WO2020052562A1 - 电池箱解锁控制系统、锁止控制系统及控制方法 - Google Patents

电池箱解锁控制系统、锁止控制系统及控制方法 Download PDF

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Publication number
WO2020052562A1
WO2020052562A1 PCT/CN2019/105181 CN2019105181W WO2020052562A1 WO 2020052562 A1 WO2020052562 A1 WO 2020052562A1 CN 2019105181 W CN2019105181 W CN 2019105181W WO 2020052562 A1 WO2020052562 A1 WO 2020052562A1
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WO
WIPO (PCT)
Prior art keywords
box
push
controller
battery
battery box
Prior art date
Application number
PCT/CN2019/105181
Other languages
English (en)
French (fr)
Inventor
张建平
陈志浩
陆文成
Original Assignee
奥动新能源汽车科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201811062438.7A external-priority patent/CN110884467B/zh
Priority claimed from CN201811053010.6A external-priority patent/CN110884384B/zh
Application filed by 奥动新能源汽车科技有限公司 filed Critical 奥动新能源汽车科技有限公司
Priority to EP19858877.4A priority Critical patent/EP3851342B1/en
Publication of WO2020052562A1 publication Critical patent/WO2020052562A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/64—Constructional details of batteries specially adapted for electric vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/244—Secondary casings; Racks; Suspension devices; Carrying devices; Holders characterised by their mounting method
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/262—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders with fastening means, e.g. locks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • B60K2001/0494—Removal or replacement of the energy storages with arrangements for sliding
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M2220/00—Batteries for particular applications
    • H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the invention relates to a battery box unlocking control system, a lockup control system and a control method.
  • the old battery box in the electric vehicle needs to be taken out of the vehicle battery compartment, and then placed in the battery compartment of the charging rack; then the new battery box on the charging rack is taken out and installed in the electric car. on.
  • the way to remove the battery box from the battery compartment is to use a push box to approach the battery box and connect it to the battery box, and then drive the push box to drive the battery box back together. How to control the forward and return stroke of the push box is a difficult problem to be solved in the process of removing the battery box by the power exchange device.
  • the way to install the battery box in the battery compartment is: use the push box to push the battery box and push the battery box into the battery box; after confirming that the battery box has entered the battery box, the push box is separated from the battery box and the push plate Box returns. How to control the forward and return strokes of the push disc box and the timing when the push disc box is separated from the battery box are difficult problems to be solved in the process of installing the battery box by the power exchange device.
  • the technical problem to be solved by the present invention is to overcome the shortcomings in the prior art of removing the battery box and installing the battery box, which are difficult to control the forward and return strokes of the push disc box, and the timing of the push disc box being separated from the battery box.
  • Provided are a battery box unlocking control system, a lockup control system, and a control method.
  • the invention provides a battery box unlocking control system, including:
  • a push box the push box includes a push box and a suction cup, and the suction cup is telescopically disposed on a surface of the push box;
  • a first controller configured to drive the push disk box forward so that the suction cup of the push disk box fits the battery box;
  • a first detection unit configured to send a first signal to the first controller after detecting that the suction cup is retracted to a first predetermined position, and the first controller is further configured to When the first signal is reached, the driving of the push disc cartridge is stopped.
  • the first controller is further configured to control the push disc box to return after stopping driving the push disc box to advance.
  • the battery box unlocking control system further includes a third detection unit, the third detection unit is located on a surface of the push disk box facing the battery box, and the third detection unit is used for When the push box returns, it is detected whether the distance between the battery box and the push box exceeds a predetermined value, and if it is, a disconnection signal is sent to the first controller, and the first controller is configured to receive the Suspending the return of the push box after the signal is released;
  • the battery box unlocking control system further includes a fifth detection unit, which is used to detect whether the push box has reached a second limit position during the return process, and if so, sends a second pause signal to The first controller is further configured to suspend the return of the push disk box after receiving the second pause signal.
  • the push disc box further includes a magnetic controller
  • the suction cup is an electromagnetic suction cup
  • the first detection unit is further configured to send the first signal to the magnetic controller
  • the magnetic controller is used for After the first signal is received, the suction cup is controlled to be energized
  • the battery box includes a magnetic plate, and the magnetic plate of the battery box is used to fit the suction cup of the push box.
  • the battery box further includes a lock tongue and a button, and the lock tongue is matched with the lock base of the battery compartment, and the button is connected to the lock tongue;
  • the push disc box further includes a push rod and a second A controller, the second controller is used to control the expansion and contraction of the ejector rod, and the ejector rod is used to drive the lock tongue away from the lock base after the button is pressed.
  • the second controller is communicatively connected to the first controller; the first controller is configured to drive the push disk box to advance to a second predetermined position and send a second signal to the second control The second controller is configured to control the ejection rod to extend after receiving the second signal;
  • the battery box unlocking control system further includes a second detection unit, the second detection unit is configured to send a permission signal to the first after detecting that the bolt and the lock seat are in a disengaged state.
  • a controller the first controller is further configured to determine whether the permission signal is received after stopping the advancement of the pusher box, and if so, control the pusher box to return.
  • the battery box unlocking control system further includes a fourth detection unit, which is used to detect whether the push box has reached the first limit position during the advance process, and if so, sends a first pause signal to The first controller is further configured to suspend the advancement of the disc tray after receiving the first pause signal.
  • a fourth detection unit which is used to detect whether the push box has reached the first limit position during the advance process, and if so, sends a first pause signal to
  • the first controller is further configured to suspend the advancement of the disc tray after receiving the first pause signal.
  • the present invention also provides a battery box unlocking control method.
  • the pusher box includes a pusher box body and a sucker, and the sucker is telescopically disposed on the surface of the pusher box body.
  • the battery box unlocking control method includes the following step,
  • step S2 after the pushing disc box stops moving forward, the method further includes the following steps: S21, controlling the pushing disc box to return;
  • step S21 further includes the steps of detecting whether the distance between the battery box and the push disc box exceeds a predetermined value, and if so, suspending the return of the push disc box;
  • the method further includes the following steps: detecting whether the pushing disc box reaches a second limit position; if yes, suspending the return of the pushing disc box.
  • the sucker is an electromagnetic sucker
  • the battery box includes a magnetic disk
  • the sucker of the push disk box is attached to the magnetic disk of the battery box
  • step S2 After controlling the pushing disc box to stop advancing, further controlling the sucker to be powered on;
  • the battery box further includes a lock tongue and a button, the lock tongue is used to cooperate with the lock base of the battery compartment;
  • the push disk box further includes a push rod; in step S1, when the push After the sucker of the disk box is attached to the battery box, the push rod is controlled to press the button, so that the button drives the lock tongue to disengage from the lock base.
  • the method further includes the following steps: before the sucker of the push disc box is attached to the battery box, controlling the ejection rod to extend;
  • step S2 the method further includes the following steps: detecting whether the lock tongue and the lock base are in a disengaged state, and if so, controlling the push disc box to return.
  • the method further includes the following steps: S0, controlling the pushing box to advance until the sucker of the pushing box is in contact with the battery box;
  • the method further includes the following steps: detecting whether the push disk box reaches a first limit position; if yes, suspending the advance of the push disk box.
  • the present invention also provides a battery box lock control system for loading a battery box into a battery compartment.
  • the battery box lock control system includes:
  • a pusher box the pusher box includes a pusher box body and a suction cup, the sucker is telescopically arranged on the surface of the pusher box body, and the sucker of the pusher box is used to be attached to the battery box ⁇ ; He;
  • a first controller configured to drive the push disk box forward so that the battery box enters the battery compartment
  • a second controller configured to switch the push disk box and the battery box in two states of being connected or disconnected
  • a first detection unit configured to send a first signal to the first controller, the second controller, and the first after detecting that the suction cup is retracted to a first predetermined position;
  • the controller is further configured to stop driving the push disc box forward after receiving the first signal, and the second controller is further configured to control the push disc box and the after the first signal is received
  • the battery box is out of phase.
  • the first controller is further configured to control the push disk box to return after stopping driving the push disk box to advance;
  • the battery box lock control system further includes a second detection unit, and the second detection unit is configured to detect whether the push box has reached a first limit position during the return process, and if so, sends a first pause signal to The first controller, the first controller is further configured to suspend the return of the disc tray after receiving the first pause signal.
  • the suction cup is an electromagnetic suction cup
  • the battery box includes a magnetic plate
  • the magnetic plate of the battery box is used for engaging with the suction cup of the push box
  • the second controller is used for receiving Controlling the suction cup to be powered off after the first signal, so that the push box is separated from the battery box;
  • the battery box further includes a lock tongue and a button, the lock tongue is matched with the lock base of the battery compartment, and the button is connected with the lock tongue;
  • the push disc box further includes a push rod and A third controller for controlling expansion and contraction of the ejector rod, and the ejector rod is used to drive the bolt to move and reset after the button is pressed;
  • the third controller is communicatively connected to the first controller; the first controller is configured to drive the push disk box to send a second signal to the third controller when it advances to a second predetermined position
  • the third controller is configured to control the ejector to press the button after receiving the second signal;
  • the battery box lock control system further includes a third detection unit, and the third detection unit is configured to send an enable signal to the first detection unit after detecting that the lock tongue and the lock base are locked.
  • a controller the first controller is further configured to determine whether the permission signal is received after stopping the advancement of the pusher box, and if so, control the pusher box to return.
  • the battery box lock control system further includes a fourth detection unit, the fourth detection unit is configured to detect whether the push box has reached a second limit position during the advance process, and if it is, send a second pause signal To the first controller, the first controller is further configured to suspend the advancement of the disc tray after receiving the second pause signal.
  • the fourth detection unit is configured to detect whether the push box has reached a second limit position during the advance process, and if it is, send a second pause signal To the first controller, the first controller is further configured to suspend the advancement of the disc tray after receiving the second pause signal.
  • the invention also provides a battery box lock control method for loading the battery box into the battery compartment.
  • the push box includes a push box and a suction cup, and the suction cup is telescopically disposed on the push box. On the surface, the sucker of the push box is in close contact with the battery box; the battery box lock control method includes the following steps,
  • step S3 the following steps are further included:
  • step S4 the following steps are further performed to detect whether the push disc box has reached the first limit position, and if so, the return of the push disc box is suspended.
  • the sucker is an electromagnetic sucker
  • the battery box includes a magnetic disk
  • the sucker of the push box is engaged with the magnetic disk of the battery box; in step S2, the sucker is controlled to be powered off. So that the push box is separated from the battery box;
  • the battery box further includes a lock tongue, which is used to cooperate with the lock seat of the battery compartment; in step S1, when the battery box is located in the battery compartment, The lock tongue is locked with the lock seat of the battery compartment;
  • the battery box further includes a lock tongue and a button
  • the push disk box further includes a push rod
  • the method further includes the following steps: before the battery box is located in the battery compartment, Said ejector pushes said button to make said locking tongue move and reset;
  • the method further includes the following steps: S0, the sucker of the push box is attached to the battery box, and the connection state is maintained, the battery box is located in front of the push box and controls The push box is advanced until the battery box is located in the battery compartment.
  • the method further includes the following steps: detecting whether the push disk box reaches a second limit position; if yes, suspending the advance of the push disk box.
  • the suction cup is retracted to a certain distance into the tray body by setting the suction cup, and the preset stop position is detected by the first detection unit, so that the tray is pushed to the battery box after the tray is attached.
  • the box can also be moved forward a certain distance to ensure the tightness of the push disk box and the battery box.
  • the push disk box has a certain buffer distance before it stops, ensuring that the push disk box can be safely stopped.
