CN117818415A - Automatic vehicle power change device, method and storage medium - Google Patents
Automatic vehicle power change device, method and storage medium Download PDFInfo
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- CN117818415A CN117818415A CN202211202940.XA CN202211202940A CN117818415A CN 117818415 A CN117818415 A CN 117818415A CN 202211202940 A CN202211202940 A CN 202211202940A CN 117818415 A CN117818415 A CN 117818415A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000008859 change Effects 0.000 title abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000006243 chemical reaction Methods 0.000 claims description 33
- 230000013011 mating Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 7
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 230000001276 controlling effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
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- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000011900 installation process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides an automatic vehicle power changing device, an automatic vehicle power changing method and a storage medium, wherein the automatic vehicle power changing device comprises a battery locking module, a battery changing executing mechanism, a battery changing control module and a vehicle control module, and when the vehicle control module detects that the electric quantity of a main battery pack is lower than a preset value and the vehicle is in a stop state, the vehicle control module is communicated with the battery changing control module, so that the battery changing executing mechanism and the battery locking module work alternately to change the main battery pack. According to the technical scheme, the battery replacement executing mechanism and the battery locking module are matched with each other, the time for disassembling and assembling the main battery pack is short, the efficiency is high, the operation of a vehicle is not influenced, the main battery pack with small capacity and light weight is adopted, the vehicle servicing quality can be greatly reduced, the operation energy consumption is further reduced, in an operation period, a train does not need to be reserved for charging in a vehicle section for replacement, the configuration quantity of spare vehicles is reduced, the engineering cost is further reduced, and the utilization rate of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of rail transit technologies, and in particular, to an automatic vehicle power conversion device, an automatic vehicle power conversion method, and a storage medium.
Background
The existing rubber-tyred tramcar system is powered by a vehicle-mounted power battery, when the electric quantity of the battery is reduced, the train needs to be withdrawn from operation and returned to a vehicle section for charging, so that the rubber-tyred tramcar system needs to be provided with a plurality of trains, part of the trains run on a line, and part of the trains are charged in the vehicle section for standby. The prior art has the following problems:
1. the vehicle can only charge after exiting operation, and in order to meet the requirements of the endurance mileage, a battery pack with enough capacity needs to be provided, so that the vehicle has large no-load weight, relatively large running energy consumption and high cost.
2. The required time of vehicle charging is longer, in order to avoid operation interruption, a certain number of standby trains need to be equipped, and when the running vehicles return to the warehouse for charging, the standby vehicles are operated on line, so that the vehicle utilization rate is lower, and meanwhile, the cost is increased.
Disclosure of Invention
The application provides an automatic vehicle power conversion device, an automatic vehicle power conversion method and a storage medium, which are used for solving the problems that in the prior art, a vehicle is provided with a battery pack with large capacity, so that the running energy consumption is large, and the vehicle utilization rate is low due to the provision of a standby vehicle.
The first aspect of the present application provides a vehicle automatic power conversion device, comprising:
a battery locking module installed at the bottom of the vehicle for locking and unlocking a main battery pack located at the bottom of the vehicle;
a battery replacement actuator located below the main battery pack when the vehicle is stopped;
the battery replacement control module is connected with the battery replacement executing mechanism and used for controlling the battery replacement executing mechanism to move the main battery pack;
and the vehicle control module is connected with the battery locking module, and is used for communicating with the battery replacement control module when the electric quantity of the main battery pack is lower than a preset value and the vehicle is in a stop state, so that the battery replacement executing mechanism and the battery locking module alternately work to replace the main battery pack.
A second aspect of the present application provides a vehicle automatic power conversion method, based on the vehicle automatic power conversion device of the first aspect, including:
when the electric quantity of the main battery pack is lower than a preset value and the vehicle is in a stop state, the main battery pack is communicated with the battery replacement control module, so that the battery replacement executing mechanism and the battery locking module work alternately to replace the main battery pack.
A third aspect of the present application provides a vehicle automatic power conversion method, based on the vehicle automatic power conversion device of the first aspect, including:
the battery replacement executing mechanism is communicated with the vehicle control module, and is controlled to reach a preset position at the bottom of the vehicle and fix the main battery pack;
when the battery locking module is used for unlocking the main battery pack, carrying the main battery pack to a preset position;
and controlling the battery replacement executing mechanism to carry a new battery pack to reach a preset position at the bottom of the vehicle until the vehicle control module controls the battery locking module to lock the new battery pack.
A fourth aspect of the present application provides a computer readable storage medium storing a computer program which when executed by a processor performs the steps of the method according to the second or third aspect of the present invention.
