WO2022068909A1 - 锁止机构的锁止控制、解锁控制方法及系统 - Google Patents

锁止机构的锁止控制、解锁控制方法及系统 Download PDF

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Publication number
WO2022068909A1
WO2022068909A1 PCT/CN2021/121857 CN2021121857W WO2022068909A1 WO 2022068909 A1 WO2022068909 A1 WO 2022068909A1 CN 2021121857 W CN2021121857 W CN 2021121857W WO 2022068909 A1 WO2022068909 A1 WO 2022068909A1
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WIPO (PCT)
Prior art keywords
lock
protection
locking
lock tongue
tongue
Prior art date
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PCT/CN2021/121857
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English (en)
French (fr)
Inventor
张建平
黄春华
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奥动新能源汽车科技有限公司
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Publication of WO2022068909A1 publication Critical patent/WO2022068909A1/zh

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    • 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
    • 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
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • 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 the technical field of power exchange control, in particular to a locking control and unlocking control method and system of a locking mechanism.
  • the battery packs of the existing electric vehicles are generally divided into fixed and replaceable types.
  • the fixed battery pack is generally fixed on the vehicle, and the vehicle is directly used as the charging object during charging.
  • the replaceable battery pack is generally fixed on the bracket of the vehicle by means of movable installation, and the battery pack can be removed to be replaced or charged separately. After the replaced battery pack is charged, it can be installed in on the vehicle.
  • the replaceable battery pack enters the lock base of the locking mechanism through its own lock shaft to install the battery pack on the bottom of the electric vehicle, or moves out of the lock base of the locking mechanism through the lock shaft to make the battery pack Unlock the bottom of the detached electric car.
  • the locking control and unlocking control methods in the prior art include a battery locking and unlocking system, an electric vehicle power exchange control system and its control
  • the battery locking and unlocking system comprises a power exchange device, a lock shaft detection unit, a lock tongue control unit and a data exchange unit, the power exchange device is used for moving the battery;
  • the lock shaft detection unit is located in the lock slot, and the lock shaft detection unit is used for detecting The position of the lock shaft in the lock slot and generate a position signal;
  • the lock tongue control unit is used to control the lock tongue to fall into the lock slot or retract to the outside of the lock slot;
  • the data exchange unit communicates with the power exchange device and the lock shaft detection unit respectively .
  • the lock tongue is not provided with a limiting structure, so that the lock tongue in the locked state is easily turned to the unlocked state due to mis-unlocking or unexpected force, resulting in the locking failure.
  • the protection lock such as the scheme disclosed in the Chinese patent application with publication number CN109989628A and application number CN201711478858.9, but the above scheme does not disclose the control of the expansion and contraction of the protection lock and the movement of the lock tongue to realize the lock in the locked state Tongue limit.
  • the technical problem to be solved by the present invention is to overcome the defect in the prior art that the lock tongue in the locked state is not locked and protected, which causes the lock tongue to easily rotate to the unlocked state and thus affects the locking safety.
  • a method and system for locking control and unlocking control of a mechanism is to overcome the defect in the prior art that the lock tongue in the locked state is not locked and protected, which causes the lock tongue to easily rotate to the unlocked state and thus affects the locking safety.
  • the present invention provides a locking control method for a locking mechanism.
  • the battery pack is mounted on the bottom of the electric vehicle by installing the locking shaft of the battery pack in the locking mechanism of the electric vehicle, and the locking mechanism includes a locking base.
  • a seat, a lock tongue and a protection lock the lock base includes a base body and a lock slot provided on the base body, the lock slot is used for the lock shaft of the battery pack to enter and lock, the lock tongue
  • a fixing member is rotatably arranged in the base body to switch between a locked state and an unlocked state, so as to close or open the passage for the lock shaft to enter and exit the lock slot, and the protection lock is used to restrict the
  • the lock tongue rotates to the unlocked state
  • the locking control method includes:
  • the protection lock is driven to extend to limit and lock the lock tongue.
  • the protective lock is driven to extend in time to limit and lock the lock tongue, ensuring that the lock tongue is in the locked state.
  • the timeliness and accuracy of the locking control of the locking mechanism is reduced, the waiting time for the locking process is reduced, and the locking control efficiency is effectively improved;
  • the cooperative control between the protection lock and the lock tongue is adopted, that is, when the lock shaft of the battery pack reaches the locked position, the lock shaft is limited by controlling the lock tongue to reach the locked state, and then the protection lock is automatically controlled to execute the lock.
  • the locking operation is used to limit the lock tongue, thereby ensuring the stability and reliability of the locking operation process and meeting higher usage requirements.
  • the step of acquiring the first position state corresponding to the lock tongue includes:
  • the step of judging that the lock tongue is in a locked state according to the first position state, and if so, driving the protection lock to extend to limit and lock the lock tongue includes:
  • the reference locking image used to indicate that the lock tongue is in the corresponding locking position is pre-collected and stored, and the image processing technology is used to identify and analyze the reference locking image, so as to Timely extract the reference position corresponding to the lock tongue in each reference locking image (such as the relative position relative to the lock base of the locking mechanism), that is, the preset locking position; or directly use the positioning sensor to obtain the lock tongue and lock respectively.
  • the lock base position information of the mechanism, and the relative position of the lock tongue relative to the lock base is used as the preset locking position.
  • the visual sensor is used to track and capture the locking image corresponding to the locking tongue of the battery pack in the locking control stage in real time, and the image processing technology is used to identify and analyze the locking image, and the position information corresponding to the locking tongue in the locking image is extracted in time. ; Compare whether the position information corresponding to the lock tongue in the locking image collected in real time is in the reference position to accurately determine the position of the lock tongue in this locking control stage, and adjust the lock tongue to move in time when the reference position is not reached, and Collect, analyze and compare the locking images corresponding to the moved lock tongue in time, and repeat the above adjustment operations continuously to ensure the timeliness and accuracy of the lock tongue control; or use the positioning sensor to collect the corresponding position of the lock tongue in real time.
  • the step of driving the protection lock to extend to limit and lock the lock tongue further includes:
  • the protection lock executes the extension operation, there is a situation that although the protection lock is extended but not extended in place, the effect of limiting and locking the lock tongue cannot be effectively performed; in order to avoid the above situation, the position of the protection lock is collected in real time. information, and compare the position information in time to determine whether the protection lock is in a locked state to control whether the protection lock continues to perform the extension operation or has been in place and stops extension, so as to determine and control the protection lock to reach the locked state in time, so as to control the protection lock.
  • the step of acquiring the second position state corresponding to the protection lock includes:
  • the protection lock determines whether the protection lock is in a locked state, if not, drive the protection lock to continue to extend until the lock tongue is limited and locked; if so, control the protection lock
  • the steps to stop the protection lock from extending include:
  • the reference locking image used to represent the protective lock in the corresponding locking position is pre-collected and stored, and the image processing technology is used to identify and analyze the reference locking image, so as to extract each
  • the reference position corresponding to the protective lock in the reference locking image is the preset locking position; or directly use the positioning sensor to obtain the protective lock and the locking mechanism of the locking mechanism. seat position information, and take the relative position of the protective lock relative to the lock base as the preset locking position.
  • the vision sensor is used to track and capture the lock image corresponding to the protection lock of the battery pack in the lock control stage in real time, and the image processing technology is used to identify and analyze the lock image, and the position information corresponding to the protection lock in the lock image is extracted in time. ;Compare the position information of the guard lock in the locking image collected in real time whether it is in the reference position to accurately determine the position of the guard lock in the locking control stage, adjust the guard lock to move in time when the reference position is not reached, and Collect, analyze and compare the locking images corresponding to the moved protection locks in time, and repeat the above adjustment operations continuously to ensure the timeliness and accuracy of the protection lock control; or use the positioning sensor to collect the corresponding position of the protection locks in real time.
  • the step of acquiring the first position information corresponding to the lock tongue it also includes:
  • the protection lock is determined whether the protection lock is in the unlocked state, and if not, the protection lock is controlled to retract until the limit locking of the lock tongue is released.
  • the step of acquiring the third position state corresponding to the protection lock includes:
  • the step of judging whether the protection lock is in an unlocked state according to the third position state, and if not, controlling the protection lock to retract until the limit locking of the lock tongue is released includes:
  • the position information corresponding to the protection lock can be obtained by tracking and shooting the lock image corresponding to the protection lock of the battery pack in the lock control stage based on the vision sensor in real time, or the position information corresponding to the protection lock can be obtained by using the positioning sensor to collect in real time, and then compare the position in real time. Whether the information is at the reference position to accurately determine the status of the guard lock in the locking control stage, and adjust the guard lock to move in time when the reference position is not reached until it reaches the unlocked state, so as to ensure the timeliness and accuracy of the guard lock control. , so as to effectively realize the high-efficiency control of the lock-up control stage, and improve the overall control efficiency of the lock-up control process.
  • the present invention also provides an unlocking control method for a locking mechanism.
  • the battery pack located at the bottom of the electric vehicle is disassembled by moving the locking shaft of the battery pack out of the locking mechanism of the electric vehicle.
  • the locking mechanism includes a lock base, Lock tongue and protection lock, the lock base includes a base body and a lock slot provided on the base body, the lock slot is used for the lock shaft of the battery pack to enter and lock, and the lock tongue is fixed by A part is rotatably arranged in the base body to switch between a locked state and an unlocked state to close or open the passage for the lock shaft to enter and exit the lock slot, and the protection lock is used to restrict the lock tongue Rotating to the unlocked state, the unlocking control method includes:
  • the protection lock is controlled to retract to release the limit locking of the lock tongue; if so, the lock tongue is driven to rotate to to unlock.
  • the protective lock When the locking mechanism is in a locked state, the protective lock is in an extended state (ie, a locked state) to limit the lock tongue. In order to ensure the safety of the unlocking control, it is necessary to control the retraction of the protection lock to release the limit on the lock tongue before the subsequent unlocking operation can be performed. By obtaining the position information of the protective lock in real time, and based on the position information, it is judged whether it belongs to the retracted state (ie, the unlocked state). The timeliness and accuracy of the unlocking control of the mechanism reduces the waiting time for the unlocking process and effectively improves the unlocking control efficiency.
  • the step of acquiring the fourth position state corresponding to the protection lock includes:
  • the protection lock is in an unlocked state, if not, the protection lock is controlled to retract to release the limit locking of the lock tongue; if so, the lock tongue is driven
  • the steps to rotate to unlock include:
  • the reference unlocking image used to represent the protection lock in the corresponding unlocking position is pre-collected and stored, and the image processing technology is used to identify and analyze the reference unlocking image, and each reference unlocking image is extracted in time.
  • the reference position corresponding to the middle protection lock (such as the relative position with respect to the lock base of the unlocking mechanism) is the preset unlocking position;
  • the relative position with respect to the lock base serves as the preset unlocking position.
  • the visual sensor is used to track and capture the unlocked image corresponding to the protection lock of the battery pack in the unlocking control stage in real time, and the image processing technology is used to identify and analyze the unlocked image, and the position information corresponding to the protection lock in the unlocked image is extracted in time; Whether the position information corresponding to the protection lock in the captured unlocking image is in the reference position to accurately determine the position of the protection lock in the unlocking control stage, adjust the protection lock to move in time when the reference position is not reached, and adjust the protection lock after the movement.