  • the push box can also continue to advance and slowly stop, so that the push plate There is a buffering process before the box is stopped to ensure that the tray can be stopped smoothly and the battery box is installed in the battery compartment.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 of a battery box unlocking control system according to the present invention.
  • FIG. 2 is a schematic structural diagram of a battery box unlocking control system shown in FIG. 1.
  • FIG. 3 is a schematic block diagram of a battery box unlocking control system shown in FIG. 1.
  • FIG. 4 is a schematic structural diagram of a second embodiment of a battery box unlocking control system according to the present invention.
  • FIG. 5 is a schematic block diagram of a second embodiment of a battery box unlocking control system according to the present invention.
  • FIG. 6 is a schematic block diagram of a third embodiment of a battery box unlocking control system according to the present invention.
  • FIG. 7 is a partial structural diagram of Embodiment 4 of a battery box unlocking control system according to the present invention.
  • FIG. 8 is a partial structural diagram of Embodiment 4 of a battery box unlocking control system according to the present invention.
  • FIG. 9 is a partial structural diagram of Embodiment 4 of a battery box unlocking control system according to the present invention.
  • FIG. 10 is a schematic block diagram of a fourth embodiment of a battery box unlocking control system according to the present invention.
  • FIG. 11 is a schematic block diagram of a fifth embodiment of a battery box unlocking control system according to the present invention.
  • FIG. 12 is a flowchart of Embodiment 6 of a battery box unlocking control method according to the present invention.
  • FIG. 13 is a flowchart of Embodiment 7 of a battery box unlocking control method according to the present invention.
  • FIG. 14 is a flowchart of step 200 of the battery box unlocking control method shown in FIG. 13.
  • FIG. 15 is a flowchart of step 500 of the battery box unlocking control method shown in FIG. 13.
  • FIG. 16 is a schematic structural diagram of a battery box lock control system according to Embodiment 8 of the present invention.
  • FIG. 17 is a schematic structural diagram of a battery box of the battery box lock control system shown in FIG. 16 being placed in a battery compartment.
  • FIG. 18 is a block diagram of the battery box lock control system shown in FIG. 16.
  • FIG. 19 is a schematic block diagram of a battery box lock control system according to Embodiment 9 of the present invention.
  • FIG. 20 is a schematic structural diagram of a battery box of a battery box lock control system according to Embodiment 10 of the present invention.
  • FIG. 21 is a schematic structural diagram of a battery compartment of the battery box lock control system shown in FIG. 20.
  • FIG. 22 is a schematic structural diagram of a push disk box of the battery box lock control system shown in FIG. 20.
  • FIG. 23 is a block diagram of the battery box lock control system shown in FIG. 20.
  • FIG. 24 is a schematic block diagram of a battery box lock control system according to Embodiment 11 of the present invention.
  • FIG. 25 is a schematic block diagram of a battery box lock control system according to Embodiment 12 of the present invention.
  • FIG. 26 is a schematic diagram of steps of a battery box lock control method according to Embodiment 13 of the present invention.
  • FIG. 27 is a schematic diagram of steps of a battery box lock control method according to Embodiment 14 of the present invention.
  • FIG. 28 is a schematic diagram of steps of a battery box lock control method according to Embodiment 15 of the present invention.
  • Embodiment 1 to Embodiment 7 Pusher box 1; Pusher box 11; Suction cup 12; Magnetic controller 13; Ejector 14; Second controller 15; First controller 2; First detection unit 3; Battery Box 4; magnetic disc 41; tongue 42; button 43; third detection unit 5; fifth detection unit 6; battery compartment 7; lock base 71; second detection unit 8; fourth detection unit 9
  • Embodiment 8 to Embodiment 15 Battery box 1; Magnetic disc 11; Lock tongue 12; Button 13; Battery compartment 2; Lock base 21; Push box 3; Push box body 31; Suction cup 32; Push rod 33; Three controllers 34; first controller 4; second controller 5; first detection unit 6; second detection unit 7; third detection unit 8; fourth detection unit 9
  • the battery box unlocking control system includes a push disk box 1 and a first controller 2.
  • the push disk box 1 includes a push disk box 11 and a suction cup 12.
  • the suction cup 12 is telescopically arranged on the push disk.
  • the surface of the box body 11; the first controller 2 is used to drive the push disc box 1 forward, so that the sucker 12 of the push disc box 1 and the battery box 4 fit together.
  • the first controller 2 drives the push disc box 1 forward until the suction cup 12 of the push disc box 1 is attached to the battery box 4.
  • the push disc box 1 is connected to the battery box 4 as a whole, and the first controller 2 controls the return of the push disc box 1 to pull the battery box 4 out of the battery compartment 7.
  • the battery box unlocking control system further includes a first detection unit 3.
  • the first detection unit 3 is configured to send a first signal to the first controller 2 after detecting that the suction cup 12 is retracted to a first predetermined position.
  • the first controller 2 is further configured to stop driving the push disk box 1 forward after receiving the first signal.
  • the sucker 12 is set to further It is retracted into the tray body 11, and a first detection unit 3 is provided for detecting the retracted position of the suction cup 12.
  • the first predetermined position detected by the first detection unit 3 is a position where the suction cup 12 is retracted into position.
  • the first detection unit 3 detects that the suction cup 12 is retracted to the first predetermined position, and proves that the suction cup 12 is retracted into position.
  • the first detection unit 3 sends a first signal to the first controller 2, and the first controller 2 receives the first After a signal, the driving of the push disc cartridge 1 is stopped.
  • the first controller 2 is also used to control the return of the push disk box 1 after the drive of the push disk box 1 is stopped. After the push disk box 1 stops advancing, the first controller 2 may also control the push disk box 1 to return.
  • a gear or a rack can be used to guide the moving direction of the push disc box 1 and drive the push disc box 1 to move by a driving motor.
  • the pushing disc box 1 and the battery box 4 can be attached to each other. Moving a certain distance forward ensures the tightness of the push disc box 1 and the battery box 4, and at the same time makes the push disc box 1 have a certain buffering distance before stopping, ensuring that the push disc box 1 can be safely stopped.
  • the battery box unlocking control system in this embodiment is a further improvement on Embodiment 1.
  • the battery box unlocking control system further includes a third detection unit 5.
  • the third detection unit 5 is located on the surface of the push box 11 facing the battery box 4.
  • the third detection unit 5 is used to detect the battery box 4 and the battery box 4 when the push box 1 returns. Whether the distance between the push disc boxes 1 exceeds a predetermined value, and if so, a disengagement signal is sent to the first controller 2, the first controller 2 is used to suspend the return of the disc drive box 1 after receiving the disengagement signal.
  • the disk tray 1 After the disk tray 1 is attached to the battery box 4, the disk tray 1 is connected to the battery box 4.
  • the first controller 2 drives the push disc box 1 to return, it drives the battery box 4 to return together.
  • the third detection unit 5 detects the position of the battery box 4. When the distance between the battery box 4 and the push disk box 1 exceeds a predetermined value, it means that the battery box 4 is detached from the push disk box 1, the third detection unit 5 sends a detach signal to the first controller 2, and the first controller 2 receives After the release signal is reached, the return of the tray 1 is suspended. Through the third detection unit 5, during the return process of the push disc box 1, an abnormal situation in which the battery box 4 leaves the push disc box 1 can be alarmed.
  • the battery box unlocking control system in this embodiment is a further improvement on Embodiment 1.
  • the battery box unlocking control system further includes a fifth detection unit 6, which is used to detect whether the push disk box 1 has reached the second limit position during the return process, and if so, sends a second pause signal to the first controller 2.
  • a controller 2 is also used to suspend the return of the push disk box 1 after receiving the second pause signal.
  • the second extreme position is an extreme position that can be reached during the return process of the push disk box 1. If the fifth detection unit 6 detects that the push disk box 1 reaches the second limit position, it sends a second pause signal to the first controller 2, and the first controller 2 pauses the push disk box 1 after receiving the second pause signal. return. By providing the fifth detection unit 6, the push disc box 1 can be prevented from exceeding the limit position during the return process, and the safety of the push disc box 1 during operation can be ensured.
  • the battery box unlocking control system of this embodiment is a further improvement on Embodiment 1.
  • the push disc box 1 further includes a magnetic controller 13, and the suction cup 12 is an electromagnetic suction cup.
  • the magnetic controller 13 is used to control the suction cup 12 to be energized after receiving the first signal; the battery box 4
  • the magnetic disk 41 includes a magnetic disk 41, and the magnetic disk 41 of the battery box 4 is configured to be attached to the suction disk 12 of the disk tray 1.
  • the first detection unit 3 When the first detection unit 3 sends a first signal to the first controller 2, it also sends the first signal to the magnetic controller 13. When the first detection unit 3 sends the first signal, it indicates that the suction cup 12 has been retracted to the first predetermined position. At this time, the magnetic controller 13 controls the suction cup 12 to be energized, the suction cup 12 generates magnetic force, and the suction cup 12 and the magnetic disk 41 are attracted.
  • the battery box 4 further includes a lock tongue 42 and a button 43.
  • the lock tongue 42 is matched with the lock base 71 of the battery compartment 7, and the button 43 is connected with the lock tongue 42.
  • the push disc box 1 further includes a top
  • the lever 14 and the second controller 15 are used to control the expansion and contraction of the ejector lever 14.
  • the ejector lever 14 is used to drive the lock tongue 42 away from the lock base 71 after pressing the button 43.
  • the ejector lever 14 presses the button 43 and the lock tongue 42 retracts and disengages from the lock base 71.
  • the battery case 4 can be removed from the battery compartment. Pull out in 7.
  • the second controller 15 is communicatively connected to the first controller 2.
  • the first controller 2 is configured to drive the push disk box 1 to a second predetermined position and send a second signal to the second controller 15.
  • the second controller 15 is used to control the ejector rod 14 to extend after receiving the second signal.
  • the second predetermined position may be set to a position where the push box 1 is closer to the battery box 4, for example, a position where the push box 1 is about 200 mm from the battery box 4.
  • the first controller 2 sends a second signal to the second controller 15, and the second controller 15 controls the ejector rod 14 to extend so that the subsequent push disc box 1 and the battery box
  • the push rod 14 presses the button 43 to retract the lock tongue 42 and disengage the lock tongue 71.
  • the battery box unlocking control system further includes a second detection unit 8 for sending a permission signal to the first controller 2 after detecting that the lock tongue 42 and the lock base 71 are in a disengaged state.
  • the first controller 2 also It is used to determine whether the enable signal is received after stopping the advance of the push disc box 1, and if yes, control the push disc box 1 to return.
  • the second detection unit 8 When the second detection unit 8 detects that the lock tongue 42 and the lock base 71 are in a disengaged state, it sends an enable signal to the first controller 2, and the first controller 2 controls the push disk box 1 to return. If the second detection unit 8 does not send the permission signal to the first controller 2, the lock tongue 42 and the lock base 71 have not been disengaged, and the battery box 4 and the battery compartment 7 are still locked. At this time, the first controller 2 prohibits control Push disk box 1 returns.
  • the battery box unlocking control system of this embodiment is a further improvement on Embodiment 1.
  • the battery box unlocking control system further includes a fourth detection unit 9.
  • the fourth detection unit 9 is used to detect whether the push disk box 1 has reached the first limit position during the forward process, and if so, sends a first pause signal to the first controller 2.
  • the first controller 2 is further configured to suspend the advancement of the disk cartridge 1 after receiving the first pause signal.
  • the first extreme position is an extreme position that can be reached during the advancing process of the push disk box 1. If the fourth detecting unit 9 detects that the push disk box 1 reaches the first limit position, it sends a first pause signal to the first controller 2, and the first controller 2 pauses the push disk box 1 after receiving the first pause signal. go ahead. By providing the fourth detection unit 9, the pushing disc box 1 can be prevented from exceeding the limit position during the forward process, and the safety of the pushing disc box 1 during operation can be ensured.