The application provides an automatic vehicle battery changing device, method and storage medium, including battery locking module, battery change actuating mechanism, battery change control module and vehicle control module, battery locking module is used for locking and unlocking the main battery package that is located the vehicle bottom, battery change actuating mechanism is located main battery package below when the vehicle stops, battery change control module is used for controlling battery change actuating mechanism and removes main battery package, vehicle control module detects that the electric quantity of main battery package is less than preset value and when the vehicle is in the state of stopping, with battery change control module carry out the communication, make battery change actuating mechanism and battery locking module work in turn in order to change main battery package. According to the technical scheme, the automatic vehicle power conversion device is arranged below the platform, when the electric quantity of the main battery pack of the vehicle is too low, the vehicle stops in the platform time period, the replacement of the main battery pack is realized through the mutual matching of the battery replacement actuating mechanism and the battery locking module, the disassembly and assembly time of the main battery pack is short, the efficiency is high, the operation of the vehicle is not influenced, the main battery pack can be replaced in a short time, the main battery pack with small capacity and light weight is adopted, the quality of the vehicle is greatly reduced, the operation energy consumption is further reduced, in the operation time period, the train is not required to be reserved to be charged in a vehicle section for standby replacement, all vehicles can be operated on line, the configuration quantity of standby vehicles is reduced, the engineering cost is further reduced, and the utilization rate of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an automatic vehicle power conversion device according to an embodiment of the present disclosure;
fig. 2 is a front view of a vehicle automatic power conversion device and a vehicle position relationship according to an embodiment of the present disclosure;
fig. 3 is a working state diagram of an automatic rail power exchanging device according to an embodiment of the present application;
fig. 4 is another working state diagram of an automatic rail power exchanging device according to the first embodiment of the present application;
fig. 5 is a vehicle bottom structure diagram of a vehicle automatic power conversion device according to an embodiment of the present application;
fig. 6 is a diagram of a motor fixing main battery pack at the bottom of a vehicle automatic power exchanging device according to an embodiment of the present application;
fig. 7 is a perspective view of a battery replacement actuator of a vehicle automatic power conversion device according to an embodiment of the present disclosure;
fig. 8 is a top view of a battery replacement actuator of a vehicle automatic power conversion device according to an embodiment of the present disclosure;
fig. 9 is a schematic circuit diagram of an automatic power exchanging device for a vehicle according to an embodiment of the present disclosure;
fig. 10 is a flowchart of a vehicle automatic power conversion method according to a second embodiment of the present application;
fig. 11 is a flowchart of a vehicle automatic power conversion method according to a third embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the application provides an automatic power conversion device of vehicle, can be applied to among the track traffic control system, when the electric quantity of main battery package is less than preset value and the vehicle stops on the platform, automatic change main battery package guarantees the normal work of vehicle.
In a first embodiment, as shown in fig. 1, there is provided an automatic power exchanging device for a vehicle, including:
a battery locking module 12 mounted at the bottom of the vehicle for locking and unlocking a main battery pack 13 located at the bottom of the vehicle;
a battery replacement actuator 22 located below the main battery pack 13 when the vehicle is stopped;
a battery replacement control module 21 connected to the battery replacement actuator 22 for controlling the battery replacement actuator 22 to move the main battery pack 13;
the vehicle control module 11 is connected with the battery locking module 12, and communicates with the battery replacement control module 21 when the electric quantity of the main battery pack 13 is detected to be lower than a preset value and the vehicle is in a stopped state, so that the battery replacement executing mechanism 22 and the battery locking module 12 alternately work to replace the main battery pack 13.
The battery locking module 12 is configured to lock the main battery pack 13 according to a control instruction, fix the main battery pack 13 at the bottom of the vehicle, or unlock the main battery pack 13, where the battery locking module 12 may be a mortise lock or a magnetic lock.
For the specific structure of the battery locking module 12, as an embodiment, the battery locking module 12 is a motor, and the motor is connected with the vehicle control module 11; when the vehicle control module 11 controls the motor to rotate positively, the motor locks the main battery pack 13 through the screw; when the vehicle control module 11 controls the motor to reverse, the motor unlocks the main battery pack 13 by the screw. The quantity of motors can be set according to the requirement, and the locking mode of the motors is as follows: when the motor is controlled to rotate positively, a screw of the motor can fix the main battery pack 13 by penetrating through a mounting hole arranged on the main battery pack 13; the locking mode of the motor is as follows: when the motor is controlled to rotate reversely, the main battery pack 13 is unlocked when the screw of the motor is retracted to the initial position. The technical effect of the present embodiment is that the main battery pack 13 is locked or unlocked by the screw rotation of the motor, and the main battery pack 13 is convenient to install or detach.