  • the corresponding unlocking images are collected, analyzed and compared in time, and the above adjustment operations are repeated continuously to ensure the timeliness and accuracy of the protection lock control; or the position information corresponding to the protection lock is collected in real time by using the positioning sensor, and the position is compared. information and reference position information; when the reference position is not reached, adjust the protection lock to move in time, re-acquire the position information corresponding to the moved protection lock, and repeat the above adjustment operation continuously until the protection lock moves to the unlocked position, so as to ensure the control of the protection lock Therefore, the high-efficiency control of the unlocking control stage can be effectively achieved, and the overall control efficiency of the unlocking mechanism in the unlocking control process is improved.
  • the step of driving the lock tongue to rotate for unlocking it further includes:
  • the lock tongue is determined whether the lock tongue is in the unlocked state, if not, the lock tongue is continuously driven to rotate to reach the unlocked state; if so, the lock tongue is controlled to stop rotating.
  • the position information corresponding to the lock tongue is collected in real time, and when the real-time position does not indicate that it is in the unlocked state, it continues to drive the lock tongue to lift, thereby
  • the timely and precise control of the locking structure in the unlocking control stage is realized, the waiting time for the unlocking process is reduced, and the control efficiency of the locking process in this stage is improved.
  • the step of acquiring the fifth position state corresponding to the lock tongue includes:
  • the steps of controlling the lock tongue to stop rotating include:
  • the position information corresponding to the lock tongue can be obtained by tracking and photographing the unlocking image corresponding to the lock tongue of the battery pack in the unlocking control stage based on the vision sensor in real time, or the position information corresponding to the lock tongue can be obtained by using the positioning sensor to collect in real time, and then compare the position information in real time.
  • the reference position to accurately determine the position of the lock tongue in the unlocking control stage when the reference position is not reached, adjust the lock tongue to move until it reaches the raised state, so as to ensure the timeliness and accuracy of the lock tongue control, thereby The efficient control of the unlocking control stage is effectively realized, and the overall control efficiency of the unlocking mechanism in the unlocking control process is improved.
  • the present invention also provides a locking control system for a locking mechanism.
  • the battery pack is mounted on the bottom of the electric vehicle by installing the locking shaft of the battery pack in the locking mechanism of the electric vehicle, and the locking mechanism includes a lock A base, a lock tongue and a protection lock, the lock base includes a base body and a lock slot provided on the base body, the lock slot is used for the lock shaft of the battery pack to enter and lock, the lock The tongue is rotatably arranged in the base body through the fixing piece, and switches between the locked state and the unlocked state to close or open the passage for the lock shaft to enter and exit the lock slot, and the protection lock is used to restrict all The locking tongue rotates to the unlocked state, and the locking control system includes:
  • a first position state acquisition module for acquiring the first position state corresponding to the lock tongue
  • a first judging module for judging that the lock tongue is in a locked state according to the first position state, and if so, calling a first driving module
  • the first driving module is used for driving the protection lock to extend to limit and lock the lock tongue.
  • the first position state acquisition module is configured to use a visual sensor to collect the first target image corresponding to the lock tongue, and obtain the first position information corresponding to the lock tongue according to the target image; and /or,
  • the first judging module is used to judge whether the first position information is the first preset locking position, and if so, determine that the lock tongue has reached the locking state, and call the first driving module to drive the protection
  • the lock extends to limit and lock the lock tongue; if not, it is determined that the lock tongue has not reached the locked state, and the second driving module is called to drive the lock tongue to rotate until it reaches the first preset value. Set the lock position.
  • the first position state acquisition module is further configured to acquire the second position state corresponding to the protection lock
  • the first judging module is used for judging whether the protection lock is in a locked state according to the second position state, and if not, calling the first driving module to drive the protection lock to continue extending until the lock is locked.
  • the tongue performs limit locking; if so, the first drive module is called to control the protection lock to stop the extending action.
  • the first position state acquisition module is configured to use a visual sensor to collect the second target image corresponding to the protection lock, and obtain the second position information corresponding to the protection lock according to the second target image. ;
  • the first judgment module is used for judging whether the second position information is the second preset locking position, and if not, it is determined that the protection lock has not reached the locking state, and the first driving module is called to drive the lock.
  • the protection lock continues to extend until the lock tongue is limited and locked; if so, it is determined that the protection lock has reached a locked state, and the first drive module is called to control the protection lock to stop extending.
  • the first position state acquisition module is further configured to acquire the third position state corresponding to the protection lock;
  • the first judgment module is further configured to judge whether the protection lock is in an unlocked state according to the third position state, and if not, control the protection lock to retract until the limit locking of the lock tongue is released.
  • the first position state acquisition module is further configured to use a visual sensor to collect a third target image corresponding to the protection lock, and acquire third position information corresponding to the protection lock according to the third target image;
  • the first judging module is also used to judge whether the third position information is the third preset locking position, and if not, it is determined that the protection lock is not in the unlocked state, and the first driving module is called to control the The protection lock is retracted until the limit locking of the lock tongue is released.
  • the present invention also provides an unlocking control system for the locking mechanism.
  • the battery pack located at the bottom of the electric vehicle is disassembled by moving the locking shaft of the battery pack out of the locking mechanism of the electric vehicle.
  • the locking mechanism includes a lock base, Lock tongue and protection lock, the lock base includes a base body and a lock slot provided on the base body, the lock slot is used for the lock shaft of the battery pack to enter and lock, and the lock tongue is fixed by A part is rotatably arranged in the base body to switch between a locked state and an unlocked state to close or open the passage for the lock shaft to enter and exit the lock slot, and the protection lock is used to restrict the lock tongue Rotate to the unlocked state, characterized in that the unlocking control system includes:
  • the second position state acquisition module is used for acquiring the fourth position state corresponding to the protection lock
  • the second judging module is used for judging that the protective lock is in the unlocked state according to the fourth position state, if not, calling the first driving module to control the protective lock to retract to release the limit lock on the lock tongue If so, call the second driving module to drive the lock tongue to rotate to unlock.
  • the second position state acquisition module is configured to use a visual sensor to collect the fourth target image corresponding to the protection lock, and obtain the fourth position information corresponding to the protection lock according to the fourth target image. ;
  • the second judging module is used to judge whether the fourth position information is the first preset unlocking position, if not, it is determined that the protection lock has not reached the unlocked state, and the first driving module is called to control the protection lock to retract. Return to release the limit locking of the lock tongue; if so, determine that the protection lock has reached an unlocked state, and call the second driving module to drive the lock tongue to rotate to unlock.
  • the second position state acquisition module is also used to acquire the fifth position state corresponding to the lock tongue;
  • the second judgment module is also used to judge whether the lock tongue is in the unlocked state according to the fifth position state, if not, continue to drive the lock tongue to rotate to achieve the unlocked state; if so, control the lock tongue Stop the spinning action.
  • the second position state acquisition module is configured to use a visual sensor to collect the fifth target image corresponding to the lock tongue, and obtain the fifth position information corresponding to the lock tongue according to the fifth target image. ;
  • the second judging module is used to judge whether the fifth position information is the second preset unlocking position;
  • the lock tongue is rotated to reach the second preset unlocking position; if so, it is determined that the lock tongue has reached the unlocked state, and the second driving module is called to control the lock tongue to stop rotating.
  • the stability and reliability of the locking and unlocking operation process are ensured, and higher usage requirements can be met;
  • the image corresponding to the position of the lock, and the corresponding position information of the lock tongue and the protection lock is obtained based on the collected image, or the position information of the lock tongue and the protection lock is collected in time by using the positioning sensor, and the lock tongue and the protection lock are determined in time.
  • FIG. 1 is a combined structural diagram of a locking mechanism and a protective lock of the present invention.
  • FIG. 2 is a schematic diagram of the overall structure of the protection lock mechanism of the present invention.
  • FIG. 3 is a schematic structural diagram of the positional relationship between the protection lock mechanism and the lock base of the present invention.
  • FIG. 4 is a flowchart of a locking control method of the locking mechanism according to Embodiment 1 of the present invention.
  • FIG. 5 is a first flowchart of a locking control method of the locking mechanism according to Embodiment 2 of the present invention.
  • FIG. 6 is a second flowchart of the locking control method of the locking mechanism according to the second embodiment of the present invention.
  • FIG. 7 is a third flowchart of the locking control method of the locking mechanism according to the second embodiment of the present invention.
  • FIG. 8 is a flowchart of an unlocking control method of a locking mechanism according to Embodiment 3 of the present invention.
  • FIG. 9 is a first flow chart of the unlocking control method of the locking mechanism according to Embodiment 4 of the present invention.
  • FIG. 10 is a second flowchart of the unlocking control method of the locking mechanism according to Embodiment 4 of the present invention.
  • FIG. 11 is a schematic structural diagram of a locking control system of a locking mechanism according to Embodiment 5 of the present invention.
  • FIG. 12 is a schematic structural diagram of an unlocking control system of the locking mechanism according to Embodiment 7 of the present invention.
  • Figures 1-3 show the specific structure of the locking mechanism of the battery pack in the present invention.
  • the battery pack is installed on the bottom of the electric vehicle by installing the lock shaft of the battery pack in the locking mechanism of the electric vehicle, and the battery located at the bottom of the electric vehicle is removed by moving the lock shaft of the battery pack out of the locking mechanism of the electric vehicle Bag.
  • the locking mechanism includes a lock base
  • the lock base includes a lock body 25 (ie, the base body), the lock body is rectangular, and the front of the lock body 25 is provided with a lock groove concave to the inside of the lock body 25,
  • the lock base also includes a lock tongue groove and a lock tongue 24 installed in the lock tongue groove, and the lock tongue groove communicates with the lock tongue groove, and the lock tongue 24 is movably installed in the lock tongue groove; in addition, the lock tongue 24 passes through the spring member 26 It is fixed on the lock base, and a spring member 26 is arranged between the lock tongue 24 and the lock base, which is used to apply a force to the lock tongue 24 to rotate in the locking direction.
  • the lock shaft 30 includes a shaft seat 34 with a fixing hole, and a shaft rod 31 vertically arranged on the surface of the shaft seat 34.
  • the shaft rod is used to be inserted into the lock groove of the lock base for locking, that is, the lock groove is used for battery supply
  • the lock shaft of the bag enters and locks, and the lock tongue is rotatably arranged in the base body through the fixing piece, and switches between the locked state and the unlocked state to close or open the passage for the lock shaft to enter and exit the lock slot.
  • the locking mechanism also includes a protective lock for unlocking and locking the battery pack.
  • the protection lock mechanism includes a lock pin 102 and a power pin (not shown in the figure), the power pin acts on the lock pin 102, and the power pin can move relative to the lock pin 102 to be engaged with or disengaged from the lock pin 102, when When the power pin is separated from the lock pin, a force is applied to the lock pin in the retracting direction, so that the lock pin is in a retracted state (the limit locking of the lock tongue 24 is released); when the power pin is engaged with the lock pin When the lock pin is in the extended state (restricting the lock tongue 24 to rotate to the unlocked state).
  • the locking control method of the locking mechanism of this embodiment includes:
  • the protective lock is driven to extend in time to limit the lock tongue. Locking to prevent the lock tongue in the locked state from rotating to the unlocked state due to accidental unlocking or unexpected force, ensuring the timeliness and accuracy of the locking control of the locking mechanism, and reducing the waiting time for the locking process. , effectively improving the locking control efficiency;
  • the cooperative control between the protection lock and the lock tongue is adopted, that is, when the lock shaft of the battery pack reaches the locked position, the lock shaft is limited by controlling the lock tongue to reach the locked state, and then the protection lock is automatically controlled to execute the lock.