  • this embodiment is a battery box unlocking control method, and the battery box unlocking control method is applicable to the above battery box unlocking control system.
  • the battery box unlocking control method includes the following steps.
  • Step 101 When the sucker 12 of the pusher box 1 is attached to the battery box 4, control the pusher box 1 to continue to advance so that the sucker 12 is retracted into the pusher box 11;
  • Step 102 Detect whether the suction cup 12 is retracted to the first predetermined position. If yes, go to step 103; otherwise, go to step 101;
  • Step 103 Control the push disk box 1 to stop moving forward.
  • the push disc box 1 can also be moved forward a certain distance, which ensures the tightness of the adhesion of the push box 1 and the battery box 4, and at the same time enables the push disc box 1 There is a certain buffering distance before stopping to ensure that the push disc box 1 can achieve a safe stopping position.
  • step 103 after the pushing disc box 1 stops moving forward, the method further includes the following steps: step 1031, controlling the pushing disc box 1 to return. After the push disk box 1 stops moving forward and the push disk box 1 is connected to the battery box 4, it is also necessary to control the push disk box 1 to return and remove the battery box 4 from the battery compartment 7.
  • step 1031 further includes the following steps: detecting whether the distance between the battery box 4 and the disk tray 1 exceeds a predetermined value, and if yes, suspending the return of the disk tray 1.
  • detecting whether the distance between the battery box 4 and the disk tray 1 exceeds a predetermined value if it is detected that the distance between the battery box 4 and the pusher box 1 exceeds a predetermined value, it means that the pusher box 1 and the battery box 4 are separated, and at this time, it is suspended Return of the push disk box 1.
  • step 101 further includes the following steps, detecting whether the push disc box 1 reaches the second limit position, and if so, suspending the return of the push disc box 1.
  • the second extreme position is an extreme position that can be reached during the return process of the push disk box 1. During the return process of the push disc box 1, if the push disc box 1 exceeds the second limit position, the return of the push disc box 1 needs to be suspended to ensure the safety during the operation of the push disc box 1.
  • step 101 the sucker 12 of the pusher box 1 is attached to the magnetic disk 41 of the battery box 4.
  • step 13 after the pusher box 1 is controlled to stop advancing, the sucker 12 is also controlled to be energized.
  • the sucker 12 of the pusher box 1 and the magnetic disk 41 of the battery box 4 are attached to each other.
  • the sucker 12 is energized to attract and attract the sucker 12 and the magnetic disk 41.
  • step 101 after the sucker 12 of the tray 1 is attached to the battery box 4, the push rod 14 is controlled to press the button 43 so that the button 43 drives the lock tongue 42 and the lock base 71 to disengage.
  • the lock tongue 42 is locked in the lock base 71 to fix the battery box 4 in the battery compartment 7.
  • the push rod 14 is controlled to press the button 43 to drive the lock tongue 42 away from the lock base 71.
  • the push disc box 1 can remove the battery box 4 from the battery compartment 7 Pull out.
  • the method further includes the following steps: before the sucker 12 of the tray 1 is attached to the battery box 4, the ejector 14 is controlled to extend. During the advancing process of the push disc box 1, the ejector 14 is extended in advance to prepare for the ejector 14 to press the button 43 in time.
  • step 104 it is detected whether the lock tongue 42 and the lock base 71 are in a disengaged state, and if so, the push disk box 1 is controlled to return. Before controlling the push disk box 1 to return, it is first detected whether the lock tongue 42 and the lock base 71 are in a disengaged state, that is, whether the push disk box 1 and the battery box 4 are in a disengaged state. The return of the push disc box 1 can be controlled only when the push disc box 1 and the battery box 4 are in a disengaged state.
  • step 100 the push disk box 1 is controlled to advance until the suction cup 12 of the push disk box 1 and the battery box 4 are attached.
  • step 100 further includes the following steps: detecting whether the push disc box 1 reaches the first limit position, and if so, suspending the advance of the push disc box 1.
  • the first extreme position is an extreme position that can be reached during the advancing process of the push disk box 1. If it is detected that the push disc box 1 reaches the first limit position, the advancement of the push disc box 1 is suspended to ensure the safety during the operation of the push disc box 1.
  • This embodiment is a battery box unlocking control method, and the battery box unlocking control method is applicable to the above battery box unlocking control system.
  • the battery box unlocking control method includes the following steps.
  • Step 200 Control the push disk box 1 to advance until the sucker 12 of the push disk box 1 and the battery box 4 are attached;
  • Step 300 When the sucker 12 of the pusher box 1 is in contact with the battery box 4, the first controller 2 controls the pusher box 1 to continue to advance, so that the sucker 12 is retracted into the pusher box 11;
  • Step 400 The first detection unit 3 detects whether the suction cup 12 is retracted to the first predetermined position, and if yes, executes step 500; otherwise, executes step 300;
  • Step 500 Control the push disk box 1 to stop moving forward and return.
  • step 200 includes the following steps:
  • Step 201 Control the advance of the push disk box 1 through the first controller 2;
  • Step 202 When the push disk box 1 advances to the second predetermined position, the first controller 2 sends a second signal to the second controller 15, and the second controller 15 controls the ejector rod 14 to extend;
  • Step 203 The fourth detection unit 9 detects whether the push disk box 1 reaches the first limit position during the forward process, and if so, executes step 204; otherwise, executes step 205;
  • Step 204 The fourth detection unit 9 sends a first pause signal to the first controller 2. After receiving the first pause signal, the first controller 2 pauses the advancement of the push disc box 1; If an exception occurs during the process, you need to enter the exception handling process;
  • Step 205 The push disc box 1 continues to move forward until the sucker 12 of the push disc box 1 is in contact with the battery box 4, the push rod 14 presses the button 43, the lock tongue 42 is retracted and separated from the lock base 71.
  • step 500 includes the following steps:
  • step 501 the first detection unit 3 sends a first signal to the first controller 2 and the magnetic controller 13.
  • the first controller 2 stops driving the push disk box 1 to advance, and the magnetic controller 13 controls the sucker 12
  • the chuck 12 generates magnetic force, and the chuck 12 and the magnetic disk 41 are attracted;
  • Step 502 the second detection unit 8 sends a permission signal to the first controller 2 after detecting that the lock tongue 42 and the lock base 71 are in a disengaged state, and the first controller 2 determines whether the permission is received after stopping the advancement of the push disk box 1. Signal, if yes, go to step 503; otherwise, go to step 504;
  • Step 503 The first controller 2 controls the push disk box 1 to return, and then executes step 505.
  • Step 504 The second controller 15 controls the telescopic rod 14 to expand and contract, presses the button 43, and then executes step 502.
  • step 505 the fifth detection unit 6 detects whether the push disk box 1 has reached the second extreme position during the return process. If so, step 506 is performed; otherwise, step 507 is performed;
  • Step 506 The fifth detection unit 6 sends a second pause signal to the first controller 2.
  • the first controller 2 pauses the return of the push disc box 1 after receiving the second pause signal; If an exception occurs during the process, you need to enter the exception handling process;
  • Step 507 The first controller 2 controls the push disk box 1 to return to the designated position.
  • FIGS 16 to 18 show an embodiment of the battery box lock control system of the present invention.
  • the battery box lock control system is used to install the battery box 1 into the battery compartment 2.
  • the battery box lock control system includes a push disk box 3, a first controller 4, a second controller 5, and a first detection unit 6.
  • the push disk box 3 includes a push disk box 31 and a suction cup 32.
  • the suction cup 32 is retractable. It is arranged on the surface of the push-disc box 31.
  • the suction cup 32 of the push-disc box 3 is used to fit the battery box 1.
  • the first controller 4 is used to drive the push-disc box 3 forward so that the battery box 1 enters the battery compartment 2.
  • the second controller 5 is used to switch the push disk box 3 and the battery box 1 in two states of being connected or disconnected;
  • the first detecting unit 6 is used for detecting that the suction cup 32 is retracted to the first predetermined position After sending the first signal to the first controller 4, the second controller 5, the first controller 4 is also used to stop driving the push disk box 3 after receiving the first signal, and the second controller 5 is also used to After receiving the first signal, the push disk box 3 is controlled to be separated from the battery box 1.
  • the battery box 1 is placed on a platform and connected to the push box 3.
  • the first controller 4 drives the push box 3 to advance, thereby pushing the battery box 1 forward.
  • the first controller 4 drives the push disk box 3 forward until the battery box 1 enters the battery compartment 2.
  • the push disc box 3 can continue to advance, so that the suction cup 32 is retracted into the push disc box 31.
  • the first predetermined position is set as a limit position in which the suction cup 32 is retracted.
  • the first detection unit 6 sends a first signal to the first controller 4 after detecting that the suction cup 32 is retracted to the first predetermined position, and the first controller 4 stops driving the push disk after receiving the first signal. Box 3 goes forward.
  • the first signal of the first detection unit 6 is also sent to the second controller 5.
  • the second controller 5 controls the push disk box 3 to be separated from the battery box 1.
  • the push disk box 3 can continue to advance and stop slowly, so that the push disk box 3 has a buffer before stopping. The process ensures that the tray 3 can be stopped smoothly, and the battery box 1 is installed in the battery compartment 2 in place.
  • the suction cup 32 is an electromagnetic suction cup.
  • the battery box 1 includes a magnetic disk 11.
  • the magnetic disk 11 of the battery box 1 is used to attract the suction cup 32 of the push box 3, and the second controller 5 is used to control after receiving the first signal
  • the suction cup 32 is powered off, so that the tray 3 is separated from the battery box 1.
  • the first controller 4 is also used to control the return of the push disk box 3 after stopping driving the push disk box 3 forward. After the battery box 1 is installed in place in the battery compartment 2 and it is determined that the push disk box 3 is separated from the battery box 1, the first controller 4 controls the push disk box 3 to return.
  • the first detection unit 6 may be a sensor.
  • the detection position of the sensor is a first predetermined position. After the suction cup 32 is retracted to the first predetermined position, the sensor can detect the suction cup 32, and thus sends a first signal indicating that the suction cup 32 is in place.
  • the first detection unit 6 may be another detection device that can detect the position of the suction cup 32.
  • the battery box lock control system of this embodiment is a further improvement on Embodiment 8.
  • the battery box lock control system further includes a second detection unit 7.
  • the second detection unit 7 is used to detect whether the push disc box 3 has reached the first limit position during the return process, and if so, sends a first pause signal to the first controller 4.
  • the first controller 4 is further configured to suspend the return of the disc tray 3 after receiving the first pause signal.
  • the first extreme position is an extreme position that can be reached during the return process of the push disc box 3. If the push disc box 3 reaches the first limit position, it indicates that an abnormality has occurred during the return process of the push disc box 3, and the first controller 4 suspends the return of the push disc box 3 and enters the abnormal processing stage.
  • the second detection unit 7 may be a pair of infrared receivers and infrared transmitters.
  • the infrared receiver is disposed on the mobile platform of the push disk box 3.
  • the position of the infrared receiver is the first during the return process of the push disk box 3.
  • the infrared emitter is set on the push disc box 3.
  • the push disc box 3 moves to the first limit position, the infrared radiation emitted by the infrared transmitter is received by the infrared receiver.
  • the infrared receiver sends a first pause signal to the first controller 4.
  • the first controller 4 When the first controller 4 receives the first pause signal, it indicates that the push disk box 3 is in the first limit position, which indicates that an abnormality has occurred during the return of the push disk box 3, and the first controller 4 suspends the return of the push disk box 3. And enter the exception handling stage.