For the specific structure of the battery locking module 12, as another embodiment, the battery locking module 12 is an electromagnet, and the electromagnet is connected with the vehicle control module 11; when the vehicle control module 11 controls the electromagnet to be electrified, the electromagnet locks the main battery pack 13; the vehicle control module 11 controls the electromagnet to unlock the main battery pack 13 when the electromagnet is powered off. When the electromagnet is electrified, the electromagnet generates magnetic force to lock the main battery pack 13, and when the electromagnet is powered off, the magnetic force of the electromagnet disappears to unlock the main battery pack 13. The technical effect of this embodiment is that the main battery pack 13 is locked or unlocked by turning on/off the electromagnet, so that the main battery pack 13 can be easily installed or removed.
The specific structure of the battery locking module 12 is not limited to the above-mentioned motor and electromagnet, and as other embodiments, an existing electronic lock may be used, and the plug-in on the main battery pack 13 and the electronic lock may be locked with each other.
The battery replacement executing mechanism 22 is disposed below a platform in the vehicle line, and is located below the main battery pack 13 when the vehicle stops, and the battery replacement executing mechanism 22 may be a lifting table or a manipulator, where the lifting table or the manipulator supports the main battery pack 13, and carries the main battery pack 13 to move up and down.
The battery replacement control module 21 is disposed near the battery replacement executing mechanism 22, and is configured to control the battery replacement executing mechanism 22 to execute corresponding actions, for example, when receiving a disassembly command, control the battery replacement executing mechanism 22 to execute actions of lifting and supporting or fixing the main battery pack 13, and when receiving an installation command, control the battery replacement executing mechanism 22 to execute actions of supporting or fixing the main battery pack 13 and lifting.
The vehicle control module 11 is disposed in the vehicle, and determines that the battery needs to be replaced when the electric quantity of the main battery pack 13 is detected to be lower than a preset value, and at this time, the replacement action needs to be performed by means of the battery replacement executing mechanism 22 disposed below the platform outside the vehicle, and because the main battery pack 13 is locked at the bottom of the vehicle, the main battery pack 13 needs to communicate with the battery replacement control module 21, so that the battery replacement executing mechanism 22 and the battery locking module 12 cooperate with each other to complete the replacement.
The application provides an automatic power conversion device of vehicle, including battery locking module 12, battery change actuating mechanism 22, battery change control module 21 and vehicle control module 11, battery locking module 12 is used for locking and unlocking the main battery package 13 that is located the vehicle bottom, battery change actuating mechanism 22 is located main battery package 13 below when the vehicle stops, battery change control module 21 is used for controlling battery change actuating mechanism 22 and removes main battery package 13, when vehicle control module 11 detects that the vehicle is in the state of stopping and the electric quantity of main battery package 13 is less than the default, communicate with battery change control module 21, make battery change actuating mechanism 22 and battery locking module 12 work in turn in order to change main battery package 13. According to the technical scheme, the automatic vehicle power conversion device is arranged below the platform, when the electric quantity of the main battery pack 13 of the vehicle is too low, the vehicle stops in the platform time period, the replacement of the main battery pack 13 is realized through the mutual cooperation of the battery replacement executing mechanism 22 and the battery locking module 12, the main battery pack 13 is short in time and high in efficiency, the operation of the vehicle is not influenced, the main battery pack 13 with small capacity and light weight is adopted, the quality of the vehicle preparation can be greatly reduced, the operation energy consumption is further reduced, the train does not need to be reserved for charging in the vehicle period for standby replacement in the operation time period, all vehicles can be operated on line, the configuration quantity of standby vehicles is reduced, the engineering cost is further reduced, and the utilization rate of the vehicle is improved.
For the vehicle control module 11 described above, the battery replacement actuator 22 and the battery lock module 12 alternately operate, as an embodiment, the alternate operation is as follows: for the main battery pack 13 removal process, when the battery replacement actuator 22 reaches a preset position at the bottom of the vehicle and fixes the main battery pack 13, the vehicle control module 11 controls the battery locking module 12 to unlock the main battery pack 13 so that the battery replacement actuator 22 removes the main battery pack 13; for the main battery pack 13 installation process, when the battery replacement actuator 22 carries a new battery pack to a preset position at the bottom of the vehicle, the vehicle control module 11 controls the battery locking module 12 to lock the new battery pack. The technical effects of the present embodiment are as follows: by the mutual cooperation of the battery replacement actuator 22 and the battery locking module 12, the main battery pack 13 is quickly mounted and dismounted in a short time.
