and the battery packs are connected by the locking mechanism.

Specifically, as shown in fig. 3, the two beams 102 of the heavy truck are respectively provided with a locking mechanism 103 (covered by a part of the structure of the battery pack in fig. 1), and the battery pack 101 is connected by the locking mechanism 103. As shown in fig. 4, a schematic view of a removable battery pack for a heavy truck. For the structure of the beam and the locking structure of the light truck and the structure of the battery pack, refer to fig. 3 and fig. 4, and the description thereof will not be repeated.

Because the battery pack quick-change structure based on the heavy truck and the light truck has very large volume and weight, the battery pack is inevitably required to be disassembled or installed by moving to the bottom of the trolley replacement beam through special power exchange equipment when the battery pack is replaced. The heavy truck power conversion apparatus 300 shown in fig. 5 is used for battery pack replacement for the heavy truck of fig. 1, and the light truck power conversion apparatus 400 shown in fig. 6 is used for battery pack replacement for the light truck of fig. 2.

As shown in fig. 7, the present embodiment provides a walking control method applicable to the above-mentioned power conversion device, where the walking control method includes:

S101, controlling the power conversion equipment to move towards the bottom of the power conversion vehicle;

s102, acquiring a trigger signal;

s103, based on the trigger signal, the residual walking amount of the power conversion equipment is adjusted;

and S104, controlling the power exchange equipment to move the residual walking amount so as to reach a preset power exchange position corresponding to the bottom of the power exchange vehicle.

Specifically, taking the heavy truck of fig. 1 as an example, according to the specific structure of the heavy truck 100 shown in fig. 1, when the heavy truck 100 needs to replace a battery, the heavy truck 100 needs to be parked in a designated battery replacement area, so that the heavy truck battery replacement device 300 shown in fig. 5 can be moved to a designated position in the battery replacement area for battery removal and installation operations.

As shown in fig. 5 and 8, for the heavy truck power conversion equipment 300 of the heavy truck, the heavy truck power conversion equipment 300 comprises a base 301 and a travelling mechanism 302, the travelling mechanism 302 comprises a plurality of travelling wheels 303 arranged at the bottom of the base 301 and a driving unit arranged at the bottom position in the base, and the travelling wheels 303 are driven by the driving unit to drive the base 301 to move, so that the overall movement of the heavy truck power conversion equipment 300 is realized.

The heavy-duty power exchanging device 300 further comprises a power exchanging platform 304 disposed in a middle area of the base 301, and the power exchanging platform 304 is disposed on the base 301 in a liftable manner. In this way, by controlling the level shifter 304 to be in a lowered low-level state, the heavy truck power conversion device 300 can be ensured to smoothly move into or out of the bottom of the light truck 200 at a lower height, and by controlling the level shifter 304 to be in a raised high-level state, it can be ensured that a sufficient height requirement is provided when the power conversion platform 304 performs a battery disassembly or assembly operation.

Similarly, for the light truck, the traveling structure of the light truck power exchanging apparatus 400 and the power exchanging process for traveling to the bottom of the power exchanging vehicle are adapted to the light truck, and thus will not be described herein.

In the embodiment, the battery replacement equipment is controlled to walk towards the bottom of the battery replacement vehicle, the residual walking amount required to continue to walk is calculated after the trigger signal is received, the battery replacement equipment is controlled to move according to the residual walking amount, and finally the preset battery replacement position below the bottom of the battery replacement vehicle such as a truck is reached; the situation that the power conversion equipment cannot accurately reach the preset power conversion position due to deviation of the walking amount caused by slipping and the like can be effectively avoided, accurate control of the power conversion equipment reaching the power conversion position is realized, the precision of walking control is ensured, and the power conversion efficiency is improved.

Example 2

As shown in fig. 9, the walking control method of the battery exchange device of the present embodiment is further specific to embodiment 1:

in an embodiment, the power conversion device is configured to move back and forth in a preset power conversion channel, a detection device is arranged at a preset detection position of the power conversion channel, and a sensing device is arranged on the power conversion device in a matching manner.

Wherein each detection device comprises a plurality of magnetic strips or iron blocks and the like protruding out of the ground.