  • the battery box lock control system of this embodiment is a further improvement on Embodiment 8.
  • the battery box 1 further includes a lock tongue 12 and a button 13.
  • the lock tongue 12 is matched with the lock base 21 of the battery compartment 2, and the button 13 is connected with the lock tongue 12.
  • the locking tongue 12 of the battery case 1 is caught in the lock base 21 of the battery compartment 2.
  • the push disc box 3 further includes an ejector lever 33 and a third controller 34.
  • the third controller 34 is used to control the ejector lever 33 to expand and contract.
  • the bolt 12 is moved and reset.
  • the third controller 34 is communicatively connected to the first controller 4; the first controller 4 is used to drive the push disk box 3 to a second predetermined position and send a second signal to the third controller 34, the third controller 34 is used to control the ejector 33 to press the button 13 after receiving the second signal.
  • the second predetermined position is set before the battery box 1 enters the battery compartment 2.
  • the push rod 33 is controlled to press the button 13 to ensure that the lock tongue 12 is reset to the lock-ready state.
  • the battery box lock control system of this embodiment is a further improvement on Embodiment 8.
  • the battery box lock control system further includes a third detection unit 8 for sending an enable signal to the first controller 4 after detecting that the lock tongue 12 and the lock base 21 are in a locked state.
  • the first control The device 4 is further configured to determine whether a permission signal is received after stopping the advance of the push disc box 3, and if so, control the push disc box 3 to return.
  • the third detection unit 8 Before the disc tray 3 returns, it is detected by the third detection unit 8 whether the lock tongue 12 and the lock base 21 are in a locked state. Only when the lock tongue 12 and the lock base 21 are in a locked state, that is, when the battery box 1 is installed in the battery compartment 2 can the push disk box 3 be allowed to return.
  • the third detection unit 8 may be a sensor. When the sensor detects that the lock tongue 12 is located in the lock base 21, it indicates that the lock tongue 12 and the lock base 21 are in a locked state, and the sensor sends a permission signal allowing the push disk box 3 to return to the first controller 4, so that the first controller 4 can control the push box 3 to return.
  • the third detection unit 8 may be another detection device that can detect the position of the bolt 12.
  • the battery box lock control system of this embodiment is a further improvement on Embodiment 8.
  • the battery box lock control system further includes a fourth detection unit 9.
  • the fourth detection unit 9 is used to detect whether the push disk box 3 has reached the second limit position during the forward process, and if so, sends a second pause signal to the first controller 4.
  • the first controller 4 is also used to suspend the advancement of the push disk box 3 after receiving the second pause signal.
  • the second extreme position is an extreme position that can be reached during the advancing process of the push disk box 3. If the pushing disc box 3 reaches the second limit position, it indicates that an abnormality has occurred during the pushing process of the pushing disc box 3, and the first controller 4 suspends the pushing of the pushing disc box 3 and enters an abnormal processing stage.
  • the fourth detection unit 9 may be a pair of infrared receivers and infrared transmitters.
  • the infrared receiver is disposed on the mobile platform of the push disk box 3.
  • the position of the infrared receiver is the second during the advance of the push disk box 3.
  • the infrared emitter is set on the push disc box 3.
  • the push disc box 3 moves to the second extreme position, the infrared radiation emitted by the infrared transmitter is received by the infrared receiver.
  • the infrared receiver sends a second pause signal to the first controller 4.
  • the first controller 4 When the first controller 4 receives the second pause signal, it indicates that the push disc box 3 is in the second limit position, which indicates that an abnormality has occurred during the advance of the push disc box 3, and the first controller 4 pauses the advance of the push disc box 3 And enter the exception handling stage.
  • a battery box lock control method can be used.
  • the control method can use the above battery box lock control system.
  • the battery box lock control method includes the following steps:
  • Step 100 The suction cup 32 of the push disc box 3 is in contact with the battery box 1 and maintained connected.
  • the battery box 1 is located in front of the push disc box 3, and the push box 3 is controlled to advance until the battery box 1 is located in the battery compartment 2.
  • Step 200 When the battery box 1 is located in the battery compartment 2, control the push disk box 3 to continue to advance, so that the suction cup 32 is retracted into the push disk box 31;
  • Step 300 The first detection unit 6 detects whether the suction cup 32 is retracted to the first predetermined position, and if so, executes step 400; otherwise, executes step 200;
  • Step 400 Control the push disk box 3 to stop moving forward, control the push disk box 3 to be separated from the battery box 1, and control the push disk box 3 to return to a specified position.
  • the push disc box 3 can continue to move forward and stop slowly, so that there is a buffering process before the push disc box 3 stops, which ensures that the push disc box 3 can stop smoothly and that the battery box 1