For the above embodiment, the battery replacement actuator 22 is controlled to reach the preset position, as an embodiment, the vehicle bottom is provided with a position sensor mating end, and the battery replacement actuator 22 is provided with a position sensor mating end; when the vehicle control module 11 detects that the paired ends of the position sensor and the position sensor to be paired ends are successfully paired, it is determined that the battery replacement executing mechanism 22 reaches a preset position of the vehicle bottom. The position sensor paired ends and the position sensor to-be-paired ends can be paired in a plurality of pairs, and when the paired ends of each pair of the position sensor paired ends and the position sensor to-be-paired ends are paired successfully, the battery replacement executing mechanism 22 is judged to reach the preset position, and at the moment, the main battery pack 13 can be locked or unlocked. The technical effects of this embodiment are: by providing a position sensor mating end and a position sensor mating end, the battery replacement actuator 22 can be quickly and accurately brought to a preset position.
As an implementation way, the connection relation between the main battery pack 13 and the vehicle is that a socket is arranged at the bottom of the vehicle, and a gun is arranged on the main battery pack 13; when the battery replacement actuator 22 reaches a preset position at the bottom of the vehicle, the gun on the main battery pack 13 is plugged into the socket. In the process of installing the main battery pack 13, when the battery replacement actuator 22 is detected to reach a preset position at the bottom of the vehicle, it is determined that the gun on the main battery pack 13 is plugged into the socket. The technical effects of the present embodiment are as follows: the main battery pack 13 is plugged into the socket through a gun, so that good contact between the main battery pack 13 and the vehicle is realized.
Further, the automatic vehicle power exchanging device further comprises:
a backup battery located at the bottom of the vehicle for supplying power to the vehicle when the main battery pack 13 is disconnected from the vehicle.
When the main battery pack 13 is replaced, the main battery pack 13 cannot provide power, and the vehicle still needs to be powered, and the vehicle is switched to a standby battery for power supply before the main battery pack 13 is replaced. The technical effects of the present embodiment are as follows: by providing a backup battery, the normal power supply of the vehicle when the main battery pack 13 is replaced is ensured.
As shown in fig. 2 to 8, the present application will be specifically described by a preferred example of each module:
as shown in fig. 2, the position relationship between the vehicle stopping on the platform and the battery replacement actuator under the platform is schematically shown, and the main battery pack at the bottom of the vehicle is located directly above the battery replacement actuator when the vehicle stopping on the platform. Fig. 3 is a schematic view showing the state of the battery replacement actuator when the vehicle is stopped at the docking station. As shown in fig. 4, the main battery pack is removed by the battery replacement actuator.
As a preferable example of the motor locking main battery pack 13 in the embodiment in which the battery locking module 12 is a motor, as shown in fig. 5, the motor includes a first motor 51, a second motor 52, a third motor 53, and a fourth motor 54, the first motor 51, the second motor 52, the third motor 53, and the fourth motor 54 are respectively connected to the vehicle control module 11, a first rail, a second rail, a third rail, and a fourth rail are provided at the bottom of the vehicle, the first motor 51 is provided on the first rail, the second motor 52 is provided on the second rail, the third motor 53 is provided on the third rail, the fourth motor 54 is provided on the fourth rail, a first fixing hanger, a second fixing hanger, a third fixing hanger, and a fourth fixing hanger are provided at the bottom of the vehicle, the main battery pack 13 is provided with a first tab, a second tab, a third tab, a first nut is fixed on the first tab, a second nut is fixed on the second tab, a third nut is fixed on the third tab, and a fourth nut is fixed on the third tab;
when the vehicle control module 11 controls the first motor 51, the second motor 52, the third motor 53 and the fourth motor 54 to rotate positively, the screw on the first motor 51 sequentially passes through the hole of the first fixed hanger and the first tab and is fixedly connected with the first nut, the screw on the second motor 52 sequentially passes through the hole of the second fixed hanger and the second tab and is fixedly connected with the second nut, the screw on the third motor 53 sequentially passes through the hole of the third fixed hanger and the third tab and is fixedly connected with the third nut, and the screw on the fourth motor 54 sequentially passes through the hole of the fourth fixed hanger and the fourth tab and is fixedly connected with the fourth nut.
When the vehicle control module 11 controls the first motor 51, the second motor 52, the third motor 53 and the fourth motor 54 to rotate reversely, the screw on the first motor 51 is disconnected with the first nut and sequentially withdraws from the holes of the first tab and the first fixed hanger, the screw on the second motor 52 is disconnected with the second nut and sequentially withdraws from the holes of the second tab and the second fixed hanger, the screw on the third motor 53 is disconnected with the third nut and sequentially withdraws from the holes of the third tab and the third fixed hanger, and the screw on the fourth motor 54 is disconnected with the fourth nut and sequentially withdraws from the holes of the fourth tab and the fourth fixed hanger.