The height of the detection device protruding out of the ground is within a preset height range, so that detection position arrival signals are acquired. The height of the detection device protruding out of the ground can be designed or adjusted in a targeted manner according to an actual walking control scene.

Step S102 includes:

s1021, when the power conversion equipment moves to a preset detection position, the sensing device senses the detection device to generate a trigger signal.

Specifically, two sides of the power conversion channel are respectively provided with at least two preset detection positions, and each preset detection position is provided with a detection device.

Step S1021 includes:

when the power conversion equipment moves to a preset detection position, the sensing device senses the detection device so as to acquire a detection position arrival signal;

when a plurality of different detection devices acquire detection bit arrival signals synchronously, determining to generate trigger signals.

In addition, when a plurality of different detection devices do not acquire detection position arrival signals synchronously, abnormal prompt information is generated, and the battery exchange equipment is controlled to stop walking.

In an embodiment, step S103 further includes:

s1030, acquiring the total amount to be walked of the battery replacement equipment after the battery replacement equipment starts from the initial position;

step S103 includes:

s1031, acquiring a first distance between a preset detection position and an initial position of the power conversion equipment;

s1032, calculating a difference value between the total amount to be walked and the first distance, and taking the difference value as the residual walking amount.

In an embodiment, step S101 further includes:

presetting an initial walking total amount of the battery replacement equipment after the battery replacement equipment starts from an initial position;

Step S1030 specifically includes:

and judging whether the position deviation between the actual power change stop position and the preset power change stop position of the power change vehicle is within a set threshold range, and if so, taking the initial walking total amount as the total amount to be walked.

In an embodiment, the walking control method of the present embodiment further includes:

when the position deviation between the actual power change stop position and the preset power change stop position of the power change vehicle exceeds the set threshold range, calculating to obtain the position deviation between the actual power change stop position and the preset power change stop position.

Step S1030 specifically includes:

and calculating the total amount to be walked of the power conversion equipment after the power conversion equipment starts from the initial position according to the initial total amount to be walked and the position offset.

In the scheme, when the electric vehicle is not actually stopped at the preset electric vehicle stopping position, the offset of the electric vehicle and the preset electric vehicle stopping position are needed to be calculated in time, and the total to be walked of the electric vehicle is further obtained, so that the problem that the electric vehicle cannot timely and accurately reach the preset electric vehicle stopping position if the electric vehicle is moved according to the unified initial total walking amount due to the fact that the electric vehicle such as a truck is not stopped in place is solved, the efficiency, the precision and the reliability of walking control are effectively guaranteed, and the feasibility of subsequent electric vehicle changing operation is further guaranteed.

In an embodiment, step S104 further includes:

s105, judging whether a vision sensor at a preset position acquires preset power change positioning information representing that the preset power change position is reached, if yes, controlling the power change equipment to stop walking; if not, the position of the power conversion equipment is adjusted until the vision sensor acquires preset power conversion positioning information.

before a trigger signal is obtained, controlling the power conversion equipment to walk and move in a first walking mode;

after the trigger signal is obtained, controlling the battery exchange equipment to walk and move in a second walking mode;

In the scheme, before the preset detection position is not reached, the power conversion equipment is controlled to rapidly walk, after the preset detection position is reached, the power conversion equipment is controlled to slowly walk, and the whole efficiency of power conversion control is ensured while the control precision is ensured by distinguishing and adjusting the walking speeds of the two control stages.

In the embodiment, the battery replacement equipment is controlled to walk towards the bottom of the battery replacement vehicle, the residual walking amount required to continue to walk is calculated after the trigger signal is received, the battery replacement equipment is controlled to move according to the residual walking amount, and finally the preset battery replacement position below the bottom of the battery replacement vehicle such as a truck is reached; the device can effectively avoid deviation of the walking amount of the battery replacement equipment caused by slipping and the like, and the situation that the battery replacement equipment cannot accurately reach the preset battery replacement position occurs, so that the accurate control of the battery replacement equipment reaching the battery replacement position is realized, the precision of the walking control is ensured, and the battery replacement efficiency is improved.