  • the battery compartment 2 is installed in place.
  • Step 100 of the battery box lock control method includes the following steps:
  • Step 101 The sucker 32 of the push disc box 3 is in contact with the battery box 1 and is kept connected.
  • the battery box 1 is located in front of the push disc box 3, and the first controller 4 controls the push disc box 3 to advance;
  • Step 102 When the first controller 4 drives the push disk box 3 to advance to the second predetermined position, it sends a second signal to the third controller 34.
  • the third controller 34 is used to control the ejector 33 to press the second signal after receiving the second signal. Move the button 13 to make the lock tongue 12 move and reset;
  • step 103 the fourth detection unit 9 detects whether the push disk box 3 has reached the second limit position during the forward process, and if so, executes step 104; otherwise, executes step 105;
  • Step 104 The fourth detection unit 9 sends a second pause signal to the first controller 4, and the first controller 4 pauses the advance of the push disk box 3 after receiving the second pause signal;
  • Step 105 The first controller 4 controls the push disk box 3 to continue to move forward until the battery box 1 is located in the battery compartment 2.
  • the push box 3 can push the battery box 1 until the battery box 1 is smoothly installed in the battery compartment 2.
  • Step 400 of the battery box lock control method includes the following steps:
  • Step 401 The first detection unit 6 sends a first signal to the first controller 4, and the first controller 4 stops driving the push disk box 3 after receiving the first signal;
  • Step 402 The first detection unit 6 sends a first signal to the second controller 5, and the second controller 5 controls the push disk box 3 to be separated from the battery box 1 after receiving the first signal;
  • Step 403 The third detection unit 8 detects whether the lock tongue 12 and the lock base 21 are in a locked state. If not, step 404 is performed, and if so, step 405 is performed;
  • Step 404 Enter the exception processing program, and the process ends;
  • Step 405 The third detection unit 8 sends an enable signal to the first controller 4, and the first controller 4 controls the push disk box 3 to return;
  • Step 406 The second detection unit 7 detects whether the push disk box 3 has reached the first limit position during the return process. If so, step 407 is performed; otherwise, step 408 is performed;
  • Step 407 the second detection unit 7 sends a first pause signal to the first controller 4, and the first controller 4 pauses the return of the push disc box 3 after receiving the first pause signal; at this time, it proves that the push disc box 3 is running. Exception, enter exception handler;
  • Step 408 The first controller 4 controls the push disc box 3 to return until the push disc box 3 reaches a designated position.
  • the push disk box 3 can be smoothly returned to the designated position.

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Abstract

一种电池箱解锁控制系统、锁止控制系统及相应的控制方法。电池箱解锁控制系统包括推盘盒(1)、第一控制器(2)和第一检测单元(3)，推盘盒(1)包括推盘箱体(11)和吸盘(12)，吸盘(12)可伸缩地设置于推盘箱体(11)的表面；第一控制器(2)用于驱动推盘盒(1)前进；第一检测单元(3)用于在检测到吸盘(12)缩回至第一预定位置后发送第一信号至第一控制器(2)，第一控制器(2)还用于在收到第一信号后停止驱动推盘盒(1)前进。电池箱锁止控制系统还包括第二控制器(5)，用于在收到第一信号后控制推盘盒与电池箱相脱离。通过第一检测单元(3)检测吸盘(12)的缩回预设位置，使推盘盒(1)在停止前有一定的缓冲距离，保证推盘盒(1)能实现安全停稳。

Description

电池箱解锁控制系统、锁止控制系统及控制方法
本申请要求申请日为2018年9月10日的中国专利申请2018110624387和2018110530106的优先权。本申请引用上述中国专利申请的全文。
技术领域
本发明涉及一种电池箱解锁控制系统、锁止控制系统及控制方法。
背景技术
在电动汽车的换电过程中，需要将电动汽车中的旧电池箱从车载电池仓内取出，再安放至充电架的电池仓上；再将充电架上的新电池箱取出，安装至电动汽车上。
在现有的换电装置中，从电池仓内取出电池箱的方式为：使用推盘盒接近电池箱并与电池箱连接，再驱动推盘盒带动电池箱一起返回。如何控制推盘盒前进和返回的行程，是换电装置取出电池箱的过程中需解决的难题。
将电池箱安装到电池仓内的方式为：使用推盘盒推动电池箱，将电池箱推进电池仓中；确定电池箱已经进入电池仓中后，推盘盒与电池箱相脱离，驱动推盘盒返回。如何控制推盘盒前进和返回的行程，以及推盘盒与电池箱相脱离的时机，是换电装置安装电池箱的过程中需解决的难题。
发明内容
本发明所要解决的技术问题是为了克服现有技术中的取出电池箱和安装电池箱的过程中难以控制推盘盒前进和返回的行程，以及推盘盒与电池箱相脱离的时机的缺陷，而提供一种电池箱解锁控制系统、锁止控制系统及控制方法。
本发明通过以下技术方案解决上述技术问题：
本发明提供了一种电池箱解锁控制系统，包括：
推盘盒，所述推盘盒包括推盘箱体和吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面；
第一控制器，所述第一控制器用于驱动所述推盘盒前进，以使得所述推盘盒的吸盘与电池箱相贴合；
第一检测单元，所述第一检测单元用于在检测到所述吸盘缩回至第一预定位置后发送第一信号至所述第一控制器，所述第一控制器还用于在收到所述第一信号后停止驱动 所述推盘盒前进。
较佳地，所述第一控制器还用于在停止驱动所述推盘盒前进后控制所述推盘盒返回。
较佳地，所述电池箱解锁控制系统还包括第三检测单元，所述第三检测单元位于所述推盘箱体面向所述电池箱的表面，所述第三检测单元用于在所述推盘盒返回时检测所述电池箱与所述推盘盒之间的距离是否超出预定值，若是则发送脱离信号至所述第一控制器，所述第一控制器用于在收到所述脱离信号后暂停所述推盘盒的返回；
和/或，所述电池箱解锁控制系统还包括第五检测单元，所述第五检测单元用于检测所述推盘盒返回过程中是否到达第二极限位置，若是则发送第二暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第二暂停信号后暂停所述推盘盒的返回。
较佳地，所述推盘盒还包括磁性控制器，所述吸盘为电磁吸盘，所述第一检测单元还用于发送所述第一信号给所述磁性控制器，所述磁性控制器用于在收到所述第一信号后控制所述吸盘通电；所述电池箱包括磁性盘，所述电池箱的磁性盘用于与所述推盘盒的吸盘相贴合。
较佳地，所述电池箱还包括锁舌和按钮，所述锁舌与电池仓的锁座相配合，所述按钮与所述锁舌连接；所述推盘盒还包括顶杆和第二控制器，所述第二控制器用于控制所述顶杆伸缩，所述顶杆用于在按下所述按钮后带动所述锁舌与所述锁座脱离。
较佳地，所述第二控制器与所述第一控制器通信连接；所述第一控制器用于驱动所述推盘盒前进至第二预定位置时发送第二信号至所述第二控制器，所述第二控制器用于在收到所述第二信号后控制所述顶杆伸出；
和/或，所述电池箱解锁控制系统还包括第二检测单元，所述第二检测单元用于在检测到所述锁舌与所述锁座处于脱离状态后发送允许信号至所述第一控制器，所述第一控制器还用于在停止所述推盘盒的前进后判断是否接收到所述允许信号，若是则控制所述推盘盒返回。
较佳地，所述电池箱解锁控制系统还包括第四检测单元，所述第四检测单元用于检测所述推盘盒前进过程中是否到达第一极限位置，若是则发送第一暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第一暂停信号后暂停所述推盘盒的前进。
本发明还提供了一种电池箱解锁控制方法，推盘盒包括推盘箱体、吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面；所述电池箱解锁控制方法包括以下步骤，
S1、当所述推盘盒的吸盘与电池箱相贴合时，控制所述推盘盒继续前进，以使得所述吸盘向所述推盘箱体内缩回；
S2、检测所述吸盘是否缩回至第一预定位置，若是则控制所述推盘盒停止前进，若 否则执行所述步骤S1。
较佳地，步骤S2中当所述推盘盒停止前进后还包括以下步骤：S21、控制所述推盘盒返回；
优选地，所述步骤S21执行过程中还包括以下步骤，检测所述电池箱与所述推盘盒之间的距离是否超过预定值，若是则暂停所述推盘盒的返回；
和/或，所述步骤S21执行过程中还包括以下步骤，检测所述推盘盒是否到达第二极限位置，若是则暂停所述推盘盒的返回。
较佳地，所述吸盘为电磁吸盘，所述电池箱包括磁性盘；所述步骤S1中，所述推盘盒的吸盘与所述电池箱的磁性盘相贴合；所述步骤S2中，控制所述推盘盒停止前进后，还控制所述吸盘通电；
和/或，所述电池箱还包括锁舌和按钮，所述锁舌用于与电池仓的锁座相配合；所述推盘盒还包括顶杆；所述步骤S1中，当所述推盘盒的吸盘与所述电池箱相贴合后，控制所述顶杆按下所述按钮，以使得所述按钮带动所述锁舌与所述锁座脱离。