As a preferable example of the battery replacement actuator 22, the battery replacement actuator 22 is a robot, and as shown in fig. 4, 7, and 8, the robot includes:
a lifting body 31 connected to the battery replacement control module 21;
the first mechanical arm 32 is connected with the lifting body 31 through a first rotating shaft;
the second mechanical arm 33 is connected with the first mechanical arm 32 through a second rotating shaft;
the mechanical gripper 34 includes a fixed cylinder connected to the second mechanical arm 33 through a third rotation shaft, a cross shaft movably connected to the fixed cylinder, and four sliders disposed on the cross shaft.
The battery replacement control module 21 may control the lifting body 31 to drive the first mechanical arm 32, the second mechanical arm 33 and the mechanical gripper 34 to move up and down, control the first rotating shaft to enable the first mechanical arm 32, the second mechanical arm 33 and the mechanical gripper 34 to rotate along with the first rotating shaft, control the second rotating shaft to enable the second mechanical arm 33 and the mechanical gripper 34 to rotate along with the second rotating shaft, control the cross shaft to rotate on the fixed cylinder, and control the four sliding blocks to slide on the cross shaft.
As a preferable example of the position sensor paired ends and the position sensor to-be-paired ends, as shown in fig. 5 and 8, the position sensor paired ends include a first position sensor paired end 41, a second position sensor paired end 42, a third position sensor paired end 43, and a fourth position sensor paired end 44, and the first position sensor paired end 41, the second position sensor paired end 42, the third position sensor paired end 43, and the fourth position sensor paired end 44 are provided on the vehicle bottom around the main battery pack 13.
The position sensor to-be-paired ends include a first position sensor to-be-paired end 45, a second position sensor to-be-paired end 46, a third position sensor to-be-paired end 47, and a fourth position sensor to-be-paired end 48, and the first position sensor to-be-paired end 46, the second position sensor to-be-paired end 47, the third position sensor to-be-paired end 48, and the fourth position sensor to-be-paired end 49 are respectively disposed at four ends of the intersecting axis.
When the battery replacement control module 21 controls the battery replacement executing mechanism 22 to execute the disassembly or assembly task, it is detected whether the paired ends of the position sensors and the paired ends of the position sensors reach the preset condition, the paired ends of the first position sensors 41 and 45, the paired ends of the second position sensors 42 and 46, the paired ends of the third position sensors 43 and 47, the paired ends of the fourth position sensors 44 and 48, and when the distance between each pair of the position sensors reaches the preset distance, it is determined that the pairing is successful.
As a preferred example of the battery backup and vehicle connection circuit, as shown in fig. 9, the circuit includes a first contactor 71, a second contactor 73, a first fuse 72, and a second fuse 74, the connection mode of the circuit is that the positive electrode of the main battery pack 13 is connected to the first end of the first contactor 71, the second end of the first contactor 71 is connected to the first end of the first fuse 72, the second end of the first fuse 72 is connected to the first end of the second contactor 73 and the first end of the vehicle high voltage circuit 75, the second end of the second contactor 73 is connected to the first end of the second fuse 74, the second end of the second fuse 74 is connected to the positive electrode of the battery backup 60, and the negative electrode of the battery backup 60 is connected to the negative electrode of the main battery pack 13 and the second end of the vehicle high voltage circuit 75.
Wherein, when the first contactor 71 is on and the second contactor 73 is off, the main battery pack 13 supplies power to the vehicle high voltage circuit 75; when the first contactor 71 is opened and the second contactor 73 is closed, the backup battery 60 supplies power to the vehicle high voltage circuit 75; the first fuse 72 is opened to protect the vehicle high-voltage circuit 75 when the output current of the main battery pack 13 is excessive, and the second fuse 74 is opened to protect the vehicle high-voltage circuit 75 when the output current of the backup battery 60 is excessive.
The vehicle automatic power conversion device formed by the preferred embodiment has the following specific working procedures:
step 1: the battery manager on the vehicle detects the electric quantity of the battery pack and communicates with the whole vehicle controller, and the whole vehicle controller detects that the electric quantity of the main battery pack is lower than a preset value, controls the first contactor to be disconnected and the second contactor to be conducted, and the main battery pack stops supplying power and is switched to be supplied with power by the standby battery.
Step 2: when the train arrives at a preset train exchange station platform, the main battery pack starts to be exchanged in the period of stopping, boarding and alighting, and the whole train controller is communicated with the robot controller to execute the power exchange operation.
Step 3: the shielding door at the bottom of the track beam of the robot controller is opened so that the robot at the bottom of the platform can perform power exchanging operation.
Step 4: the robot controller controls the robot arm to rise to the bottom of the vehicle, and through detecting the position sensor, when the distance between the four pairs of sensors is the preset distance, the robot arm is judged to reach the clamping position at the bottom of the main battery pack, and the sliding blocks of the cross shafts on the robot arm are controlled to clamp and fasten the battery pack.