  • the locking operation is used to limit the lock tongue, thereby ensuring the stability and reliability of the locking operation process and meeting higher usage requirements.
  • the position of the lock tongue of the locking mechanism is acquired in real time and it is judged whether the position indicates that the lock tongue is in the locked state, and once it is determined that the lock tongue is in the locked state, the protective lock is driven to extend to limit the lock tongue.
  • Locking is controlled by the mutual cooperation between the protective lock and the lock tongue, which ensures the stability and reliability of the locking operation process and can meet higher usage requirements.
  • the locking control method of the locking mechanism of this embodiment is a further improvement to Embodiment 1, specifically:
  • step S101 includes:
  • Step S102 includes:
  • the reference locking image used to represent the lock tongue in the corresponding locking position is pre-collected and stored based on the vision sensor, and the image processing technology is used to identify and analyze the reference locking image, so as to extract the reference locking image in time.
  • the reference position corresponding to the lock tongue in the reference locking image (such as the relative position relative to the lock base of the locking mechanism) is the preset locking position; or directly use the positioning sensor to obtain the lock tongue and the lock base of the locking mechanism respectively.
  • the seat position information is obtained, and the relative position of the lock tongue relative to the lock base is used as the preset locking position.
  • the visual sensor is used to track and capture the locking image corresponding to the locking tongue of the battery pack in the locking control stage in real time, and the image processing technology is used to identify and analyze the locking image, and the position information corresponding to the locking tongue in the locking image is extracted in time. ; Compare whether the position information corresponding to the lock tongue in the locking image collected in real time is in the reference position to accurately determine the position of the lock tongue in this locking control stage, and adjust the lock tongue to move in time when the reference position is not reached, and Collect, analyze and compare the locking images corresponding to the moved lock tongue in time, and repeat the above adjustment operations continuously to ensure the timeliness and accuracy of the lock tongue control; or use the positioning sensor to collect the corresponding position of the lock tongue in real time.
  • step S102 when controlling the protection lock to extend to limit and lock the lock tongue, after step S102, the method further includes:
  • S104 Determine whether the protection lock is in a locked state according to the second position state, and if not, drive the protection lock to continue extending until the lock tongue is limited and locked; if so, control the protection lock to stop extending.
  • the protection lock executes the extension operation, there is a situation that although the protection lock is extended but not extended in place, the effect of limiting and locking the lock tongue cannot be effectively performed; in order to avoid the above situation, the position of the protection lock is collected in real time. information, and compare the position information in time to determine whether the protection lock is in a locked state to control whether the protection lock continues to perform the extension operation or has been in place and stops extension, so as to determine and control the protection lock to reach the locked state in time, so as to control the protection lock.
  • step S103 includes:
  • Step S104 includes:
  • the reference locking image used to represent the protective lock in the corresponding locking position is pre-collected and stored, and the image processing technology is used to identify and analyze the reference locking image, so as to extract each
  • the reference position corresponding to the protective lock in the reference locking image is the preset locking position; or directly use the positioning sensor to obtain the protective lock and the locking mechanism of the locking mechanism. seat position information, and take the relative position of the protective lock relative to the lock base as the preset locking position.
  • the vision sensor is used to track and capture the lock image corresponding to the protection lock of the battery pack in the lock control stage in real time, and the image processing technology is used to identify and analyze the lock image, and the position information corresponding to the protection lock in the lock image is extracted in time. ;Compare the position information of the guard lock in the locking image collected in real time whether it is in the reference position to accurately determine the position of the guard lock in the locking control stage, adjust the guard lock to move in time when the reference position is not reached, and Collect, analyze and compare the locking images corresponding to the moved protection locks in time, and repeat the above adjustment operations continuously to ensure the timeliness and accuracy of the protection lock control; or use the positioning sensor to collect the corresponding position of the protection locks in real time.
  • step S101 it includes:
  • S10102. Determine whether the protection lock is in an unlocked state according to the third position state, and if not, control the protection lock to retract until the limit locking of the lock tongue is released.
  • step S10101 includes:
  • Step S10102 includes:
  • the third position information is the third preset locking position, and if not, it is determined that the protection lock is not in the unlocked state, and the protection lock is controlled to retract until the limit locking of the lock tongue is released.
  • the position information corresponding to the protection lock can be obtained by tracking and shooting the lock image corresponding to the protection lock of the battery pack in the locking control stage based on the visual sensor in real time, or the position information corresponding to the protection lock can be obtained by using the positioning sensor to collect in real time, and then compare the position in real time. Whether the information is at the reference position to accurately determine the status of the guard lock in the locking control stage, and adjust the guard lock to move in time when the reference position is not reached until it reaches the unlocked state, so as to ensure the timeliness and accuracy of the guard lock control. , so as to effectively realize the high-efficiency control of the lock-up control stage, and improve the overall control efficiency of the lock-up control process.
  • the lock tongue is controlled to rotate to the locked state, and when it is determined that the lock tongue reaches the locked state, the protection lock is controlled to be in the locked state.
  • the lock is extended to limit and lock the lock tongue, and then judge whether the protection lock is in the locked state.
  • the image corresponding to the position of the lock tongue and the protective lock is collected in real time through the visual sensor, and the corresponding position information of the lock tongue and the protective lock is obtained based on the collected images, or the use of
  • the positioning sensor collects and obtains the position information of the lock tongue and the protective lock in time, and timely determines whether the lock tongue and the protective lock reach the preset position to accurately determine the in-position situation, thereby realizing the precise control of the locking process and effectively improving the locking control.
  • the efficiency is reduced, the waiting time for locking is reduced, and higher usage requirements are met.
  • the unlocking control method of the locking mechanism in this embodiment includes:
  • the protective lock When the locking mechanism is in a locked state, the protective lock is in an extended state (ie, a locked state) to limit the lock tongue. In order to ensure the safety of the unlocking control, it is necessary to control the retraction of the protection lock to release the limit on the lock tongue before the subsequent unlocking operation can be performed. By obtaining the position information of the protective lock in real time, and based on the position information, it is judged whether it belongs to the retracted state (ie, the unlocked state). The timeliness and accuracy of the unlocking control of the mechanism reduces the waiting time for the unlocking process and effectively improves the unlocking control efficiency.
  • the position of the protective lock is obtained in real time and it is judged whether the position indicates that it is in the unlocked state, and when the protective lock is in the locked state, the protective lock is controlled to retract to release the limit locking of the lock tongue, and drive the The lock tongue is rotated to unlock, and the mutual cooperation control between the protective lock and the lock tongue ensures the stability and reliability of the unlocking operation process and can meet higher usage requirements.
  • the locking and unlocking method of the locking mechanism of this embodiment is a further improvement to Embodiment 3, specifically:
  • step S201 includes:
  • Step S202 includes:
  • S2021 determine whether the fourth position information is the first preset unlocking position, if not, determine that the protection lock has not reached the unlocked state, and control the protection lock to retract to release the limit locking of the lock tongue; if so, determine the protection lock The lock reaches the unlocked state and drives the deadbolt to rotate to unlock.
  • the reference unlocking image used to represent the protection lock in the corresponding unlocking position is pre-collected and stored, and the image processing technology is used to identify and analyze the reference unlocking image, and each reference unlocking image is extracted in time.
  • the reference position corresponding to the middle protection lock (such as the relative position with respect to the lock base of the unlocking mechanism) is the preset unlocking position;
  • the relative position with respect to the lock base serves as the preset unlocking position.
  • the visual sensor is used to track and capture the unlocking image corresponding to the protection lock of the battery pack in the unlocking control stage in real time, and the image processing technology is used to identify and analyze the unlocked image, and the position information corresponding to the protection lock in the unlocked image is extracted in time; Whether the position information corresponding to the protection lock in the captured unlocking image is in the reference position to accurately determine the position of the protection lock in the unlocking control stage, adjust the protection lock to move in time when the reference position is not reached, and adjust the protection lock after the movement.
  • the corresponding unlocking images are collected, analyzed and compared in time, and the above adjustment operations are repeated continuously to ensure the timeliness and accuracy of the protection lock control; or the position information corresponding to the protection lock is collected in real time by using the positioning sensor, and the position is compared. information and reference position information; when the reference position is not reached, adjust the protection lock to move in time, re-acquire the position information corresponding to the moved protection lock, and repeat the above adjustment operation continuously until the protection lock moves to the unlocked position, so as to ensure the control of the protection lock Therefore, the high-efficiency control of the unlocking control stage can be effectively achieved, and the overall control efficiency of the unlocking mechanism in the unlocking control process is improved.
  • step S202 When driving the lock tongue to rotate for unlocking, after step S202, the method further includes:
  • the position information corresponding to the lock tongue is collected in real time, and when the real-time position does not indicate that it is in the unlocked state, it continues to drive the lock tongue to lift, thereby
  • the timely and precise control of the locking structure in the unlocking control stage is realized, the waiting time for the unlocking process is reduced, and the control efficiency of the locking process in this stage is improved.
  • step S203 includes:
  • Step S204 includes:
  • S2041 determine whether the fifth position information is the second preset unlocking position, if not, determine that the lock tongue has not reached the unlocked state, and continue to drive the lock tongue to rotate to reach the second preset unlocking position; if so, determine that the lock tongue has reached the unlocking state Unlock state, and control the lock tongue to stop rotating.
  • the position information corresponding to the lock tongue can be obtained by tracking and shooting the unlocking image corresponding to the lock tongue of the battery pack in the unlocking control stage based on the visual sensor in real time, or the position information corresponding to the lock tongue can be obtained by using the positioning sensor to collect in real time, and then compare the position information in real time.
  • the reference position to accurately determine the position of the lock tongue in the unlocking control stage when the reference position is not reached, adjust the lock tongue to move until it reaches the raised state, so as to ensure the timeliness and accuracy of the lock tongue control, thereby The efficient control of the unlocking control stage is effectively realized, and the overall control efficiency of the unlocking mechanism in the unlocking control process is improved.
  • the lock tongue is controlled to rotate to the unlocked state, and when it is determined that the lock tongue reaches the unlocked state, the unlocking operation is completed, and the
  • the cooperative control between the protective lock and the lock tongue ensures the stability and reliability of the unlocking operation process, and can meet higher usage requirements; And based on the collected images to obtain the position information of the lock tongue and the protection lock, or use the positioning sensor to collect and obtain the position information of the lock tongue and the protection lock in time, and timely determine whether the lock tongue and the protection lock have reached the preset position to accurately determine the position.
  • the locking control system of the locking mechanism of this embodiment includes a first position state acquisition module 1 , a first judgment module 2 and a first drive module 3 .
  • the first position state acquisition module 1 is used to acquire the first position state corresponding to the lock tongue;
  • the first judging module 2 is used for judging that the lock tongue is in the locked state according to the first position state, and if so, the first driving module 3 is called;
  • the first driving module 3 is used to drive the protection lock to extend to limit and lock the lock tongue.
  • the protective lock by acquiring the position of the lock tongue of the locking mechanism in real time and judging whether the position indicates that the lock tongue is in the locked state, once it is determined that the lock tongue is in the locked state, the protective lock is driven to extend to prevent the lock tongue from being locked.
  • the locking tongue performs limit locking, and the mutual cooperation control between the protective lock and the locking tongue ensures the stability and reliability of the locking operation process, and can meet higher use requirements.