较佳地，在步骤S1之前，还包括以下步骤：在所述推盘盒的吸盘与所述电池箱相贴合之前，控制所述顶杆伸出；
和/或，在所述步骤S2之后，还包括以下步骤，检测所述锁舌与所述锁座之间是否处于脱离状态，若是则控制所述推盘盒返回。
较佳地，所述步骤S1之前，还包括以下步骤，S0、控制所述推盘盒前进，直至所述推盘盒的吸盘与所述电池箱相贴合；
优选地，所述步骤S0执行过程中还包括以下步骤，检测所述推盘盒是否到达第一极限位置，若是则暂停所述推盘盒的前进。
本发明还提供了一种电池箱锁止控制系统，用于将电池箱装入电池仓中，所述电池箱锁止控制系统包括：
推盘盒，所述推盘盒包括推盘箱体和吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面，所述推盘盒的吸盘用于与所述电池箱相贴合；
第一控制器，所述第一控制器用于驱动所述推盘盒前进，以使得所述电池箱进入所述电池仓中；
第二控制器，所述第二控制器用于将所述推盘盒与所述电池箱在相连接或相脱离的两种状态下切换；
第一检测单元，所述第一检测单元用于在检测到所述吸盘缩回至第一预定位置后发送第一信号至所述第一控制器、所述第二控制器，所述第一控制器还用于在收到所述第 一信号后停止驱动所述推盘盒前进，所述第二控制器还用于在收到所述第一信号后控制所述推盘盒与所述电池箱相脱离。
较佳地，所述第一控制器还用于在停止驱动所述推盘盒前进后控制所述推盘盒返回；
优选地，所述电池箱锁止控制系统还包括第二检测单元，所述第二检测单元用于检测所述推盘盒返回过程中是否到达第一极限位置，若是则发送第一暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第一暂停信号后暂停所述推盘盒的返回。
较佳地，所述吸盘为电磁吸盘，所述电池箱包括磁性盘，所述电池箱的磁性盘用于与所述推盘盒的吸盘相吸合，所述第二控制器用于在收到所述第一信号后控制所述吸盘断电，以使得所述推盘盒与所述电池箱相脱离；
和/或，所述电池箱还包括锁舌和按钮，所述锁舌与所述电池仓的锁座相配合，所述按钮与所述锁舌连接；所述推盘盒还包括顶杆和第三控制器，所述第三控制器用于控制所述顶杆伸缩，所述顶杆用于在按动所述按钮后带动所述锁舌活动并复位；
优选地，所述第三控制器与所述第一控制器通信连接；所述第一控制器用于驱动所述推盘盒前进至第二预定位置时发送第二信号至所述第三控制器，所述第三控制器用于在收到所述第二信号后控制所述顶杆按动所述按钮；
优选地，所述电池箱锁止控制系统还包括第三检测单元，所述第三检测单元用于在检测到所述锁舌与所述锁座处于锁止状态后发送允许信号至所述第一控制器，所述第一控制器还用于在停止所述推盘盒的前进后判断是否接收到所述允许信号，若是则控制控制所述推盘盒返回。
较佳地，所述电池箱锁止控制系统还包括第四检测单元，所述第四检测单元用于检测所述推盘盒前进过程中是否到达第二极限位置，若是则发送第二暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第二暂停信号后暂停所述推盘盒的前进。
本发明还提供了一种电池箱锁止控制方法，用于将电池箱装入电池仓中，推盘盒包括推盘箱体、吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面，所述推盘盒的吸盘与所述电池箱相贴合；所述电池箱锁止控制方法包括以下步骤，
S1、当所述电池箱位于所述电池仓中时，控制所述推盘盒继续前进，以使得所述吸盘向所述推盘箱体内缩回；
S2、检测所述吸盘是否缩回至第一预定位置，若是则执行所述步骤S3；若否则执行所述步骤S1；
S3、控制所述推盘盒停止前进，并控制所述推盘盒与所述电池箱相脱离。
较佳地，所述步骤S3之后还包括以下步骤：
S4、控制所述推盘盒返回；
优选地，所述步骤S4执行过程中还包括以下步骤，检测所述推盘盒是否到达第一极限位置，若是则暂停所述推盘盒的返回。
较佳地，所述吸盘为电磁吸盘，所述电池箱包括磁性盘，所述推盘盒的吸盘与所述电池箱的磁性盘相吸合；所述步骤S2中，控制所述吸盘断电，以使得所述推盘盒与所述电池箱相脱离；
和/或，所述电池箱还包括锁舌，所述锁舌用于与所述电池仓的锁座相配合；所述步骤S1中，当所述电池箱位于所述电池仓中时，所述锁舌与所述电池仓的锁座相锁定；
和/或，所述电池箱还包括锁舌和按钮，所述推盘盒还包括顶杆；在步骤S1之前，还包括以下步骤：在所述电池箱位于所述电池仓中之前，控制所述顶杆按动所述按钮，使所述锁舌活动并复位；
和/或，所述步骤S1之前，还包括以下步骤，S0、所述推盘盒的吸盘与所述电池箱相贴合并保持连接状态，所述电池箱位于所述推盘盒的前方，控制所述推盘盒前进，直至所述电池箱位于所述电池仓中。
较佳地，所述步骤S0执行过程中还包括以下步骤，检测所述推盘盒是否到达第二极限位置，若是则暂停所述推盘盒的前进。
在符合本领域常识的基础上，上述各优选条件，可任意组合，即得本发明各较佳实例。
该电池箱解锁控制系统及控制方法，通过设定吸盘向推盘箱体内缩回一定的距离，并且通过第一检测单元进行检测预设停止位置，使推盘盒与电池箱贴合后推盘盒还可以向前移动一定距离，保证了推盘盒与电池箱贴合的紧密度，同时使推盘盒在停止前有一定的缓冲距离，保证推盘盒能实现安全停位。该电池箱锁止控制系统及控制方法，通过设置可内缩的吸盘和检测极限位置的第一检测单元，使电池箱进入电池仓后，推盘盒还可以继续前进并缓慢停止，使推盘盒停止前具有缓冲过程，保证推盘盒能平稳停止，且保证电池箱在电池仓内安装到位。
附图说明
图1为本发明电池箱解锁控制系统的实施例1的结构示意图。
图2为图1所示的电池箱解锁控制系统的结构示意图。
图3为图1所示的电池箱解锁控制系统的模块示意图。
图4为本发明电池箱解锁控制系统的实施例2的结构示意图。
图5为本发明电池箱解锁控制系统的实施例2的模块示意图。
图6为本发明电池箱解锁控制系统的实施例3的模块示意图。
图7为本发明电池箱解锁控制系统的实施例4的部分结构示意图。
图8为本发明电池箱解锁控制系统的实施例4的部分结构示意图。
图9为本发明电池箱解锁控制系统的实施例4的部分结构示意图。
图10为本发明电池箱解锁控制系统的实施例4的模块示意图。
图11为本发明电池箱解锁控制系统的实施例5的模块示意图。
图12为本发明电池箱解锁控制方法的实施例6的流程图。
图13为本发明电池箱解锁控制方法的实施例7的流程图。
图14为图13所示的电池箱解锁控制方法的步骤200的流程图。
图15为图13所示的电池箱解锁控制方法的步骤500的流程图。
图16为本发明实施例8的电池箱锁止控制系统的结构示意图。
图17为图16所示的电池箱锁止控制系统的电池箱放入电池仓中的结构示意图。
图18为图16所示的电池箱锁止控制系统的模块示意图。
图19为本发明实施例9的电池箱锁止控制系统的模块示意图。
图20为本发明实施例10的电池箱锁止控制系统的电池箱的结构示意图。
图21为图20所示的电池箱锁止控制系统的电池仓的结构示意图。
图22为图20所示的电池箱锁止控制系统的推盘盒的结构示意图。
图23为图20所示的电池箱锁止控制系统的模块示意图。
图24为本发明实施例11的电池箱锁止控制系统的模块示意图。
图25为本发明实施例12的电池箱锁止控制系统的模块示意图。
图26为本发明实施例13电池箱锁止控制方法的步骤示意图。
图27为本发明实施例14的电池箱锁止控制方法的步骤示意图。
图28为本发明实施例15的电池箱锁止控制方法的步骤示意图。
实施例1-实施例7：推盘盒1；推盘箱体11；吸盘12；磁性控制器13；顶杆14；第二控制器15；第一控制器2；第一检测单元3；电池箱4；磁性盘41；锁舌42；按钮43；第三检测单元5；第五检测单元6；电池仓7；锁座71；第二检测单元8；第四检测单元9
实施例8-实施例15：电池箱1；磁性盘11；锁舌12；按钮13；电池仓2；锁座21；推盘盒3；推盘箱体31；吸盘32；顶杆33；第三控制器34；第一控制器4；第二控制器5；第一检测单元6；第二检测单元7；第三检测单元8；第四检测单元9
具体实施方式
下面通过实施例的方式进一步说明本发明，但并不因此将本发明限制在所述的实施例范围之中。
实施例1
如图1至图2所示，该电池箱解锁控制系统包括推盘盒1、第一控制器2，推盘盒1包括推盘箱体11和吸盘12，吸盘12可伸缩地设置于推盘箱体11的表面；第一控制器2用于驱动推盘盒1前进，以使得推盘盒1的吸盘12与电池箱4相贴合。当需要将电池箱4从电池仓7中取出时，第一控制器2驱动推盘盒1前进，直至推盘盒1的吸盘12与电池箱4相贴合。推盘盒1与电池箱4连为一体，第一控制器2再控制推盘盒1返回，即可将电池箱4从电池仓7中拉出。
如图3所示，该电池箱解锁控制系统还包括第一检测单元3，第一检测单元3用于在检测到吸盘12缩回至第一预定位置后发送第一信号至第一控制器2，第一控制器2还用于在收到第一信号后停止驱动推盘盒1前进。
在第一控制器2推动推盘盒1前进并使推盘盒1的吸盘12与电池箱4相接触后，为了判断推盘盒1与电池箱4是否贴合到位，吸盘12设置为可以进一步向推盘箱体11内缩回，并设置第一检测单元3用于检测吸盘12缩回的位置。第一检测单元3所检测的第一预定位置，为吸盘12缩回到位的位置。第一检测单元3检测到吸盘12缩回至第一预定位置，证明吸盘12缩回到位，此时第一检测单元3发送第一信号至第一控制器2，第一控制器2收到第一信号后停止驱动推盘盒1前进。
另外，第一控制器2还用于在停止驱动推盘盒1前进后控制推盘盒1返回。在推盘盒1停止前进后，第一控制器2还可控制推盘盒1返回。上述第一控制器2驱动推盘盒1前进或返回的具体方式，可采用齿轮、齿条对推盘盒1的移动方向进行导向，并通过驱动电机驱动的方式驱动推盘盒1移动。
通过设定吸盘12向推盘箱体11内缩回一定的距离，并且通过第一检测单元3进行检测预设停止位置，使推盘盒1与电池箱4贴合后推盘盒1还可以向前移动一定距离，保证了推盘盒1与电池箱4贴合的紧密度，同时使推盘盒1在停止前有一定的缓冲距离，保证推盘盒1能实现安全停位。
实施例2
如图4和图5所示，本实施例电池箱解锁控制系统是对实施例1的进一步改进。电池箱解锁控制系统还包括第三检测单元5，第三检测单元5位于推盘箱体11面向电池箱 4的表面，第三检测单元5用于在推盘盒1返回时检测电池箱4与推盘盒1之间的距离是否超出预定值，若是则发送脱离信号至第一控制器2，第一控制器2用于在收到脱离信号后暂停推盘盒1的返回。
当推盘盒1与电池箱4贴合后，推盘盒1与电池箱4相连接。第一控制器2带动推盘盒1返回时，带动电池箱4一起返回。在此过程中，第三检测单元5检测电池箱4的位置。当电池箱4与推盘盒1之间的距离超出预定值时，说明电池箱4脱离了推盘盒1，第三检测单元5发送脱离信号至第一控制器2，第一控制器2收到脱离信号后暂停推盘盒1的返回。通过第三检测单元5，可在推盘盒1的返回过程中，对电池箱4脱离推盘盒1的异常情况进行报警。
实施例3
如图6所示，本实施例电池箱解锁控制系统是对实施例1的进一步改进。电池箱解锁控制系统还包括第五检测单元6，第五检测单元6用于检测推盘盒1返回过程中是否到达第二极限位置，若是则发送第二暂停信号至第一控制器2，第一控制器2还用于在收到第二暂停信号后暂停推盘盒1的返回。
第二极限位置为推盘盒1返回过程中所能到达的极限位置。若第五检测单元6检测到推盘盒1到达第二极限位置，则发送第二暂停信号至第一控制器2，第一控制器2在收到第二暂停信号后暂停推盘盒1的返回。通过设置第五检测单元6，可以防止推盘盒1在返回过程中超出极限位置，保证了推盘盒1运行过程中的安全性。
实施例4
如图7至图10所示，本实施例电池箱解锁控制系统是对实施例1的进一步改进。如图7至图8、图10所示，推盘盒1还包括磁性控制器13，吸盘12为电磁吸盘，磁性控制器13用于在收到第一信号后控制吸盘12通电；电池箱4包括磁性盘41，电池箱4的磁性盘41用于与推盘盒1的吸盘12相贴合。
当第一检测单元3发送第一信号至第一控制器2时，还将第一信号发送至磁性控制器13。当第一检测单元3发送第一信号时，说明吸盘12已缩回至第一预定位置，此时磁性控制器13控制吸盘12通电，吸盘12产生磁力，吸盘12与磁性盘41相吸合。
如图7至图9所示，电池箱4还包括锁舌42和按钮43，锁舌42与电池仓7的锁座71相配合，按钮43与锁舌42连接；推盘盒1还包括顶杆14和第二控制器15，第二控制器15用于控制顶杆14伸缩，顶杆14用于在按下按钮43后带动锁舌42与锁座71脱离。顶杆14伸出后，推盘盒1与电池箱4相贴合时，顶杆14将按钮43按下，锁舌42缩回且与锁座71脱离，此时电池箱4可以从电池仓7中拉出。
其中，第二控制器15与第一控制器2通信连接；第一控制器2用于驱动推盘盒1前进至第二预定位置时发送第二信号至第二控制器15，第二控制器15用于在收到第二信号后控制顶杆14伸出。第二预定位置可设定为推盘盒1距离电池箱4较近的位置，例如推盘盒1距离电池箱4约200mm的位置。当推盘盒1前进至第二预定位置时，第一控制器2发送第二信号至第二控制器15，第二控制器15控制顶杆14伸出，以便后续推盘盒1与电池箱4相贴合时，顶杆14将按钮43按下，使锁舌42缩回且与锁座71脱离。
电池箱解锁控制系统还包括第二检测单元8，第二检测单元8用于在检测到锁舌42与锁座71处于脱离状态后发送允许信号至第一控制器2，第一控制器2还用于在停止推盘盒1的前进后判断是否接收到允许信号，若是则控制推盘盒1返回。