Step 5: after the robot arm clamps and fastens the battery, the robot controller sends fixed main battery pack completion information to the whole vehicle controller, the whole vehicle controller controls the first motor, the second motor, the third motor and the fourth motor to rotate reversely at the same time to drive the screw rod to move relative to the screw sleeve, the first motor, the second motor, the third motor and the fourth motor also move along the guide rail to enable the screw rod to separate from the battery lifting lug, the locking of the main battery pack is released, and the fixed information is sent to the robot controller, as shown in fig. 6, the whole vehicle controller controls the first motor 51 to rotate reversely, the sliding block 62 on the first motor 51 moves along the first guide rail 61 to enable the screw rod 63 of the first motor 51 to separate from the first nut 66, the first lug 65 and the first lifting lug 64 in sequence, and the locking of the main battery pack is released.
Step 6: the robot controller controls the robot arm to drive the main battery to descend, and the gun fixed on the battery is electrically separated from the socket fixed on the vehicle.
Step 7: the robot controller controls the robot arm to continuously move downwards and turn over, the main battery pack to be charged is placed in the charging pile, and the fixed socket in the charging pile groove box is electrically connected with the gun on the main battery pack so as to charge the main battery pack.
Step 8: the robot controller controls the robot arm to clamp the fully charged main battery pack, overturns and lifts the main battery pack to the position below the vehicle, enables the main battery pack to be electrically connected with the vehicle according to the guidance of the position sensor, and sends information reaching a preset position to the whole vehicle controller.
Step 9: the whole vehicle controller controls the first motor, the second motor, the third motor and the fourth motor to rotate positively, and in contrast to the step 5, the main battery pack is fastened at the bottom of the vehicle, and fixing completion information is sent to the robot controller.
Step 10: the robot controller controls the robot arm to retract below the track beam, and the shielding door on the track beam is closed.
Step 11: after the whole vehicle controller detects that the connection of the main battery pack is finished, the main battery pack discharging loop is connected, the standby battery discharging loop is disconnected, the power change operation is finished, and the vehicle is controlled to be ready to drive away from the power change station.
An embodiment II of the present application provides a vehicle automatic power conversion method, and the vehicle automatic power conversion device based on the embodiment I includes:
when the electric quantity of the main battery pack is detected to be lower than a preset value and the vehicle is in a stop state, the main battery pack is communicated with the battery replacement control module, so that the battery replacement executing mechanism and the battery locking module work alternately to replace the main battery pack.
Further, as shown in fig. 10, the battery replacement actuator and the battery locking module are alternately operated to replace the main battery pack, including:
and S101, when the battery replacement executing mechanism reaches a preset position at the bottom of the vehicle and fixes the main battery pack, the vehicle control module controls the battery locking module to unlock the main battery pack so as to enable the battery replacement executing mechanism to detach the main battery pack.
And S102, when the battery replacement executing mechanism carries a new battery pack to reach a preset position at the bottom of the vehicle, the vehicle control module controls the battery locking module to lock the new battery pack.
The execution main part of this embodiment is vehicle control module, when vehicle battery need change, with battery change control module carries out the communication, through the mutual cooperation of battery change actuating mechanism and battery locking module, realize the change of main battery package, dismouting main battery package time is short, and is efficient, and do not influence the operation of vehicle, because can change main battery package in the short time, adopt the main battery package that the capacity is little light in weight, can reduce the vehicle preparation quality by a wide margin, and then reduce the operation energy consumption, and in the operation period, need not keep the train to charge in the vehicle section and reserve the change, all vehicles all can be on line operation, realize reducing reserve vehicle configuration quantity, and then reduce engineering cost, the utilization ratio of vehicle has been promoted.
An embodiment III of the present application provides a vehicle automatic power conversion method, as shown in fig. 11, based on the embodiment I, the vehicle automatic power conversion device includes:
and S201, communicating with a vehicle control module, controlling a battery replacement executing mechanism to reach a preset position at the bottom of the vehicle, and fixing a main battery pack.
The execution main body of the embodiment is a battery replacement control module, and when a battery replacement instruction of the vehicle control module is received, the battery replacement execution mechanism is controlled to start working, and the battery replacement execution mechanism reaches a preset position of the bottom of the vehicle and fixes a main battery pack by setting pairing between a position sensor at the bottom of the vehicle and a position sensor on the battery replacement execution mechanism.
And S202, carrying the main battery pack to a preset position when the battery locking module is unlocked.
The predetermined position is a position where the main battery pack is stored, and the main battery pack can be charged.
And S203, controlling the battery replacement executing mechanism to carry a new battery pack to reach a preset position at the bottom of the vehicle until the vehicle control module controls the battery locking module to lock the new battery pack.