Example 3

The walking control system of the battery changing device is applied to a bottom type battery changing mode of a battery changing vehicle; among other things, replacement vehicles include, but are not limited to, truck vehicles, such as light trucks, heavy trucks, and the like. The vehicle body of the vehicle for replacing the electric vehicle has huge weight and strong cargo carrying capacity, and the vehicle can be divided into two parts: the large-scale independent container comprises a head part and a carriage part, wherein the carriage part is mainly a large-scale independent container which can be hung on the head part. In addition, a beam body extending in the longitudinal direction of the vehicle body, that is, a vehicle beam structure is provided on the mechanism of the vehicle head portion.

Because the battery pack quick-change structure based on the heavy truck and the light truck has very large volume and weight, the battery pack is inevitably required to be disassembled or installed by moving to the bottom of the trolley replacement beam through special power exchange equipment when the battery pack is replaced. The heavy truck power conversion apparatus 300 shown in fig. 5 is used for battery pack replacement for the heavy truck of fig. 1, and the light truck power conversion apparatus 400 shown in fig. 6 is used for battery pack replacement for the light truck of fig. 3.

Based on the aforementioned structure of the battery-powered vehicle and the battery-powered device, as shown in fig. 7, the present embodiment provides a travel control system applicable to the aforementioned battery-powered device, as shown in fig. 10, the travel control system of the battery-powered device of the present embodiment includes:

The walking control module 1 is used for controlling the power conversion equipment to move towards the bottom of the power conversion vehicle;

the trigger signal acquisition module 2 is used for acquiring a trigger signal to call the residual walking amount acquisition module 3 to obtain the residual walking amount of the power conversion equipment;

the walking control module 1 is also used for controlling the power exchange equipment to move the residual walking amount so as to reach a preset power exchange position corresponding to the bottom of the power exchange vehicle.

Example 4

As shown in fig. 11, the walking control system of the battery exchange apparatus of the present embodiment is a further improvement of embodiment 3, specifically:

The trigger signal obtaining module 2 is configured to generate a trigger signal when the power conversion device moves to a preset detection position and the sensing device senses the detection device.

In an embodiment, at least two preset detection positions are respectively arranged on two sides of the power conversion channel, and each preset detection position is provided with a detection device.

The trigger signal acquisition module 2 is further used for sensing the detection device by the sensing device when the battery exchange equipment moves to a preset detection position so as to acquire a detection position arrival signal;

In addition, when a plurality of different detection devices do not acquire detection bit arrival signals synchronously, abnormal prompt information is generated, and the walking control module 1 is called to control the battery replacement equipment to stop walking.

In an embodiment, the walking control system of the power conversion device of the present embodiment further includes:

the total waiting walking amount acquisition module 4 is used for acquiring total waiting walking amount of the battery exchange equipment after the battery exchange equipment starts from the initial position;

the residual walking amount acquisition module 3 is used for acquiring a first distance between a preset detection position and an initial position of the battery exchange equipment; and calculating a difference value between the total amount to be walked and the first distance, and taking the difference value as the residual walking amount.

the initial walking total amount preset module 5 is used for presetting the initial walking total amount of the battery exchange equipment after the battery exchange equipment starts from an initial position;

the total waiting walking amount obtaining module 4 is configured to determine whether a position deviation between an actual power change stop position and a preset power change stop position of the power change vehicle is within a set threshold range, and if yes, the initial total waiting walking amount is used as the total waiting walking amount.

the position offset obtaining module 6 is configured to calculate a position offset between the actual power change stop position and the preset power change stop position when the position offset between the actual power change stop position and the preset power change stop position of the power change vehicle exceeds a set threshold range.

The total waiting walking amount acquisition module 4 is used for calculating the total waiting walking amount of the battery exchange equipment after the battery exchange equipment starts from the initial position according to the initial total walking amount and the position offset.

the judging module 7 is used for judging whether the vision sensor at the preset position acquires the preset power change positioning information which characterizes that the preset power change position is reached, and if yes, the walking control module 1 is called to control the power change equipment to stop walking;

if not, the walking control module 1 is called to adjust the position of the power conversion equipment until the vision sensor acquires the preset power conversion positioning information.