  • the locking control system of the locking mechanism of this embodiment is a further improvement to Embodiment 5, specifically:
  • the first position state acquisition module 1 is used to collect the first target image corresponding to the lock tongue by using a visual sensor, and obtain the first position information corresponding to the lock tongue according to the target image; and/or, use a positioning sensor to obtain the first target image corresponding to the lock tongue. location information;
  • the first judgment module 2 is used for judging whether the first position information is the first preset locking position, and if so, it is determined that the lock tongue has reached the locked state, and the first driving module 3 is called to drive the protection lock to extend to carry out the lock tongue. Limit locking; if not, it is determined that the lock tongue has not reached the locked state, and the second driving module is called to drive the lock tongue to rotate until it reaches the first preset locking position.
  • the first position state obtaining module 1 is also used to obtain the second position state corresponding to the protection lock;
  • the first judging module 2 is used for judging whether the protection lock is in a locked state according to the second position state, if not, calling the first driving module 3 to drive the protection lock to continue extending until the lock tongue is limited and locked; if so, then The first drive module 3 is called to control the protection lock to stop the extending action.
  • the first position state acquisition module 1 is configured to use a visual sensor to collect a second target image corresponding to the protection lock, and obtain second position information corresponding to the protection lock according to the second target image; and/or, use a positioning sensor to obtain the first target image of the protection lock. 2. location information;
  • the first judging module 2 is used to judge whether the second position information is the second preset locking position, if not, it is determined that the protection lock has not reached the locked state, and the first driving module 3 is called to drive the protection lock to continue to extend until the The locking tongue performs limit locking; if so, it is determined that the protective lock has reached a locked state, and the first drive module 3 is called to control the protective lock to stop the extending action.
  • the first position state obtaining module 1 is also used to obtain the third position state corresponding to the protection lock;
  • the first judging module 2 is also used for judging whether the protective lock is in an unlocked state according to the third position state, and if not, controlling the protective lock to retract until the limit locking of the lock tongue is released.
  • the first position state acquisition module 1 is further configured to use a visual sensor to collect a third target image corresponding to the dongle, and obtain third position information corresponding to the dongle according to the third target image; and/or, use a positioning sensor to obtain the protection lock the third position information of the lock;
  • the first judging module 2 is also used for judging whether the third position information is the third preset locking position, if not, it is determined that the protection lock is not in the unlocked state, and the first driving module 3 is called to control the protection lock to retract until the lock is released.
  • the limit lock of the lock tongue is also used for judging whether the third position information is the third preset locking position, if not, it is determined that the protection lock is not in the unlocked state, and the first driving module 3 is called to control the protection lock to retract until the lock is released.
  • the limit lock of the lock tongue is also used for judging whether the third position information is the third preset locking position, if not, it is determined that the protection lock is not in the unlocked state, and the first driving module 3 is called to control the protection lock to retract until the lock is released.
  • the limit lock of the lock tongue is also used for judging whether the third position information is the third preset locking position, if not, it is determined that the protection lock is not in the unlocked state, and the first driving module 3
  • the lock tongue is controlled to rotate to the locked state, and when it is determined that the lock tongue reaches the locked state, the protection lock is controlled to be in the locked state.
  • the lock is extended to limit and lock the lock tongue, and then judge whether the protection lock is in the locked state.
  • the image corresponding to the position of the lock tongue and the protective lock is collected in real time through the visual sensor, and the corresponding position information of the lock tongue and the protective lock is obtained based on the collected images, or the use of
  • the positioning sensor collects and obtains the position information of the lock tongue and the protective lock in time, and timely determines whether the lock tongue and the protective lock reach the preset position to accurately determine the in-position situation, thereby realizing the precise control of the locking process and effectively improving the locking control.
  • the efficiency is reduced, the waiting time for locking is reduced, and higher usage requirements are met.
  • the unlocking control system of the locking mechanism in this embodiment includes a second position state acquisition module 4 , a second judgment module 5 , a first driving module 3 and a second driving module 6 .
  • the second position state obtaining module 4 is used to obtain the fourth position state corresponding to the protection lock