The battery replacement executing mechanism is controlled to carry a new battery pack to work, and the battery replacement executing mechanism reaches a preset position at the bottom of the vehicle by setting the pairing between the position sensor at the bottom of the vehicle and the position sensor on the battery replacement executing mechanism, and sends current information to the vehicle control module, and the vehicle control module controls the battery locking module to lock the new battery pack.
When the vehicle battery needs to be replaced, the vehicle battery control module is in communication with the vehicle control module, the replacement of the main battery pack is realized through the mutual matching of the battery replacement executing mechanism and the battery locking module, the time for disassembling and assembling the main battery pack is short, the efficiency is high, the operation of the vehicle is not influenced, the main battery pack can be replaced in a short time, the vehicle preparation quality can be greatly reduced by adopting the main battery pack with small capacity and light weight, the operation energy consumption is further reduced, in the operation period, a train does not need to be reserved for charging in a vehicle section for standby replacement, all vehicles can be operated on line, the configuration quantity of standby vehicles is reduced, the engineering cost is further reduced, and the utilization rate of the vehicle is improved.
In one embodiment, a computer readable storage medium stores a computer program that when executed by a processor implements the vehicle automatic power conversion method in the above embodiment.
Those skilled in the art will appreciate that a computer program implementing all or part of the above-described methods of the embodiments may be implemented by means of hardware associated with instructions of the computer program, and may be stored on a non-volatile computer readable storage medium, where the computer program, when executed, may include the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (14)
1. An automatic power exchanging device for a vehicle, comprising:
a battery locking module installed at the bottom of the vehicle for locking and unlocking a main battery pack located at the bottom of the vehicle;
a battery replacement actuator located below the main battery pack when the vehicle is stopped;
the battery replacement control module is connected with the battery replacement executing mechanism and used for controlling the battery replacement executing mechanism to move the main battery pack;
and the vehicle control module is connected with the battery locking module, and is communicated with the battery replacement control module when the electric quantity of the main battery pack is lower than a preset value and the vehicle is in a stop state, so that the battery replacement executing mechanism and the battery locking module alternately work to replace the main battery pack.
2. The automatic power exchanging apparatus for a vehicle of claim 1, wherein when the battery exchanging actuator reaches a preset position of a vehicle bottom and fixes the main battery pack, the vehicle control module controls the battery locking module to unlock the main battery pack so that the battery exchanging actuator disassembles the main battery pack;
when the battery replacement executing mechanism carries a new battery pack to reach a preset position at the bottom of the vehicle, the vehicle control module controls the battery locking module to lock the new battery pack.
3. The automatic vehicle power conversion device according to claim 1, wherein the battery locking module is a motor, the motor is connected with the vehicle control module, and the motor is arranged on a slide rail positioned at the bottom of the vehicle;
when the vehicle control module controls the motor to rotate forwards, the motor locks the main battery pack through a screw rod;
when the vehicle control module controls the motor to rotate reversely, the motor is unlocked to the main battery pack through the screw rod.
4. The automatic vehicle power conversion device according to claim 3, wherein the motor comprises a first motor, a second motor, a third motor and a fourth motor, the first motor, the second motor, the third motor and the fourth motor are respectively connected with the vehicle control module, a first sliding rail, a second sliding rail, a third sliding rail and a fourth sliding rail are arranged at the bottom of the vehicle, the first motor is arranged on the first sliding rail, the second motor is arranged on the second sliding rail, the third motor is arranged on the third sliding rail, the fourth motor is arranged on the fourth sliding rail, a first fixing hanging bracket, a second fixing hanging bracket, a third fixing hanging bracket and a fourth fixing hanging bracket are further arranged at the bottom of the vehicle, a first polar lug, a second polar lug, a third polar lug and a fourth polar lug are respectively arranged on the main battery, a first nut is fixed on the second polar lug, a second nut is fixed on the third polar lug, and a fourth nut is fixed on the fourth polar lug;
when the vehicle control module controls the first motor, the second motor, the third motor and the fourth motor to rotate positively, a screw rod on the first motor sequentially penetrates through a hole of the first fixed hanging frame and the first lug to be fixedly connected with the first nut, a screw rod on the second motor sequentially penetrates through a hole of the second fixed hanging frame and the second lug to be fixedly connected with the second nut, a screw rod on the third motor sequentially penetrates through a hole of the third fixed hanging frame and the third lug to be fixedly connected with the third nut, and a screw rod on the fourth motor sequentially penetrates through a hole of the fourth fixed hanging frame and the fourth lug to be fixedly connected with the fourth nut;
when the vehicle control module controls the first motor, the second motor, the third motor and the fourth motor to rotate reversely, the screw on the first motor is disconnected with the first nut and sequentially exits from the holes of the first pole lug and the first fixed hanging bracket, the screw on the second motor is disconnected with the second nut and sequentially exits from the holes of the second pole lug and the second fixed hanging bracket, the screw on the third motor is disconnected with the third nut and sequentially exits from the holes of the third pole lug and the third fixed hanging bracket, and the screw on the fourth motor is disconnected with the fourth nut and sequentially exits from the holes of the fourth pole lug and the fourth fixed hanging bracket.