当第二检测单元8检测到锁舌42与锁座71处于脱离状态后，发送允许信号至第一控制器2，第一控制器2控制推盘盒1返回。若第二检测单元8未发送允许信号给第一控制器2，则说明锁舌42与锁座71尚未脱离，电池箱4与电池仓7仍处于锁定状态，此时第一控制器2禁止控制推盘盒1返回。
实施例5
如图11所示，本实施例电池箱解锁控制系统是对实施例1的进一步改进。
该电池箱解锁控制系统还包括第四检测单元9，第四检测单元9用于检测推盘盒1前进过程中是否到达第一极限位置，若是则发送第一暂停信号至第一控制器2，第一控制器2还用于在收到第一暂停信号后暂停推盘盒1的前进。
第一极限位置为推盘盒1前进过程中所能到达的极限位置。若第四检测单元9检测到推盘盒1到达第一极限位置，则发送第一暂停信号至第一控制器2，第一控制器2在收到第一暂停信号后暂停推盘盒1的前进。通过设置第四检测单元9，可以防止推盘盒1在前进过程中超出极限位置，保证了推盘盒1运行过程中的安全性。
实施例6
如图12所示，本实施例为一种电池箱解锁控制方法，该电池箱解锁控制方法可适用于上述电池箱解锁控制系统。该电池箱解锁控制方法包括以下步骤，
步骤101、当推盘盒1的吸盘12与电池箱4相贴合时，控制推盘盒1继续前进，以使得吸盘12向推盘箱体11内缩回；
步骤102、检测吸盘12是否缩回至第一预定位置，若是则执行步骤103，若否则执行步骤101；
步骤103、控制推盘盒1停止前进。
通过上述方法，使推盘盒1与电池箱4贴合后推盘盒1还可以向前移动一定距离， 保证了推盘盒1与电池箱4贴合的紧密度，同时使推盘盒1在停止前有一定的缓冲距离，保证推盘盒1能实现安全停位。
其中，步骤103中当推盘盒1停止前进后还包括以下步骤：步骤1031、控制推盘盒1返回。在推盘盒1停止前进，推盘盒1与电池箱4相连接后，还需要控制推盘盒1返回，将电池箱4从电池仓7中取出。
其中，步骤1031执行过程中还包括以下步骤，检测电池箱4与推盘盒1之间的距离是否超过预定值，若是则暂停推盘盒1的返回。在推盘盒1带动电池箱4返回的过程中，若检测到电池箱4与推盘盒1之间的距离超过预定值，则说明推盘盒1与电池箱4相脱离，此时则暂停推盘盒1的返回。
其中，步骤101执行过程中还包括以下步骤，检测推盘盒1是否到达第二极限位置，若是则暂停推盘盒1的返回。第二极限位置为推盘盒1返回过程中所能到达的极限位置。在推盘盒1返回过程中，若推盘盒1超出了第二极限位置，则需要暂停推盘盒1的返回，以保证推盘盒1运行过程中的安全性。
其中，步骤101中，推盘盒1的吸盘12与电池箱4的磁性盘41相贴合；步骤13中，控制推盘盒1停止前进后，还控制吸盘12通电。当推盘盒1停止前进后，推盘盒1的吸盘12与电池箱4的磁性盘41相贴合，吸盘12通电，使吸盘12与磁性盘41之间产生吸力而相吸合。
其中，步骤101中，当推盘盒1的吸盘12与电池箱4相贴合后，控制顶杆14按下按钮43，以使得按钮43带动锁舌42与锁座71脱离。在推盘盒1的吸盘12与电池箱4相贴合之前，锁舌42锁在锁座71内，使电池箱4固定在电池仓7中。当推盘盒1的吸盘12与电池箱4相贴合后，控制顶杆14按下按钮43，带动锁舌42与锁座71脱离，推盘盒1可以将电池箱4从电池仓7中拉出。
其中，在步骤101之前，还包括以下步骤：在推盘盒1的吸盘12与电池箱4相贴合之前，控制顶杆14伸出。在推盘盒1的前进过程中，预先将顶杆14伸出，为顶杆14能及时按下按钮43做好准备。
其中，在步骤103之后，还包括以下步骤，步骤104、检测锁舌42与锁座71之间是否处于脱离状态，若是则控制推盘盒1返回。在控制推盘盒1返回之前，先检测锁舌42与锁座71之间是否处于脱离状态，即检测推盘盒1与电池箱4是否处于脱离状态。只有在推盘盒1与电池箱4处于脱离状态的情况下，才能控制推盘盒1返回。
其中，步骤101之前，还包括以下步骤，步骤100、控制推盘盒1前进，直至推盘盒1的吸盘12与电池箱4相贴合。
其中，步骤100执行过程中还包括以下步骤，检测推盘盒1是否到达第一极限位置，若是则暂停推盘盒1的前进。第一极限位置为推盘盒1前进过程中所能到达的极限位置。若检测推盘盒1到达第一极限位置，则暂停推盘盒1的前进，保证了推盘盒1运行过程中的安全性。
实施例7
本实施例为一种电池箱解锁控制方法，该电池箱解锁控制方法可适用于上述电池箱解锁控制系统。
如图13所示，该电池箱解锁控制方法包括以下步骤，
步骤200、控制推盘盒1前进，直至推盘盒1的吸盘12与电池箱4相贴合；
步骤300、当推盘盒1的吸盘12与电池箱4相贴合时，第一控制器2控制推盘盒1继续前进，以使得吸盘12向推盘箱体11内缩回；
步骤400、第一检测单元3检测吸盘12是否缩回至第一预定位置，若是则执行步骤500，若否则执行步骤300；
步骤500、控制推盘盒1停止前进并返回。
其中，如图14所示，步骤200包括以下步骤：
步骤201、通过第一控制器2控制推盘盒1前进；
步骤202、当推盘盒1前进至第二预定位置时，第一控制器2发送第二信号至第二控制器15，第二控制器15控制顶杆14伸出；
步骤203、第四检测单元9检测推盘盒1前进过程中是否到达第一极限位置，若是则执行步骤204，若否则执行步骤205；
步骤204、第四检测单元9发送第一暂停信号至第一控制器2，第一控制器2在收到第一暂停信号后暂停推盘盒1的前进；此时表明，推盘盒1的前进出现异常，需要进入异常处理流程；
步骤205、推盘盒1继续前进，直至推盘盒1的吸盘12与电池箱4相贴合，顶杆14将按钮43按下，锁舌42缩回且与锁座71脱离。
其中，如图15所示，步骤500包括以下步骤：
步骤501、第一检测单元3发送第一信号至第一控制器2、磁性控制器13，第一控制器2收到第一信号后停止驱动推盘盒1前进，磁性控制器13控制吸盘12通电，吸盘12产生磁力，吸盘12与磁性盘41相吸合；
步骤502、第二检测单元8检测到锁舌42与锁座71处于脱离状态后发送允许信号至第一控制器2，第一控制器2在停止推盘盒1的前进后判断是否接收到允许信号，若 是则执行步骤503，若否则执行步骤504；
步骤503、第一控制器2控制推盘盒1返回，再执行步骤505；
步骤504、第二控制器15控制顶杆14伸缩，按压按钮43，再执行步骤502；
步骤505、第五检测单元6检测推盘盒1返回过程中是否到达第二极限位置，若是则执行步骤506，若否则执行步骤507；
步骤506、第五检测单元6发送第二暂停信号至第一控制器2，第一控制器2在收到第二暂停信号后暂停推盘盒1的返回；此时表明，推盘盒1的前进出现异常，需要进入异常处理流程；
步骤507、第一控制器2控制推盘盒1返回至指定位置。
实施例8
如图16至图18所示为本发明电池箱锁止控制系统的一实施例。该电池箱锁止控制系统用于将电池箱1装入电池仓2中。该电池箱锁止控制系统包括推盘盒3、第一控制器4、第二控制器5和第一检测单元6，推盘盒3包括推盘箱体31和吸盘32，吸盘32可伸缩地设置于推盘箱体31的表面，推盘盒3的吸盘32用于与电池箱1相贴合；第一控制器4用于驱动推盘盒3前进，以使得电池箱1进入电池仓2中；第二控制器5用于将推盘盒3与电池箱1在相连接或相脱离的两种状态下切换；第一检测单元6用于在检测到吸盘32缩回至第一预定位置后发送第一信号至第一控制器4、第二控制器5，第一控制器4还用于在收到第一信号后停止驱动推盘盒3前进，第二控制器5还用于在收到第一信号后控制推盘盒3与电池箱1相脱离。
如图16所示，电池箱1放置于平台上并与推盘盒3相连接，第一控制器4驱动推盘盒3前进，从而推动电池箱1前进。如图17所示，第一控制器4驱动推盘盒3前进，直至电池箱1进入电池仓2中。此时，推盘盒3还可以继续前进，使吸盘32缩回至推盘箱体31内。
第一预定位置设定为吸盘32缩回的极限位置。如图18所示，第一检测单元6在检测到吸盘32缩回至第一预定位置后发送第一信号至第一控制器4，第一控制器4收到第一信号后停止驱动推盘盒3前进。第一检测单元6的第一信号还发送至第二控制器5，第二控制器5在收到第一信号后控制推盘盒3与电池箱1相脱离。
通过设置可内缩的吸盘32和检测极限位置的第一检测单元6，使电池箱1进入电池仓2后，推盘盒3还可以继续前进并缓慢停止，使推盘盒3停止前具有缓冲过程，保证推盘盒3能平稳停止，且保证电池箱1在电池仓2内安装到位。
其中，第二控制器5控制推盘盒3与电池箱1相脱离的一种具体方式如下。吸盘32 为电磁吸盘，电池箱1包括磁性盘11，电池箱1的磁性盘11用于与推盘盒3的吸盘32相吸合，第二控制器5用于在收到第一信号后控制吸盘32断电，以使得推盘盒3与电池箱1相脱离。
第一控制器4还用于在停止驱动推盘盒3前进后控制推盘盒3返回。在电池箱1在电池仓2中安装到位，并确定推盘盒3与电池箱1相脱离后，第一控制器4控制推盘盒3返回。
其中，第一检测单元6可以为传感器。传感器的检测位置为第一预定位置，当吸盘32缩回至第一预定位置后，传感器可以检测到吸盘32，从而发送出表示吸盘32已到位的第一信号。第一检测单元6，除传感器外，还可以是其他可以检测吸盘32的位置的检测装置。
实施例9
如图19所示，本实施例电池箱锁止控制系统是对实施例8的进一步改进。该电池箱锁止控制系统还包括第二检测单元7，第二检测单元7用于检测推盘盒3返回过程中是否到达第一极限位置，若是则发送第一暂停信号至第一控制器4，第一控制器4还用于在收到第一暂停信号后暂停推盘盒3的返回。
第一极限位置为推盘盒3返回过程中所能到达的极限位置。若推盘盒3到达第一极限位置，说明推盘盒3在返回过程中出现了异常，第一控制器4暂停推盘盒3的返回，并进入异常处理阶段。
其中，第二检测单元7可以为一对红外接收器和红外发射器，红外接收器设置于推盘盒3的移动平台上，红外接收器所在的位置为推盘盒3返回过程中的第一极限位置，红外发射器设置于推盘盒3上。当推盘盒3移动至第一极限位置时，红外发射器所发射的红外线被红外接收器接收到，此时，红外接收器发送第一暂停信号给第一控制器4。当第一控制器4接收到第一暂停信号时，表示推盘盒3处于第一极限位置，说明推盘盒3在返回过程中出现了异常，第一控制器4暂停推盘盒3的返回，并进入异常处理阶段。
实施例10
如图20至图21所示，本实施例电池箱锁止控制系统是对实施例8的进一步改进。电池箱1还包括锁舌12和按钮13，锁舌12与电池仓2的锁座21相配合，按钮13与锁舌12连接。当电池箱1装入电池仓2中时，电池箱1的锁舌12卡在电池仓2的锁座21中。
如图22至图23所示，推盘盒3还包括顶杆33和第三控制器34，第三控制器34用于控制顶杆33伸缩，顶杆33用于在按动按钮13后带动锁舌12活动并复位。其中，第 三控制器34与第一控制器4通信连接；第一控制器4用于驱动推盘盒3前进至第二预定位置时发送第二信号至第三控制器34，第三控制器34用于在收到第二信号后控制顶杆33按动按钮13。
第二预定位置设置于电池箱1进入电池仓2中之前，在推盘盒3推动电池箱1的过程中，控制顶杆33按动按钮13，以确保锁舌12复位到锁止准备状态。
实施例11
如图24所示，本实施例电池箱锁止控制系统是对实施例8的进一步改进。该电池箱锁止控制系统还包括第三检测单元8，第三检测单元8用于在检测到锁舌12与锁座21处于锁止状态后发送允许信号至第一控制器4，第一控制器4还用于在停止推盘盒3的前进后判断是否接收到允许信号，若是则控制推盘盒3返回。
在推盘盒3返回之前，先通过第三检测单元8检测锁舌12与锁座21是否处于锁止状态。只有锁舌12与锁座21处于锁止状态，即电池箱1在电池仓2中安装到位的情况下，才能允许推盘盒3返回。
其中，第三检测单元8可以为传感器。当传感器检测到锁舌12位于锁座21内时，说明锁舌12与锁座21处于锁止状态，传感器发送允许推盘盒3返回的允许信号给第一控制器4，使第一控制器4可以控制推盘盒3返回。第三检测单元8，除传感器外，还可以是其他可以检测锁舌12的位置的检测装置。
实施例12
如图25所示，本实施例电池箱锁止控制系统是对实施例8的进一步改进。该电池箱锁止控制系统还包括第四检测单元9，第四检测单元9用于检测推盘盒3前进过程中是否到达第二极限位置，若是则发送第二暂停信号至第一控制器4，第一控制器4还用于在收到第二暂停信号后暂停推盘盒3的前进。
第二极限位置为推盘盒3前进过程中所能到达的极限位置。若推盘盒3到达第二极限位置，说明推盘盒3在前进过程中出现了异常，第一控制器4暂停推盘盒3的前进，并进入异常处理阶段。
其中，第四检测单元9可以为一对红外接收器和红外发射器，红外接收器设置于推盘盒3的移动平台上，红外接收器所在的位置为推盘盒3前进过程中的第二极限位置，红外发射器设置于推盘盒3上。当推盘盒3移动至第二极限位置时，红外发射器所发射的红外线被红外接收器接收到，此时，红外接收器发送第二暂停信号给第一控制器4。当第一控制器4接收到第二暂停信号时，表示推盘盒3处于第二极限位置，说明推盘盒3在前进过程中出现了异常，第一控制器4暂停推盘盒3的前进，并进入异常处理阶段。
实施例13
如图26所示为一种电池箱锁止控制方法，该控制方法可使用上述电池箱锁止控制系统。该电池箱锁止控制方法包括以下步骤：
步骤100、推盘盒3的吸盘32与电池箱1相贴合并保持连接状态，电池箱1位于推盘盒3的前方，控制推盘盒3前进，直至电池箱1位于电池仓2中；
步骤200、当电池箱1位于电池仓2中时，控制推盘盒3继续前进，以使得吸盘32向推盘箱体31内缩回；
步骤300、第一检测单元6检测吸盘32是否缩回至第一预定位置，若是则执行步骤400；若否则执行步骤200；
步骤400、控制推盘盒3停止前进，控制推盘盒3与电池箱1相脱离，并控制推盘盒3返回至指定位置。