  • the second judging module 5 is used for judging that the protection lock is in the unlocked state according to the fourth position state, if not, calling the first driving module 3 to control the protection lock to retract to release the limit locking of the lock tongue; if so, calling the first driving module 3
  • the two driving modules 6 are used to drive the lock tongue to rotate for unlocking.
  • the position of the protective lock is obtained in real time and it is judged whether the position indicates that it is in the unlocked state, and when the protective lock is in the locked state, the protective lock is controlled to retract to release the limit locking of the lock tongue, and drive the The lock tongue is rotated to unlock, and the mutual cooperation control between the protective lock and the lock tongue ensures the stability and reliability of the unlocking operation process and can meet higher usage requirements.
  • the locking and unlocking system of the locking mechanism of this embodiment is a further improvement to Embodiment 7, specifically:
  • the second position state acquisition module 4 is configured to use a visual sensor to collect a fourth target image corresponding to the dongle, and obtain fourth position information corresponding to the dongle according to the fourth target image; and/or, use a positioning sensor to obtain the protection lock The fourth position information of the lock;
  • the second judging module 5 is used to judge whether the fourth position information is the first preset unlocking position. If not, it is determined that the protective lock has not reached the unlocked state, and the first driving module 3 is called to control the protective lock to retract to release the lock tongue. If it is, it is determined that the protection lock has reached the unlocked state, and the second driving module 6 is called to drive the lock tongue to rotate to unlock.
  • the second position state obtaining module 4 is also used to obtain the fifth position state corresponding to the lock tongue;
  • the second judging module 5 is also used for judging whether the lock tongue is in the unlocked state according to the fifth position state, if not, continue to drive the lock tongue to rotate to achieve the unlocked state; if so, control the lock tongue to stop rotating.
  • the second position state acquisition module 4 is configured to use a visual sensor to collect a fifth target image corresponding to the lock tongue, and obtain fifth position information corresponding to the lock tongue according to the fifth target image; and/or, use a positioning sensor to obtain the lock tongue Information on the fifth position of the tongue;
  • the second judging module 5 is used to judge whether the fifth position information is the second preset unlocking position, if not, it is determined that the lock tongue has not reached the unlocked state, and the second driving module 6 is continuously called to drive the lock tongue to rotate to reach the second preset unlocking position.
  • the unlocking position is set; if it is, it is determined that the lock tongue has reached the unlocked state, and the second driving module 6 is called to control the lock tongue to stop rotating.
  • the lock tongue is controlled to rotate to the unlocked state, and when it is determined that the lock tongue reaches the unlocked state, the unlocking operation is completed, and the
  • the cooperative control between the protective lock and the lock tongue ensures the stability and reliability of the unlocking operation process, and can meet higher usage requirements; And based on the collected images to obtain the position information of the lock tongue and the protection lock, or use the positioning sensor to collect and obtain the position information of the lock tongue and the protection lock in time, and timely determine whether the lock tongue and the protection lock have reached the preset position to accurately determine the position.

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Abstract

一种锁止机构的锁止控制、解锁控制方法及系统，该锁止控制方法包括：获取所述锁舌（24）对应的第一位置状态；根据所述第一位置状态判断所述锁舌（24）处于锁止状态，若是，则驱动所述保护锁伸出以对所述锁舌（24）进行限位锁止。该方法通过保护锁与锁舌（24）之间的相互配合控制，保证了锁止和解锁操作过程的稳定性和可靠性；同时通过视觉传感器实时采集锁舌（24）、保护锁所在位置处对应的图像，并基于采集图像获取锁舌（24）、保护锁对应的位置信息，以及时确定锁舌（24）、保护锁是否达到预设位置以准确确定到位情况，从而实现对锁止或解锁过程的精确控制，有效地提高了锁止控制和解锁控制的效率，减小了锁止或解锁所需等待的时长，满足了更高的使用需求。

Description

锁止机构的锁止控制、解锁控制方法及系统
本申请要求申请日为2020/9/30的中国专利申请2020110660944的优先权。本申请引用上述中国专利申请的全文。
技术领域
本发明涉及换电控制技术领域，特别涉及一种锁止机构的锁止控制、解锁控制方法及系统。
背景技术
现有电动汽车的电池包设置方式一般分为固定式和可换式，其中，固定式电池包一般是固定在车辆上，在充电时直接以车辆作为充电对象。而可换式的电池包一般通过活动安装的方式被固定在车辆的托架上，电池包可以被取下，以单独进行更换或充电操作，在更换下的电池包充电完毕后，再安装在车辆上。
具体地，可换式的电池包通过自身的锁轴进入锁止机构的锁基座以实现将电池包安装在电动汽车的底部，或通过锁轴移出锁止机构的锁基座以使得电池包解锁脱离电动汽车的底部。现有技术中的锁止控制、解锁控制方法如公开号为CN108128132A、申请号为CN201711244224.7的中国专利申请中所披露的方案，包括电池锁止解锁系统、电动汽车换电控制系统及其控制方法，电池锁止解锁系统包括换电设备、锁轴检测单元、锁舌控制单元和数据交换单元，换电设备用于移动电池；锁轴检测单元位于锁槽内，锁轴检测单元用于检测锁轴在锁槽中的位置并生成位置信号；锁舌控制单元用于控制锁舌落入锁槽中或缩回至锁槽外部；数据交换单元分别与换电设备和锁轴检测单元进行通信。上述方案中，锁舌没有设置限位结构，导致处于锁止状态下的锁舌容易因误解锁或意外作用力向解锁状态转动，而导致锁止失效。而保护锁如公开号为CN109989628A、申请号为CN201711478858.9的中国专利申请中锁披露的方案，但上述方案中并未公开保护锁的伸缩与锁舌运动的控制以实现对锁止状态下锁舌的限位。
发明内容
本发明要解决的技术问题是为了克服现有技术中没有对处于锁止状态的锁舌进行锁止保护而导致锁舌易向解锁状态转动而影响锁止安全性的缺陷，提供一种锁止机构的锁止控制、解锁控制方法及系统。
本发明是通过下述技术方案来解决上述技术问题：
本发明提供一种锁止机构的锁止控制方法，通过将电池包的锁轴安装于电动汽车的锁止机构内以安装所述电池包于电动汽车的底部，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，所述锁止控制方法包括：
获取所述锁舌对应的第一位置状态；
根据所述第一位置状态判断所述锁舌处于锁止状态，若是，则驱动所述保护锁伸出以对所述锁舌进行限位锁止。
通过实时获取锁止机构的锁舌所在位置并判断该位置是否表示锁舌处于锁止状态，一旦确定锁舌处于锁止状态则及时驱动保护锁伸出以对锁舌进行限位锁止，保证了对锁止机构的锁止控制的及时性和准确性，减少了锁止过程所需等待的时长，有效地提高了锁止控制效率；
同时，采用保护锁与锁舌之间的相互配合控制，即在电池包的锁轴到达锁止位置，通过控制锁舌到达锁止状态来对锁轴进行限位，再自动控制保护锁执行锁止操作以对锁舌进行限位，从而保证了锁止操作过程的稳定性和可靠性，能够满足更高的使用需求。
较佳地，所述获取所述锁舌对应的第一位置状态的步骤包括：
采用视觉传感器采集所述锁舌对应的第一目标图像；
根据所述目标图像获取所述锁舌对应的所述第一位置信息；
和/或，采用定位传感器获取所述锁舌对应的所述第一位置信息；
所述根据所述第一位置状态判断所述锁舌处于锁止状态，若是，则驱动所述保护锁伸出以对所述锁舌进行限位锁止的步骤包括：