5. The vehicle automatic power conversion device according to claim 1, wherein the battery locking module is an electromagnet, and the electromagnet is connected with the vehicle control module;
when the vehicle control module controls the electromagnet to be electrified, the electromagnet locks the main battery pack;
when the vehicle control module controls the electromagnet to be powered off, the electromagnet is unlocked to the main battery pack.
6. The automatic vehicle power exchanging device according to claim 1, wherein a position sensor mating end is arranged at the bottom of the vehicle, and a position sensor mating end is arranged on the battery exchanging executing mechanism;
and when the battery replacement control module detects that the pairing end of the position sensor and the pairing end of the position sensor are successfully paired, the battery replacement executing mechanism is judged to reach the preset position at the bottom of the vehicle.
7. The automatic power exchanging device of claim 6, wherein a socket is arranged at the bottom of the vehicle, and a gun is arranged on the main battery pack;
when the battery replacement executing mechanism reaches a preset position at the bottom of the vehicle, the gun on the main battery pack is inserted into the socket.
8. The automatic power exchanging apparatus for a vehicle according to claim 1, wherein the battery exchanging actuator is a robot, the robot comprising:
the lifting body is connected with the battery replacement control module;
the first mechanical arm is connected with the lifting body through a first rotating shaft;
the second mechanical arm is connected with the first mechanical arm through a second rotating shaft;
the mechanical gripper comprises a fixed cylinder connected with the second mechanical arm through a third rotating shaft, a cross shaft movably connected with the fixed cylinder, and four sliding blocks arranged on the cross shaft.
9. The vehicle automatic power conversion device according to claim 8, wherein the position sensor mating ends include a first position sensor mating end, a second position sensor mating end, a third position sensor mating end, and a fourth position sensor mating end, the first position sensor mating end, the second position sensor mating end, the third position sensor mating end, and the fourth position sensor mating end being disposed on the vehicle bottom around the main battery pack;
the position sensor to-be-paired ends comprise a first position sensor to-be-paired end, a second position sensor to-be-paired end, a third position sensor to-be-paired end and a fourth position sensor to-be-paired end, and the first position sensor to-be-paired end, the second position sensor to-be-paired end, the third position sensor to-be-paired end and the fourth position sensor to-be-paired end are respectively arranged at four ends of the cross shaft.
10. The vehicle automatic power conversion device according to claim 1, characterized in that the vehicle automatic power conversion device further comprises:
and a standby battery positioned at the bottom of the vehicle for supplying power to the vehicle when the main battery pack is disconnected from the vehicle.
11. A vehicle automatic power changing method based on the vehicle automatic power changing device according to claim 1, characterized by comprising:
when the electric quantity of the main battery pack is lower than a preset value and the vehicle is in a stop state, the main battery pack is communicated with the battery replacement control module, so that the battery replacement executing mechanism and the battery locking module work alternately to replace the main battery pack.
12. The vehicle automatic power conversion method according to claim 11, wherein the alternately operating the battery replacement actuator and the battery lock module to replace the main battery pack includes:
when the battery replacement executing mechanism reaches a preset position at the bottom of the vehicle and fixes the main battery pack, the battery locking module is controlled to unlock the main battery pack so that the battery replacement executing mechanism can detach the main battery pack;
when the battery replacement executing mechanism carries a new battery pack to reach a preset position at the bottom of the vehicle, the vehicle control module controls the battery locking module to lock the new battery pack.
13. A vehicle automatic power changing method based on the vehicle automatic power changing device according to claim 1, characterized by comprising:
the battery replacement executing mechanism is communicated with the vehicle control module, and is controlled to reach a preset position at the bottom of the vehicle and fix the main battery pack;
when the battery locking module is used for unlocking the main battery pack, carrying the main battery pack to a preset position;
and controlling the battery replacement executing mechanism to carry a new battery pack to reach a preset position at the bottom of the vehicle until the vehicle control module controls the battery locking module to lock the new battery pack.
14. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 11 to 13.
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| CN202211202940.XA CN117818415A (en) | 2022-09-29 | 2022-09-29 | Automatic vehicle power change device, method and storage medium |
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| CN202211202940.XA CN117818415A (en) | 2022-09-29 | 2022-09-29 | Automatic vehicle power change device, method and storage medium |
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