当电池箱1安装于电池仓2后，推盘盒3还可以继续前进并缓慢停止，使推盘盒3停止前具有缓冲过程，保证了推盘盒3能平稳停止，且保证电池箱1在电池仓2内安装到位。
实施例14
如图27所示，本实施例电池箱锁止控制方法是对实施例13的进一步改进。该电池箱锁止控制方法的步骤100，包括以下步骤：
步骤101、推盘盒3的吸盘32与电池箱1相贴合并保持连接状态，电池箱1位于推盘盒3的前方，第一控制器4控制推盘盒3前进；
步骤102、第一控制器4驱动推盘盒3前进至第二预定位置时发送第二信号至第三控制器34，第三控制器34用于在收到第二信号后控制顶杆33按动按钮13，使锁舌12活动并复位；
步骤103、第四检测单元9检测推盘盒3前进过程中是否到达第二极限位置，若是则执行步骤104，若否则执行步骤105；
步骤104、第四检测单元9发送第二暂停信号至第一控制器4，第一控制器4在收到第二暂停信号后暂停推盘盒3的前进；
步骤105、第一控制器4控制推盘盒3继续前进，直至电池箱1位于电池仓2中。
通过上述方法，可以使推盘盒3推动电池箱1，直至电池箱1顺利地安装到电池仓2中。
实施例15
如图28所示，本实施例电池箱锁止控制方法是对实施例13的进一步改进。该电池 箱锁止控制方法的步骤400，包括以下步骤：
步骤401、第一检测单元6发送第一信号至第一控制器4，第一控制器4收到第一信号后停止驱动推盘盒3前进；
步骤402、第一检测单元6发送第一信号至第二控制器5，第二控制器5收到第一信号后控制推盘盒3与电池箱1相脱离；
步骤403、第三检测单元8检测锁舌12与锁座21是否处于锁止状态，若否则执行步骤404，若是则执行步骤405；
步骤404、进入异常处理程序，流程结束；
步骤405、第三检测单元8发送允许信号至第一控制器4，第一控制器4控制推盘盒3返回；
步骤406、第二检测单元7检测推盘盒3返回过程中是否到达第一极限位置，若是则执行步骤407，若否则执行步骤408；
步骤407、第二检测单元7发送第一暂停信号至第一控制器4，第一控制器4收到第一暂停信号后暂停推盘盒3的返回；此时，证明推盘盒3运行出现异常，进入异常处理程序；
步骤408、第一控制器4控制推盘盒3返回，直至推盘盒3到达指定位置。
通过上述方法，可以使推盘盒3顺利返回至指定位置。
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这些仅是举例说明，在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改。因此，本发明的保护范围由所附权利要求书限定。

Claims (20)

  1. 一种电池箱解锁控制系统，其特征在于，包括：
    推盘盒，所述推盘盒包括推盘箱体和吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面；
    第一控制器，所述第一控制器用于驱动所述推盘盒前进，以使得所述推盘盒的吸盘与电池箱相贴合；
    第一检测单元，所述第一检测单元用于在检测到所述吸盘缩回至第一预定位置后发送第一信号至所述第一控制器，所述第一控制器还用于在收到所述第一信号后停止驱动所述推盘盒前进。
  2. 如权利要求1所述的电池箱解锁控制系统，其特征在于：所述第一控制器还用于在停止驱动所述推盘盒前进后控制所述推盘盒返回。
  3. 如权利要求2所述的电池箱解锁控制系统，其特征在于：所述电池箱解锁控制系统还包括第三检测单元，所述第三检测单元位于所述推盘箱体面向所述电池箱的表面，所述第三检测单元用于在所述推盘盒返回时检测所述电池箱与所述推盘盒之间的距离是否超出预定值，若是则发送脱离信号至所述第一控制器，所述第一控制器用于在收到所述脱离信号后暂停所述推盘盒的返回；
    和/或，所述电池箱解锁控制系统还包括第五检测单元，所述第五检测单元用于检测所述推盘盒返回过程中是否到达第二极限位置，若是则发送第二暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第二暂停信号后暂停所述推盘盒的返回。
  4. 如权利要求1-3中至少一项所述的电池箱解锁控制系统，其特征在于：
    所述推盘盒还包括磁性控制器，所述吸盘为电磁吸盘，所述第一检测单元还用于发送所述第一信号给所述磁性控制器，所述磁性控制器用于在收到所述第一信号后控制所述吸盘通电；
    所述电池箱包括磁性盘，所述电池箱的磁性盘用于与所述推盘盒的吸盘相贴合。
  5. 如权利要求1-4中至少一项所述的电池箱解锁控制系统，其特征在于：
    所述电池箱还包括锁舌和按钮，所述锁舌与电池仓的锁座相配合，所述按钮与所述锁舌连接；
    所述推盘盒还包括顶杆和第二控制器，所述第二控制器用于控制所述顶杆伸缩，所述顶杆用于在按下所述按钮后带动所述锁舌与所述锁座脱离。
  6. 如权利要求5所述的电池箱解锁控制系统，其特征在于：
    所述第二控制器与所述第一控制器通信连接；所述第一控制器用于驱动所述推盘盒前进至第二预定位置时发送第二信号至所述第二控制器，所述第二控制器用于在收到所述第二信号后控制所述顶杆伸出；
    和/或，所述电池箱解锁控制系统还包括第二检测单元，所述第二检测单元用于在检测到所述锁舌与所述锁座处于脱离状态后发送允许信号至所述第一控制器，所述第一控制器还用于在停止所述推盘盒的前进后判断是否接收到所述允许信号，若是则控制所述推盘盒返回。
  7. 如权利要求1-6中至少一项所述的电池箱解锁控制系统，其特征在于：所述电池箱解锁控制系统还包括第四检测单元，所述第四检测单元用于检测所述推盘盒前进过程中是否到达第一极限位置，若是则发送第一暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第一暂停信号后暂停所述推盘盒的前进。
  8. 一种电池箱解锁控制方法，其特征在于：
    推盘盒包括推盘箱体、吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面；
    所述电池箱解锁控制方法包括以下步骤，
    S1、当所述推盘盒的吸盘与电池箱相贴合时，控制所述推盘盒继续前进，以使得所述吸盘向所述推盘箱体内缩回；
    S2、检测所述吸盘是否缩回至第一预定位置，若是则控制所述推盘盒停止前进，若否则执行所述步骤S1。
  9. 如权利要求8所述的电池箱解锁控制方法，其特征在于，步骤S2中当所述推盘盒停止前进后还包括以下步骤：
    S21、控制所述推盘盒返回；
    优选地，所述步骤S21执行过程中还包括以下步骤，
    检测所述电池箱与所述推盘盒之间的距离是否超过预定值，若是则暂停所述推盘盒的返回；
    和/或，所述步骤S21执行过程中还包括以下步骤，
    检测所述推盘盒是否到达第二极限位置，若是则暂停所述推盘盒的返回。
  10. 如权利要求8或9所述的电池箱解锁控制方法，其特征在于：
    所述吸盘为电磁吸盘，所述电池箱包括磁性盘；
    所述步骤S1中，所述推盘盒的吸盘与所述电池箱的磁性盘相贴合；所述步骤S2中，控制所述推盘盒停止前进后，还控制所述吸盘通电；
    和/或，所述电池箱还包括锁舌和按钮，所述锁舌用于与电池仓的锁座相配合；所述 推盘盒还包括顶杆；
    所述步骤S1中，当所述推盘盒的吸盘与所述电池箱相贴合后，控制所述顶杆按下所述按钮，以使得所述按钮带动所述锁舌与所述锁座脱离。
  11. 如权利要求10所述的电池箱解锁控制方法，其特征在于：在步骤S1之前，还包括以下步骤：
    在所述推盘盒的吸盘与所述电池箱相贴合之前，控制所述顶杆伸出；
    和/或，在所述步骤S2之后，还包括以下步骤，
    检测所述锁舌与所述锁座之间是否处于脱离状态，若是则控制所述推盘盒返回。
  12. 如权利要求8-11中至少一项所述的电池箱解锁控制方法，其特征在于：
    所述步骤S1之前，还包括以下步骤，
    S0、控制所述推盘盒前进，直至所述推盘盒的吸盘与所述电池箱相贴合；
    优选地，所述步骤S0执行过程中还包括以下步骤，
    检测所述推盘盒是否到达第一极限位置，若是则暂停所述推盘盒的前进。
  13. 一种电池箱锁止控制系统，用于将电池箱装入电池仓中，其特征在于，所述电池箱锁止控制系统包括：
    推盘盒，所述推盘盒包括推盘箱体和吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面，所述推盘盒的吸盘用于与所述电池箱相贴合；
    第一控制器，所述第一控制器用于驱动所述推盘盒前进，以使得所述电池箱进入所述电池仓中；
    第二控制器，所述第二控制器用于将所述推盘盒与所述电池箱在相连接或相脱离的两种状态下切换；
    第一检测单元，所述第一检测单元用于在检测到所述吸盘缩回至第一预定位置后发送第一信号至所述第一控制器、所述第二控制器，所述第一控制器还用于在收到所述第一信号后停止驱动所述推盘盒前进，所述第二控制器还用于在收到所述第一信号后控制所述推盘盒与所述电池箱相脱离。
  14. 如权利要求13所述的电池箱锁止控制系统，其特征在于：所述第一控制器还用于在停止驱动所述推盘盒前进后控制所述推盘盒返回；
    优选地，所述电池箱锁止控制系统还包括第二检测单元，所述第二检测单元用于检测所述推盘盒返回过程中是否到达第一极限位置，若是则发送第一暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第一暂停信号后暂停所述推盘盒的返回。
  15. 如权利要求13或14所述的电池箱锁止控制系统，其特征在于：所述吸盘为电 磁吸盘，所述电池箱包括磁性盘，所述电池箱的磁性盘用于与所述推盘盒的吸盘相吸合，所述第二控制器用于在收到所述第一信号后控制所述吸盘断电，以使得所述推盘盒与所述电池箱相脱离；
    和/或，所述电池箱还包括锁舌和按钮，所述锁舌与所述电池仓的锁座相配合，所述按钮与所述锁舌连接；所述推盘盒还包括顶杆和第三控制器，所述第三控制器用于控制所述顶杆伸缩，所述顶杆用于在按动所述按钮后带动所述锁舌活动并复位；
    优选地，所述第三控制器与所述第一控制器通信连接；所述第一控制器用于驱动所述推盘盒前进至第二预定位置时发送第二信号至所述第三控制器，所述第三控制器用于在收到所述第二信号后控制所述顶杆按动所述按钮；
    优选地，所述电池箱锁止控制系统还包括第三检测单元，所述第三检测单元用于在检测到所述锁舌与所述锁座处于锁止状态后发送允许信号至所述第一控制器，所述第一控制器还用于在停止所述推盘盒的前进后判断是否接收到所述允许信号，若是则控制所述推盘盒返回。
  16. 如权利要求13-15中至少一项所述的电池箱锁止控制系统，其特征在于：所述电池箱锁止控制系统还包括第四检测单元，所述第四检测单元用于检测所述推盘盒前进过程中是否到达第二极限位置，若是则发送第二暂停信号至所述第一控制器，所述第一控制器还用于在收到所述第二暂停信号后暂停所述推盘盒的前进。
  17. 一种电池箱锁止控制方法，用于将电池箱装入电池仓中，其特征在于：
    推盘盒包括推盘箱体、吸盘，所述吸盘可伸缩地设置于所述推盘箱体的表面，所述推盘盒的吸盘与所述电池箱相贴合；
    所述电池箱锁止控制方法包括以下步骤，
    S1、当所述电池箱位于所述电池仓中时，控制所述推盘盒继续前进，以使得所述吸盘向所述推盘箱体内缩回；
    S2、检测所述吸盘是否缩回至第一预定位置，若是则执行所述步骤S3；若否则执行所述步骤S1；
    S3、控制所述推盘盒停止前进，并控制所述推盘盒与所述电池箱相脱离。
  18. 如权利要求17所述的电池箱锁止控制方法，其特征在于，所述步骤S3之后还包括以下步骤：
    S4、控制所述推盘盒返回；
    优选地，所述步骤S4执行过程中还包括以下步骤，
    检测所述推盘盒是否到达第一极限位置，若是则暂停所述推盘盒的返回。
  19. 如权利要求17或18所述的电池箱锁止控制方法，其特征在于：
    所述吸盘为电磁吸盘，所述电池箱包括磁性盘，所述推盘盒的吸盘与所述电池箱的磁性盘相吸合；
    所述步骤S2中，控制所述吸盘断电，以使得所述推盘盒与所述电池箱相脱离；
    和/或，所述电池箱还包括锁舌，所述锁舌用于与所述电池仓的锁座相配合；
    所述步骤S1中，当所述电池箱位于所述电池仓中时，所述锁舌与所述电池仓的锁座相锁定；
    和/或，所述电池箱还包括锁舌和按钮，所述推盘盒还包括顶杆；
    在步骤S1之前，还包括以下步骤：
    在所述电池箱位于所述电池仓中之前，控制所述顶杆按动所述按钮，使所述锁舌活动并复位；
    和/或，所述步骤S1之前，还包括以下步骤，
    S0、所述推盘盒的吸盘与所述电池箱相贴合并保持连接状态，所述电池箱位于所述推盘盒的前方，控制所述推盘盒前进，直至所述电池箱位于所述电池仓中。
  20. 如权利要求19所述的电池箱锁止控制方法，其特征在于：
    所述步骤S0执行过程中还包括以下步骤，
    检测所述推盘盒是否到达第二极限位置，若是则暂停所述推盘盒的前进。
PCT/CN2019/105181 2018-09-10 2019-09-10 电池箱解锁控制系统、锁止控制系统及控制方法 WO2020052562A1 (zh)

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