判断所述第一位置信息是否为第一预设锁止位置，若否，则确定所述锁舌未达到锁止状态，并驱动所述锁舌旋转直至达到所述第一预设锁止位置；若是，则确定所述锁舌达到锁止状态，并驱动所述保护锁伸出以对所述锁舌进行限位锁止。
其中，在锁止控制之前基于视觉传感器(如摄像头)预先采集并存储用于表征锁舌处于对应锁止位置的参照锁止图像，并采用图像处理技术对参照锁止图像进行识别分析处理，以及时提取出每张参照锁止图像中锁舌对应的参照位置(如相对于锁止机构的锁基座的相对位置)即预设锁止位置；或直接采用定位传感器分别获取锁舌以及锁止机构的锁基座位置信息，并将锁舌相对于锁基座的相对位置作为预设锁止位置。
采用视觉传感器实时跟踪拍摄电池包的锁舌在锁止控制阶段对应的锁止图像，并采用图像处理技术对锁止图像进行识别分析处理，以及时提取出锁止图像中锁舌对应的位置信息；比对实时采集的锁止图像中锁舌对应的位置信息是否在参照位置出以准确确定锁舌在该锁止控制阶段的到位情况，在未达到参照位置时及时调整锁舌进行移动，并对移动后的锁舌对应的锁止图像进行及时采集、分析与比对，不断重复上述调整操作以保证对锁舌控制的及时性和准确性；或采用定位传感器实时采集得到锁舌对应的位置信息，并比对该位置信息与参考位置信息；在未达到参照位置时及时调整锁舌进行移动，重新获取移动后的锁舌对应的位置信息，不断重复上述调整操作直至锁舌移动至锁止位置，以保证对保护锁控制的及时性和准确性，从而有效地实现对该锁止控制阶段的高效控制，提升了该锁止控制过程的整体控制效率。
较佳地，所述驱动所述保护锁伸出以对所述锁舌进行限位锁止的步骤之后还包括：
获取所述保护锁对应的第二位置状态；
根据所述第二位置状态判断所述保护锁是否处于锁止状态，若否，则驱动所述保护锁继续伸出直至对所述锁舌进行限位锁止；若是，则控制所述保护锁停止伸出动作。
保护锁在执行伸出操作后，存在虽然伸出但是没有伸出到位的情况，从而导致无法有效地对锁舌进行限位锁止的效果；为了避免上述情况发生，通过实时采集保护锁的位置信息，并及时比对该位置信息是否表明该保护锁处于锁止状态来控制保护锁时继续执行伸出操作还是已经到位并停止伸出，从而达到及时确定并控制保护锁到达锁住状态，以保证锁止控制的及时性和精确性的效果。
较佳地，所述获取所述保护锁对应的第二位置状态的步骤包括：
采用视觉传感器采集所述保护锁对应的第二目标图像；
根据所述第二目标图像获取所述保护锁对应的所述第二位置信息；
和/或，采用定位传感器获取所述保护锁的所述第二位置信息；
所述根据所述第二位置状态判断所述保护锁是否处于锁止状态，若否，则驱动所述保护锁继续伸出直至对所述锁舌进行限位锁止；若是，则控制所述保护锁停止伸出动作的步骤包括：
判断所述第二位置信息是否为第二预设锁止位置，若否，则确定所述保护锁未达到锁止状态，并驱动所述保护锁继续伸出直至对所述锁舌进行限位锁止；若是，则确定所述保护锁达到锁止状态，并控制所述保护锁停止伸出动作。
其中，在锁止控制之前基于视觉传感器预先采集并存储用于表征保护锁处于对应锁止位置的参照锁止图像，并采用图像处理技术对参照锁止图像进行识别分析处理，以及 时提取出每张参照锁止图像中保护锁对应的参照位置(如相对于锁止机构的锁基座的相对位置)即预设锁止位置；或直接采用定位传感器分别获取保护锁以及锁止机构的锁基座位置信息，并将保护锁相对于锁基座的相对位置作为预设锁止位置。
采用视觉传感器实时跟踪拍摄电池包的保护锁在锁止控制阶段对应的锁止图像，并采用图像处理技术对锁止图像进行识别分析处理，以及时提取出锁止图像中保护锁对应的位置信息；比对实时采集的锁止图像中保护锁对应的位置信息是否在参照位置出以准确确定保护锁在该锁止控制阶段的到位情况，在未达到参照位置时及时调整保护锁进行移动，并对移动后的保护锁对应的锁止图像进行及时采集、分析与比对，不断重复上述调整操作以保证对保护锁控制的及时性和准确性；或采用定位传感器实时采集得到保护锁对应的位置信息，并比对该位置信息与参考位置信息；在未达到参照位置时及时调整保护锁进行移动，重新获取移动后的保护锁对应的位置信息，不断重复上述调整操作以保证对保护锁控制的及时性和准确性，从而有效地实现对该锁止控制阶段的高效控制，提升了该锁止控制过程的整体控制效率。
较佳地，所述获取所述锁舌对应的第一位置信息的步骤之前还包括：
获取所述保护锁对应的第三位置状态；
根据所述第三位置状态判断所述保护锁是否处于解锁状态，若否，则控制所述保护锁缩回直至解除对所述锁舌的限位锁止。
在对控制锁舌放下或抬起操作之前，需要确保对其限位的保护锁处于解锁状态，具体通过及时获取保护锁的位置以确定是否表征处于解锁状态，在保护锁处于锁止状态时及时控制其缩回以解除对锁舌的限位，通过该对保护锁状态的判断操作，保证了锁止控制过程的精准性和有效性。
较佳地，所述获取所述保护锁对应的第三位置状态的步骤包括：
采用视觉传感器采集所述保护锁对应的第三目标图像；
根据所述第三目标图像获取所述保护锁对应的第三位置信息；
和/或，采用定位传感器获取所述保护锁的第三位置信息；
所述根据所述第三位置状态判断所述保护锁是否处于解锁状态，若否，则控制所述保护锁缩回直至解除对所述锁舌的限位锁止的步骤包括：
判断所述第三位置信息是否为第三预设锁止位置，若否，则确定所述保护锁未处于解锁状态，并控制所述保护锁缩回直至解除对所述锁舌的限位锁止。
通过基于视觉传感器实时跟踪拍摄电池包的保护锁在锁止控制阶段对应的锁止图像获取保护锁对应的位置信息，或采用定位传感器实时采集得到保护锁对应的位置信息， 然后实时比对该位置信息是否在参照位置出以准确确定保护锁在该锁止控制阶段的到位情况，在未达到参照位置时及时调整保护锁进行移动直至达到解锁状态，以保证对保护锁控制的及时性和准确性，从而有效地实现对该锁止控制阶段的高效控制，提升了该锁止控制过程的整体控制效率。
本发明还提供一种锁止机构的解锁控制方法，通过将电池包的锁轴从电动汽车的锁止机构内移出以拆卸位于电动汽车底部的电池包，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，所述解锁控制方法包括：
获取所述保护锁对应的第四位置状态；
根据所述第四位置状态判断所述保护锁处于解锁状态，若否，则控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则驱动所述锁舌旋转以进行解锁。
锁止机构处于锁止状态下时，保护锁处于伸出状态(即锁止状态)以对锁舌进行限位。为了保障解锁控制的安全性，需要先控制保护锁缩回以解除对锁舌的限位，才可以执行后续的解锁操作。通过实时获取保护锁的位置信息，并基于位置信息判断其是否属于缩回状态(即解锁状态)，一旦确定保护锁处于缩回状态则立即控制锁舌旋转以进行解锁，从而保证了对锁止机构的解锁控制的及时性和准确性，减少了解锁过程所需等待的时长，有效地提高了解锁控制效率。
较佳地，所述获取所述保护锁对应的第四位置状态的步骤包括：
采用视觉传感器采集所述保护锁对应的第四目标图像；
根据所述第四目标图像获取所述保护锁对应的所述第四位置信息；
和/或，采用定位传感器获取所述保护锁的所述第四位置信息；
所述根据所述第四位置状态判断所述保护锁处于解锁状态，若否，则控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则驱动所述锁舌旋转以进行解锁的步骤包括：
判断所述第四位置信息是否为第一预设解锁位置，若否，则确定所述保护锁未达到解锁状态，并控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则确定所述保护锁达到解锁状态，并驱动所述锁舌旋转以进行解锁。
其中，在解锁控制之前基于视觉传感器预先采集并存储用于表征保护锁处于对应解锁位置的参照解锁图像，并采用图像处理技术对参照解锁图像进行识别分析处理，以及 时提取出每张参照解锁图像中保护锁对应的参照位置(如相对于解锁机构的锁基座的相对位置)即预设解锁位置；或直接采用定位传感器分别获取保护锁以及解锁机构的锁基座位置信息，并将保护锁相对于锁基座的相对位置作为预设解锁位置。
采用视觉传感器实时跟踪拍摄电池包的保护锁在解锁控制阶段对应的解锁图像，并采用图像处理技术对解锁图像进行识别分析处理，以及时提取出解锁图像中保护锁对应的位置信息；比对实时采集的解锁图像中保护锁对应的位置信息是否在参照位置出以准确确定保护锁在该解锁控制阶段的到位情况，在未达到参照位置时及时调整保护锁进行移动，并对移动后的保护锁对应的解锁图像进行及时采集、分析与比对，不断重复上述调整操作以保证对保护锁控制的及时性和准确性；或采用定位传感器实时采集得到保护锁对应的位置信息，并比对该位置信息与参考位置信息；在未达到参照位置时及时调整保护锁进行移动，重新获取移动后的保护锁对应的位置信息，不断重复上述调整操作直至保护锁移动至解锁位置，以保证对保护锁控制的及时性和准确性，从而有效地实现对该解锁控制阶段的高效控制，提升了解锁机构在解锁控制过程的整体控制效率。
较佳地，所述驱动所述锁舌旋转以进行解锁的步骤之后还包括：
获取所述锁舌对应的第五位置状态；
根据所述第五位置状态判断所述锁舌是否处于解锁状态，若否，则继续驱动所述锁舌旋转以达到解锁状态；若是，则控制所述锁舌停止旋转动作。
为了及时且准确地确定锁舌是否抬起以保证锁止控制的精确性，通过实时采集锁舌对应的位置信息，并在该实时位置未表征其在解锁状态时继续驱动锁舌抬起，从而实现对锁止结构在该解锁控制阶段的及时且精确控制，减少了解锁过程所需等待的时长，提高了对该阶段的锁止过程的控制效率。
较佳地，所述获取所述锁舌对应的第五位置状态的步骤包括：
采用视觉传感器采集所述锁舌对应的第五目标图像；
根据所述第五目标图像获取所述锁舌对应的所述第五位置信息；
和/或，采用定位传感器获取所述锁舌的所述第五位置信息；
所述根据所述第五位置状态判断所述锁舌是否处于解锁状态，若否，则继续驱动所述锁舌旋转以达到解锁状态；若是，则控制所述锁舌停止旋转动作的步骤包括：
判断所述第五位置信息是否为第二预设解锁位置，若否，则确定所述锁舌未达到解锁状态，并继续驱动所述锁舌旋转以达到所述第二预设解锁位置；若是，则确定所述锁舌达到解锁状态，并控制所述锁舌停止旋转动作。
通过基于视觉传感器实时跟踪拍摄电池包的锁舌在解锁控制阶段对应的解锁图像获 取锁舌对应的位置信息，或采用定位传感器实时采集得到锁舌对应的位置信息，然后实时比对该位置信息是否在参照位置出以准确确定锁舌在该解锁控制阶段的到位情况，在未达到参照位置时及时调整锁舌进行移动直至达到抬起状态，以保证对锁舌控制的及时性和准确性，从而有效地实现对该解锁控制阶段的高效控制，提升了解锁机构在解锁控制过程的整体控制效率。
本发明还提供一种锁止机构的锁止控制系统，通过将电池包的锁轴安装于电动汽车的锁止机构内以安装所述电池包于电动汽车的底部，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，所述锁止控制系统包括：
第一位置状态获取模块，用于获取所述锁舌对应的第一位置状态；
第一判断模块，用于根据所述第一位置状态判断所述锁舌处于锁止状态，若是，则调用第一驱动模块；
所述第一驱动模块用于驱动所述保护锁伸出以对所述锁舌进行限位锁止。
较佳地，所述第一位置状态获取模块用于采用视觉传感器采集所述锁舌对应的第一目标图像，并根据所述目标图像获取所述锁舌对应的所述第一位置信息；和/或，
采用定位传感器获取所述锁舌对应的所述第一位置信息；
所述第一判断模块用于判断所述第一位置信息是否为第一预设锁止位置，若是，则确定所述锁舌达到锁止状态，并调用所述第一驱动模块驱动所述保护锁伸出以对所述锁舌进行限位锁止；若否，则确定所述锁舌未达到锁止状态，并调用第二驱动模块以驱动所述锁舌旋转直至达到所述第一预设锁止位置。
较佳地，所述第一位置状态获取模块还用于获取所述保护锁对应的第二位置状态；
所述第一判断模块用于根据所述第二位置状态判断所述保护锁是否处于锁止状态，若否，则调用所述第一驱动模块驱动所述保护锁继续伸出直至对所述锁舌进行限位锁止；若是，则调用第一所述驱动模块控制所述保护锁停止伸出动作。
较佳地，所述第一位置状态获取模块用于采用视觉传感器采集所述保护锁对应的第二目标图像，并根据所述第二目标图像获取所述保护锁对应的所述第二位置信息；
和/或，采用定位传感器获取所述保护锁的所述第二位置信息；
所述第一判断模块用于判断所述第二位置信息是否为第二预设锁止位置，若否，则确定所述保护锁未达到锁止状态，并调用所述第一驱动模块驱动所述保护锁继续伸出直 至对所述锁舌进行限位锁止；若是，则确定所述保护锁达到锁止状态，并调用所述第一驱动模块控制所述保护锁停止伸出动作。
较佳地，所述第一位置状态获取模块还用于获取所述保护锁对应的第三位置状态；
所述第一判断模块还用于根据所述第三位置状态判断所述保护锁是否处于解锁状态，若否，则控制所述保护锁缩回直至解除对所述锁舌的限位锁止。
较佳地，所述第一位置状态获取模块还用于采用视觉传感器采集所述保护锁对应的第三目标图像，根据所述第三目标图像获取所述保护锁对应的第三位置信息；
和/或，采用定位传感器获取所述保护锁的第三位置信息；
所述第一判断模块还用于判断所述第三位置信息是否为第三预设锁止位置，若否，则确定所述保护锁未处于解锁状态，并调用所述第一驱动模块控制所述保护锁缩回直至解除对所述锁舌的限位锁止。
本发明还提供一种锁止机构的解锁控制系统，通过将电池包的锁轴从电动汽车的锁止机构内移出以拆卸位于电动汽车底部的电池包，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，其特征在于，所述解锁控制系统包括：
第二位置状态获取模块，用于获取所述保护锁对应的第四位置状态；
第二判断模块，用于根据所述第四位置状态判断所述保护锁处于解锁状态，若否，则调用第一驱动模块控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则调用第二驱动模块以驱动所述锁舌旋转以进行解锁。