In an implementation manner, the walking control module 1 of this embodiment is further configured to control the power conversion device to walk and move in the first walking mode before the trigger signal is obtained;

the walking control module 1 is further used for controlling the battery replacement equipment to walk and move in a second walking mode after the trigger signal is obtained;

Example 5

Fig. 12 is a schematic structural diagram of an electronic device according to embodiment 5 of the present invention. The electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the walking control method of the battery exchange device in embodiment 1 or 2 when executing the program. The electronic device 30 shown in fig. 12 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 12, the electronic device 30 may be in the form of a general purpose computing device, which may be a server device, for example. Components of electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, a bus 33 connecting the different system components, including the memory 32 and the processor 31.

The bus 33 includes a data bus, an address bus, and a control bus.

Memory 32 may include volatile memory such as Random Access Memory (RAM) 321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.

Memory 32 may also include a program/utility 325 having a set (at least one) of program modules 324, such program modules 324 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The processor 31 executes various functional applications and data processing, such as the walking control method of the battery exchange device in embodiment 1 or 2 of the present invention, by running a computer program stored in the memory 32.

The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through an input/output (I/O) interface 35. Also, model-generating device 30 may also communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, via network adapter 36. As shown in fig. 12, network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in connection with the model-generating device 30, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.

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

Example 6

The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the walking control method of the battery exchange apparatus in embodiment 1 or 2.

More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, 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 embodiment, the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps of the walking control method implementing the battery exchange device of embodiment 1 or 2, when the program product is run on the terminal device.

Wherein the program code for carrying out the invention may be written in any combination of one or more programming languages, the program code may be executed entirely on the user device, partially on the user device, as a stand-alone software package, partially on the user device, partially 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 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 principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims

1. A traveling control method of a battery changing device, wherein the traveling control method is applied to a bottom type battery changing mode of a battery changing vehicle, the battery changing vehicle has a beam body for locking a quick change battery pack, the battery changing device is used for disassembling and assembling the quick change battery pack to the bottom of the battery changing vehicle, the traveling control method comprises:

2. The walking control method of a power conversion device according to claim 1, wherein the power conversion device is arranged to move back and forth in a preset power conversion channel, a detection device is arranged at a preset detection position of the power conversion channel, and an induction device is arranged on the power conversion device in a matching way;

the step of acquiring the trigger signal comprises the following steps:

3. The walking control method of a power conversion device according to claim 2, wherein at least two preset detection positions are respectively arranged on two sides of the power conversion channel, and each preset detection position is provided with the detection device;

When the power conversion equipment moves to the preset detection position, the sensing device senses the detection device so as to acquire a detection position arrival signal;

and when a plurality of different detection devices acquire the detection bit arrival signals synchronously, determining to generate the trigger signals.

4. The travel control method of a battery exchange apparatus according to claim 3, characterized in that the travel control method further comprises:

5. The method for controlling walking of a power conversion apparatus according to any one of claims 2 to 4, wherein the step of acquiring a trigger signal to obtain the remaining walking amount of the power conversion apparatus further comprises, before:

6. The method for controlling the travel of a battery exchange apparatus according to claim 5, wherein the step of controlling the travel movement of the battery exchange apparatus to the bottom of the battery exchange vehicle is preceded by the step of:

7. The travel control method of a battery exchange apparatus according to claim 6, characterized in that the travel control method further comprises:

8. The method for controlling the travel of a battery exchange device according to claim 1, wherein the step of controlling the battery exchange device to move the remaining travel amount to reach a preset battery exchange position corresponding to the bottom of the battery exchange vehicle further comprises:

9. The travel control method of the battery exchange apparatus according to any one of claims 1 to 4, characterized in that the travel control method further comprises:

10. The method for controlling walking of a power exchanging apparatus according to claim 3 or 4, wherein each of the detecting means comprises a plurality of magnetic strips or iron pieces protruding from the ground;

11. A travel control system of a battery changing device, wherein the travel control system is applied to a bottom type battery changing mode of a battery changing vehicle, the battery changing vehicle has a beam body for locking a quick change battery pack, the battery changing device is used for disassembling and assembling the quick change battery pack to the bottom of the battery changing vehicle, the travel control system comprises:

12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method for controlling walking of the battery exchange device according to any one of claims 1-10 when executing the computer program.

13. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a walking control method of a battery-changing device according to any one of claims 1-10.