较佳地，所述第二位置状态获取模块用于采用视觉传感器采集所述保护锁对应的第四目标图像，并根据所述第四目标图像获取所述保护锁对应的所述第四位置信息；
和/或，采用定位传感器获取所述保护锁的所述第四位置信息；
所述第二判断模块用于判断所述第四位置信息是否为第一预设解锁位置，若否，则确定所述保护锁未达到解锁状态，则调用第一驱动模块控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则确定所述保护锁达到解锁状态，并调用第二驱动模块驱动所述锁舌旋转以进行解锁。
较佳地，所述第二位置状态获取模块还用于获取所述锁舌对应的第五位置状态；
所述第二判断模块还用于根据所述第五位置状态判断所述锁舌是否处于解锁状态，若否，则继续驱动所述锁舌旋转以达到解锁状态；若是，则控制所述锁舌停止旋转动作。
较佳地，所述第二位置状态获取模块用于采用视觉传感器采集所述锁舌对应的第五目标图像，并根据所述第五目标图像获取所述锁舌对应的所述第五位置信息；
和/或，采用定位传感器获取所述锁舌的所述第五位置信息；
所述第二判断模块用于判断所述第五位置信息是否为第二预设解锁位置，若否，则确定所述锁舌未达到解锁状态，并继续调用所述第二驱动模块驱动所述锁舌旋转以达到所述第二预设解锁位置；若是，则确定所述锁舌达到解锁状态，并调用所述第二驱动模块控制所述锁舌停止旋转动作。
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。
本发明的积极进步效果在于：
本发明中，通过保护锁与锁舌之间的相互配合控制，保证了锁止和解锁操作过程的稳定性和可靠性，能够满足更高的使用需求；同时通过视觉传感器实时采集锁舌、保护锁所在位置处对应的图像，并基于采集图像获取锁舌、保护锁对应的位置信息，或采用定位传感器及时采集获取锁舌、保护锁的位置信息，以及时确定锁舌、保护锁是否达到预设位置以准确确定到位情况，从而实现对锁止或解锁过程的精确控制，有效地提高了锁止控制和解锁控制的效率，减小了锁止或解锁所需等待的时长，满足了更高的使用需求。
附图说明
图1为本发明的锁止机构与保护锁的组合结构图。
图2为本发明的保护锁机构的整体结构示意图。
图3为本发明的保护锁机构与锁基座的位置关系的结构示意图。
图4为本发明实施例1的锁止机构的锁止控制方法的流程图。
图5为本发明实施例2的锁止机构的锁止控制方法的第一流程图。
图6为本发明实施例2的锁止机构的锁止控制方法的第二流程图。
图7为本发明实施例2的锁止机构的锁止控制方法的第三流程图。
图8为本发明实施例3的锁止机构的解锁控制方法的流程图。
图9为本发明实施例4的锁止机构的解锁控制方法的第一流程图。
图10为本发明实施例4的锁止机构的解锁控制方法的第二流程图。
图11为本发明实施例5的锁止机构的锁止控制系统的结构示意图。
图12为本发明实施例7的锁止机构的解锁控制系统的结构示意图。
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。
如图1-3所示本发明中电池包的锁止机构的具体结构。
下面大致介绍该锁止机构：
通过将电池包的锁轴安装于电动汽车的锁止机构内以安装电池包于电动汽车的底部，通过将电池包的锁轴从电动汽车的锁止机构内移出以拆卸位于电动汽车底部的电池包。
具体地，锁止机构包括锁基座，该锁基座包括锁体25(即基座本体)，该锁体为矩形，在锁体25的正面设置有凹向锁体25内部的锁槽，该锁基座还包括锁舌槽以及安装在锁舌槽内的锁舌24，且锁舌槽与锁槽连通，锁舌24活动装在锁舌槽内；另外，锁舌24通过弹簧部件26固定在锁基座上，锁舌24与锁基座之间设有弹簧部件26，用于向锁舌24施加向锁止方向转动的作用力。
该锁轴30包括带有固定孔的轴座34，和垂直设置在轴座34表面的轴杆31，该轴杆用于插入锁基座的锁槽内进行锁定，即锁槽用于供电池包的锁轴进入并锁定，锁舌通过固定件可转动设于基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开锁轴进出锁槽的通道。
锁止机构还包括保护锁，用于电池包的解锁和锁止。具体地，该保护锁机构包括锁销102动力销(图中未示出)，动力销作用于锁销102，动力销能够相对于锁销102运动以与锁销102相接合或相分离，当动力销与锁销相分离时，施加给锁销沿缩回方向的作用力，以使锁销处于缩回状态(解除对锁舌24的限位锁止)；当动力销与锁销相接合时，使得锁销处于伸出状态(限制锁舌24向解锁状态转动)。
实施例1
如图4所示，本实施例的锁止机构的锁止控制方法包括：
S101、获取锁舌对应的第一位置状态；
S102、根据第一位置状态判断锁舌处于锁止状态，若是，则驱动保护锁伸出以对锁舌进行限位锁止。
通过实时获取锁止机构的锁舌所在位置并判断该位置是否表示锁舌处于锁止状态(即落下)，一旦确定锁舌处于锁止状态则及时驱动保护锁伸出以对锁舌进行限位锁止，避免处于锁止状态的锁舌因误解锁或意外作用力向解锁状态转动，保证了对锁止机构的锁止控制的及时性和准确性，减少了锁止过程所需等待的时长，有效地提高了锁止控制 效率；
同时，采用保护锁与锁舌之间的相互配合控制，即在电池包的锁轴到达锁止位置，通过控制锁舌到达锁止状态来对锁轴进行限位，再自动控制保护锁执行锁止操作以对锁舌进行限位，从而保证了锁止操作过程的稳定性和可靠性，能够满足更高的使用需求。
本实施例中，通过实时获取锁止机构的锁舌所在位置并判断该位置是否表示锁舌处于锁止状态，一旦确定锁舌处于锁止状态则驱动保护锁伸出以对锁舌进行限位锁止，通过保护锁与锁舌之间的相互配合控制，保证了锁止操作过程的稳定性和可靠性，能够满足更高的使用需求。
实施例2
本实施例的锁止机构的锁止控制方法是对实施例1的进一步改进，具体地：
如图5所示，步骤S101包括：
S1011、采用视觉传感器采集锁舌对应的第一目标图像；
S1012、根据目标图像获取锁舌对应的第一位置信息；和/或，采用定位传感器获取锁舌对应的第一位置信息；
步骤S102包括：
S1021、判断第一位置信息是否为第一预设锁止位置，若否，则确定锁舌未达到锁止状态，并驱动锁舌旋转直至达到第一预设锁止位置；若是，则确定锁舌达到锁止状态，并驱动保护锁伸出以对锁舌进行限位锁止。
其中，在锁止控制之前基于视觉传感器预先采集并存储用于表征锁舌处于对应锁止位置的参照锁止图像，并采用图像处理技术对参照锁止图像进行识别分析处理，以及时提取出每张参照锁止图像中锁舌对应的参照位置(如相对于锁止机构的锁基座的相对位置)即预设锁止位置；或直接采用定位传感器分别获取锁舌以及锁止机构的锁基座位置信息，并将锁舌相对于锁基座的相对位置作为预设锁止位置。
采用视觉传感器实时跟踪拍摄电池包的锁舌在锁止控制阶段对应的锁止图像，并采用图像处理技术对锁止图像进行识别分析处理，以及时提取出锁止图像中锁舌对应的位置信息；比对实时采集的锁止图像中锁舌对应的位置信息是否在参照位置出以准确确定锁舌在该锁止控制阶段的到位情况，在未达到参照位置时及时调整锁舌进行移动，并对移动后的锁舌对应的锁止图像进行及时采集、分析与比对，不断重复上述调整操作以保证对锁舌控制的及时性和准确性；或采用定位传感器实时采集得到锁舌对应的位置信息，并比对该位置信息与参考位置信息；在未达到参照位置时及时调整锁舌进行移动，重新获取移动后的锁舌对应的位置信息，不断重复上述调整操作直至锁舌移动至锁止位置， 以保证对保护锁控制的及时性和准确性，从而有效地实现对该锁止控制阶段的高效控制，提升了该锁止控制过程的整体控制效率。
在控制保护锁伸出以对锁舌进行限位锁止时，步骤S102之后还包括：
S103、获取保护锁对应的第二位置状态；
S104、根据第二位置状态判断保护锁是否处于锁止状态，若否，则驱动保护锁继续伸出直至对锁舌进行限位锁止；若是，则控制保护锁停止伸出动作。
保护锁在执行伸出操作后，存在虽然伸出但是没有伸出到位的情况，从而导致无法有效地对锁舌进行限位锁止的效果；为了避免上述情况发生，通过实时采集保护锁的位置信息，并及时比对该位置信息是否表明该保护锁处于锁止状态来控制保护锁时继续执行伸出操作还是已经到位并停止伸出，从而达到及时确定并控制保护锁到达锁住状态，以保证锁止控制的及时性和精确性的效果。
具体地，如图6所示，步骤S103包括：
S1031、采用视觉传感器采集保护锁对应的第二目标图像；
S1032、根据第二目标图像获取保护锁对应的第二位置信息；和/或，采用定位传感器获取保护锁的第二位置信息；
步骤S104包括：
S1041、判断第二位置信息是否为第二预设锁止位置，若否，则确定保护锁未达到锁止状态，并驱动保护锁继续伸出直至对锁舌进行限位锁止；若是，则确定保护锁达到锁止状态，并控制保护锁停止伸出动作。
其中，在锁止控制之前基于视觉传感器预先采集并存储用于表征保护锁处于对应锁止位置的参照锁止图像，并采用图像处理技术对参照锁止图像进行识别分析处理，以及时提取出每张参照锁止图像中保护锁对应的参照位置(如相对于锁止机构的锁基座的相对位置)即预设锁止位置；或直接采用定位传感器分别获取保护锁以及锁止机构的锁基座位置信息，并将保护锁相对于锁基座的相对位置作为预设锁止位置。
采用视觉传感器实时跟踪拍摄电池包的保护锁在锁止控制阶段对应的锁止图像，并采用图像处理技术对锁止图像进行识别分析处理，以及时提取出锁止图像中保护锁对应的位置信息；比对实时采集的锁止图像中保护锁对应的位置信息是否在参照位置出以准确确定保护锁在该锁止控制阶段的到位情况，在未达到参照位置时及时调整保护锁进行移动，并对移动后的保护锁对应的锁止图像进行及时采集、分析与比对，不断重复上述调整操作以保证对保护锁控制的及时性和准确性；或采用定位传感器实时采集得到保护锁对应的位置信息，并比对该位置信息与参考位置信息；在未达到参照位置时及时调整 保护锁进行移动，重新获取移动后的保护锁对应的位置信息，不断重复上述调整操作以保证对保护锁控制的及时性和准确性，从而有效地实现对该锁止控制阶段的高效控制，提升了该锁止控制过程的整体控制效率。
另外，如图7所示，步骤S101之前包括：
S10101、获取保护锁对应的第三位置状态；
S10102、根据第三位置状态判断保护锁是否处于解锁状态，若否，则控制保护锁缩回直至解除对锁舌的限位锁止。
在对控制锁舌放下或抬起操作之前，需要确保对其限位的保护锁处于解锁状态，具体通过及时获取保护锁的位置以确定是否表征处于解锁状态，在保护锁处于锁止状态时及时控制其缩回以解除对锁舌的限位，通过该对保护锁状态的判断操作，保证了锁止控制过程的精准性和有效性。
具体地，步骤S10101包括：
采用视觉传感器采集保护锁对应的第三目标图像；
根据第三目标图像获取保护锁对应的第三位置信息；和/或，采用定位传感器获取保护锁的第三位置信息；
步骤S10102包括：
判断第三位置信息是否为第三预设锁止位置，若否，则确定保护锁未处于解锁状态，并控制保护锁缩回直至解除对锁舌的限位锁止。
通过基于视觉传感器实时跟踪拍摄电池包的保护锁在锁止控制阶段对应的锁止图像获取保护锁对应的位置信息，或采用定位传感器实时采集得到保护锁对应的位置信息，然后实时比对该位置信息是否在参照位置出以准确确定保护锁在该锁止控制阶段的到位情况，在未达到参照位置时及时调整保护锁进行移动直至达到解锁状态，以保证对保护锁控制的及时性和准确性，从而有效地实现对该锁止控制阶段的高效控制，提升了该锁止控制过程的整体控制效率。
本实施例中，在需要对锁止结构进行锁止操作前，先判断保护锁是否处于解锁状态，若是则控制锁舌转动至锁止状态，并在确定锁舌达到锁止状态时，控制保护锁伸出以对锁舌进行限位锁止，进而判断保护锁是否处于锁止状态，若是则完成锁止操作，即通过保护锁与锁舌之间的相互配合控制，保证了锁止操作过程的稳定性和可靠性，能够满足更高的使用需求；同时通过视觉传感器实时采集锁舌、保护锁所在位置处对应的图像，并基于采集图像获取锁舌、保护锁对应的位置信息，或采用定位传感器及时采集获取锁舌、保护锁的位置信息，以及时确定锁舌、保护锁是否达到预设位置以准确确定到位情 况，从而实现对锁止过程的精确控制，有效地提高了锁止控制的效率，减小了锁止所需等待的时长，满足了更高的使用需求。
实施例3
如图8所示，本实施例的锁止机构的解锁控制方法包括：
S201、获取保护锁对应的第四位置状态；
S202、根据第四位置状态判断保护锁处于解锁状态，若否，则控制保护锁缩回以解除对锁舌的限位锁止；若是，则驱动锁舌旋转以进行解锁。
锁止机构处于锁止状态下时，保护锁处于伸出状态(即锁止状态)以对锁舌进行限位。为了保障解锁控制的安全性，需要先控制保护锁缩回以解除对锁舌的限位，才可以执行后续的解锁操作。通过实时获取保护锁的位置信息，并基于位置信息判断其是否属于缩回状态(即解锁状态)，一旦确定保护锁处于缩回状态则立即控制锁舌旋转以进行解锁，从而保证了对锁止机构的解锁控制的及时性和准确性，减少了解锁过程所需等待的时长，有效地提高了解锁控制效率。
本实施例中，通过实时获取保护锁所在位置并判断该位置是否表示其处于解锁状态，并在保护锁处于锁止状态时控制保护锁缩回以解除对锁舌的限位锁止，并驱动锁舌旋转以进行解锁，通过保护锁与锁舌之间的相互配合控制，保证了解锁操作过程的稳定性和可靠性，能够满足更高的使用需求。
实施例4
本实施例的锁止机构的锁止解锁方法是对实施例3的进一步改进，具体地：
如图9所示，步骤S201包括：
S2011、采用视觉传感器采集保护锁对应的第四目标图像；
S2012、根据第四目标图像获取保护锁对应的第四位置信息；和/或，采用定位传感器获取保护锁的第四位置信息；
步骤S202包括：
S2021、判断第四位置信息是否为第一预设解锁位置，若否，则确定保护锁未达到解锁状态，并控制保护锁缩回以解除对锁舌的限位锁止；若是，则确定保护锁达到解锁状态，并驱动锁舌旋转以进行解锁。
其中，在解锁控制之前基于视觉传感器预先采集并存储用于表征保护锁处于对应解锁位置的参照解锁图像，并采用图像处理技术对参照解锁图像进行识别分析处理，以及时提取出每张参照解锁图像中保护锁对应的参照位置(如相对于解锁机构的锁基座的相对位置)即预设解锁位置；或直接采用定位传感器分别获取保护锁以及解锁机构的锁基 座位置信息，并将保护锁相对于锁基座的相对位置作为预设解锁位置。
采用视觉传感器实时跟踪拍摄电池包的保护锁在解锁控制阶段对应的解锁图像，并采用图像处理技术对解锁图像进行识别分析处理，以及时提取出解锁图像中保护锁对应的位置信息；比对实时采集的解锁图像中保护锁对应的位置信息是否在参照位置出以准确确定保护锁在该解锁控制阶段的到位情况，在未达到参照位置时及时调整保护锁进行移动，并对移动后的保护锁对应的解锁图像进行及时采集、分析与比对，不断重复上述调整操作以保证对保护锁控制的及时性和准确性；或采用定位传感器实时采集得到保护锁对应的位置信息，并比对该位置信息与参考位置信息；在未达到参照位置时及时调整保护锁进行移动，重新获取移动后的保护锁对应的位置信息，不断重复上述调整操作直至保护锁移动至解锁位置，以保证对保护锁控制的及时性和准确性，从而有效地实现对该解锁控制阶段的高效控制，提升了解锁机构在解锁控制过程的整体控制效率。
在驱动锁舌旋转以进行解锁时，步骤S202之后还包括：
S203、获取锁舌对应的第五位置状态；
S204、根据第五位置状态判断锁舌是否处于解锁状态，若否，则继续驱动锁舌旋转以达到解锁状态；若是，则控制锁舌停止旋转动作。
为了及时且准确地确定锁舌是否抬起以保证锁止控制的精确性，通过实时采集锁舌对应的位置信息，并在该实时位置未表征其在解锁状态时继续驱动锁舌抬起，从而实现对锁止结构在该解锁控制阶段的及时且精确控制，减少了解锁过程所需等待的时长，提高了对该阶段的锁止过程的控制效率。
具体地，如图10所示，步骤S203包括：
S2031、采用视觉传感器采集锁舌对应的第五目标图像；
S2032、根据第五目标图像获取锁舌对应的第五位置信息；和/或，采用定位传感器获取锁舌的第五位置信息；
步骤S204包括：
S2041、判断第五位置信息是否为第二预设解锁位置，若否，则确定锁舌未达到解锁状态，并继续驱动锁舌旋转以达到第二预设解锁位置；若是，则确定锁舌达到解锁状态，并控制锁舌停止旋转动作。
通过基于视觉传感器实时跟踪拍摄电池包的锁舌在解锁控制阶段对应的解锁图像获取锁舌对应的位置信息，或采用定位传感器实时采集得到锁舌对应的位置信息，然后实时比对该位置信息是否在参照位置出以准确确定锁舌在该解锁控制阶段的到位情况，在未达到参照位置时及时调整锁舌进行移动直至达到抬起状态，以保证对锁舌控制的及时 性和准确性，从而有效地实现对该解锁控制阶段的高效控制，提升了解锁机构在解锁控制过程的整体控制效率。
本实施例中，在需要对锁止结构进行解锁操作前，先判断保护锁是否处于解锁状态，若是则控制锁舌转动至解锁状态，并在确定锁舌达到解锁状态时，完成解锁操作，通过保护锁与锁舌之间的相互配合控制，保证了解锁操作过程的稳定性和可靠性，能够满足更高的使用需求；同时通过视觉传感器实时采集锁舌、保护锁所在位置处对应的图像，并基于采集图像获取锁舌、保护锁对应的位置信息，或采用定位传感器及时采集获取锁舌、保护锁的位置信息，以及时确定锁舌、保护锁是否达到预设位置以准确确定到位情况，从而实现对解锁过程的精确控制，有效地提高了解锁控制的效率，减小了解锁所需等待的时长，满足了更高的使用需求。
实施例5
如图11所示，本实施例的锁止机构的锁止控制系统包括第一位置状态获取模块1、第一判断模块2和第一驱动模块3。
第一位置状态获取模块1用于获取锁舌对应的第一位置状态；
第一判断模块2用于根据第一位置状态判断锁舌处于锁止状态，若是，则调用第一驱动模块3；
第一驱动模块3用于驱动保护锁伸出以对锁舌进行限位锁止。
其中各个锁止控制阶段对应的原理与效果可以参考实施例1的锁止机构的锁止控制方法，因此对应内容就不再赘述。
本实施例中，本实施例中，通过实时获取锁止机构的锁舌所在位置并判断该位置是否表示锁舌处于锁止状态，一旦确定锁舌处于锁止状态则驱动保护锁伸出以对锁舌进行限位锁止，通过保护锁与锁舌之间的相互配合控制，保证了锁止操作过程的稳定性和可靠性，能够满足更高的使用需求。
实施例6
本实施例的锁止机构的锁止控制系统是对实施例5的进一步改进，具体地：
第一位置状态获取模块1用于采用视觉传感器采集锁舌对应的第一目标图像，并根据目标图像获取锁舌对应的第一位置信息；和/或，采用定位传感器获取锁舌对应的第一位置信息；
第一判断模块2用于判断第一位置信息是否为第一预设锁止位置，若是，则确定锁舌达到锁止状态，并调用第一驱动模块3驱动保护锁伸出以对锁舌进行限位锁止；若否，则确定锁舌未达到锁止状态，并调用第二驱动模块以驱动锁舌旋转直至达到第一预设锁 止位置。
第一位置状态获取模块1还用于获取保护锁对应的第二位置状态；
第一判断模块2用于根据第二位置状态判断保护锁是否处于锁止状态，若否，则调用第一驱动模块3驱动保护锁继续伸出直至对锁舌进行限位锁止；若是，则调用第一驱动模块3控制保护锁停止伸出动作。
第一位置状态获取模块1用于采用视觉传感器采集保护锁对应的第二目标图像，并根据第二目标图像获取保护锁对应的第二位置信息；和/或，采用定位传感器获取保护锁的第二位置信息；
第一判断模块2用于判断第二位置信息是否为第二预设锁止位置，若否，则确定保护锁未达到锁止状态，并调用第一驱动模块3驱动保护锁继续伸出直至对锁舌进行限位锁止；若是，则确定保护锁达到锁止状态，并调用第一驱动模块3控制保护锁停止伸出动作。
第一位置状态获取模块1还用于获取保护锁对应的第三位置状态；
第一判断模块2还用于根据第三位置状态判断保护锁是否处于解锁状态，若否，则控制保护锁缩回直至解除对锁舌的限位锁止。
具体地，第一位置状态获取模块1还用于采用视觉传感器采集保护锁对应的第三目标图像，根据第三目标图像获取保护锁对应的第三位置信息；和/或，采用定位传感器获取保护锁的第三位置信息；
第一判断模块2还用于判断第三位置信息是否为第三预设锁止位置，若否，则确定保护锁未处于解锁状态，并调用第一驱动模块3控制保护锁缩回直至解除对锁舌的限位锁止。
其中各个锁止控制阶段对应的原理与效果可以参考实施例2的锁止机构的锁止控制方法，因此对应内容就不再赘述。
本实施例中，在需要对锁止结构进行锁止操作前，先判断保护锁是否处于解锁状态，若是则控制锁舌转动至锁止状态，并在确定锁舌达到锁止状态时，控制保护锁伸出以对锁舌进行限位锁止，进而判断保护锁是否处于锁止状态，若是则完成锁止操作，即通过保护锁与锁舌之间的相互配合控制，保证了锁止操作过程的稳定性和可靠性，能够满足更高的使用需求；同时通过视觉传感器实时采集锁舌、保护锁所在位置处对应的图像，并基于采集图像获取锁舌、保护锁对应的位置信息，或采用定位传感器及时采集获取锁舌、保护锁的位置信息，以及时确定锁舌、保护锁是否达到预设位置以准确确定到位情况，从而实现对锁止过程的精确控制，有效地提高了锁止控制的效率，减小了锁止所需 等待的时长，满足了更高的使用需求。
实施例7
如图12所示，本实施例的锁止机构的解锁控制系统包括第二位置状态获取模块4、第二判断模块5、第一驱动模块3和第二驱动模块6。
第二位置状态获取模块4用于获取保护锁对应的第四位置状态；
第二判断模块5用于根据第四位置状态判断保护锁处于解锁状态，若否，则调用第一驱动模块3控制保护锁缩回以解除对锁舌的限位锁止；若是，则调用第二驱动模块6以驱动锁舌旋转以进行解锁。
其中各个解锁控制阶段对应的原理与效果可以参考实施例3的锁止机构的解锁控制方法，因此对应内容就不再赘述。
本实施例中，通过实时获取保护锁所在位置并判断该位置是否表示其处于解锁状态，并在保护锁处于锁止状态时控制保护锁缩回以解除对锁舌的限位锁止，并驱动锁舌旋转以进行解锁，通过保护锁与锁舌之间的相互配合控制，保证了解锁操作过程的稳定性和可靠性，能够满足更高的使用需求。
实施例8
本实施例的锁止机构的锁止解锁系统是对实施例7的进一步改进，具体地：
具体地，第二位置状态获取模块4用于采用视觉传感器采集保护锁对应的第四目标图像，并根据第四目标图像获取保护锁对应的第四位置信息；和/或，采用定位传感器获取保护锁的第四位置信息；
第二判断模块5用于判断第四位置信息是否为第一预设解锁位置，若否，则确定保护锁未达到解锁状态，则调用第一驱动模块3控制保护锁缩回以解除对锁舌的限位锁止；若是，则确定保护锁达到解锁状态，并调用第二驱动模块6驱动锁舌旋转以进行解锁。
第二位置状态获取模块4还用于获取锁舌对应的第五位置状态；
第二判断模块5还用于根据第五位置状态判断锁舌是否处于解锁状态，若否，则继续驱动锁舌旋转以达到解锁状态；若是，则控制锁舌停止旋转动作。
具体地，第二位置状态获取模块4用于采用视觉传感器采集锁舌对应的第五目标图像，并根据第五目标图像获取锁舌对应的第五位置信息；和/或，采用定位传感器获取锁舌的第五位置信息；
第二判断模块5用于判断第五位置信息是否为第二预设解锁位置，若否，则确定锁舌未达到解锁状态，并继续调用第二驱动模块6驱动锁舌旋转以达到第二预设解锁位置；若是，则确定锁舌达到解锁状态，并调用第二驱动模块6控制锁舌停止旋转动作。
其中各个解锁控制阶段对应的原理与效果可以参考实施例4的锁止机构的解锁控制方法，因此对应内容就不再赘述。
本实施例中，在需要对锁止结构进行解锁操作前，先判断保护锁是否处于解锁状态，若是则控制锁舌转动至解锁状态，并在确定锁舌达到解锁状态时，完成解锁操作，通过保护锁与锁舌之间的相互配合控制，保证了解锁操作过程的稳定性和可靠性，能够满足更高的使用需求；同时通过视觉传感器实时采集锁舌、保护锁所在位置处对应的图像，并基于采集图像获取锁舌、保护锁对应的位置信息，或采用定位传感器及时采集获取锁舌、保护锁的位置信息，以及时确定锁舌、保护锁是否达到预设位置以准确确定到位情况，从而实现对解锁过程的精确控制，有效地提高了解锁控制的效率，减小了解锁所需等待的时长，满足了更高的使用需求。
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，这仅是举例说明，本发明的保护范围是由所附权利要求书限定的。本领域的技术人员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，但这些变更和修改均落入本发明的保护范围。

Claims (12)

  1. 一种锁止机构的锁止控制方法，通过将电池包的锁轴安装于电动汽车的锁止机构内以安装所述电池包于电动汽车的底部，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，其特征在于，所述锁止控制方法包括：
    获取所述锁舌对应的第一位置状态；
    根据所述第一位置状态判断所述锁舌处于锁止状态，若是，则驱动所述保护锁伸出以对所述锁舌进行限位锁止。
  2. 如权利要求1所述的锁止机构的锁止控制方法，其特征在于，所述获取所述锁舌对应的第一位置状态的步骤包括：
    采用视觉传感器采集所述锁舌对应的第一目标图像；
    根据所述目标图像获取所述锁舌对应的所述第一位置信息；
    和/或，采用定位传感器获取所述锁舌对应的所述第一位置信息；
    所述根据所述第一位置状态判断所述锁舌处于锁止状态，若是，则驱动所述保护锁伸出以对所述锁舌进行限位锁止的步骤包括：
    判断所述第一位置信息是否为第一预设锁止位置，若否，则确定所述锁舌未达到锁止状态，并驱动所述锁舌旋转直至达到所述第一预设锁止位置；若是，则确定所述锁舌达到锁止状态，并驱动所述保护锁伸出以对所述锁舌进行限位锁止。
  3. 如权利要求1所述的锁止机构的锁止控制方法，其特征在于，所述驱动所述保护锁伸出以对所述锁舌进行限位锁止的步骤之后还包括：
    获取所述保护锁对应的第二位置状态；
    根据所述第二位置状态判断所述保护锁是否处于锁止状态，若否，则驱动所述保护锁继续伸出直至对所述锁舌进行限位锁止；若是，则控制所述保护锁停止伸出动作。
  4. 如权利要求3所述的锁止机构的锁止控制方法，其特征在于，所述获取所述保护锁对应的第二位置状态的步骤包括：
    采用视觉传感器采集所述保护锁对应的第二目标图像；
    根据所述第二目标图像获取所述保护锁对应的所述第二位置信息；
    和/或，采用定位传感器获取所述保护锁的所述第二位置信息；
    所述根据所述第二位置状态判断所述保护锁是否处于锁止状态，若否，则驱动所述保护锁继续伸出直至对所述锁舌进行限位锁止；若是，则控制所述保护锁停止伸出动作的步骤包括：
    判断所述第二位置信息是否为第二预设锁止位置，若否，则确定所述保护锁未达到锁止状态，并驱动所述保护锁继续伸出直至对所述锁舌进行限位锁止；若是，则确定所述保护锁达到锁止状态，并控制所述保护锁停止伸出动作。
  5. 如权利要求1所述的锁止机构的锁止控制方法，其特征在于，所述获取所述锁舌对应的第一位置信息的步骤之前还包括：
    获取所述保护锁对应的第三位置状态；
    根据所述第三位置状态判断所述保护锁是否处于解锁状态，若否，则控制所述保护锁缩回直至解除对所述锁舌的限位锁止。
  6. 如权利要求5所述的锁止机构的锁止控制方法，其特征在于，所述获取所述保护锁对应的第三位置状态的步骤包括：
    采用视觉传感器采集所述保护锁对应的第三目标图像；
    根据所述第三目标图像获取所述保护锁对应的第三位置信息；
    和/或，采用定位传感器获取所述保护锁的第三位置信息；
    所述根据所述第三位置状态判断所述保护锁是否处于解锁状态，若否，则控制所述保护锁缩回直至解除对所述锁舌的限位锁止的步骤包括：
    判断所述第三位置信息是否为第三预设锁止位置，若否，则确定所述保护锁未处于解锁状态，并控制所述保护锁缩回直至解除对所述锁舌的限位锁止。
  7. 一种锁止机构的解锁控制方法，通过将电池包的锁轴从电动汽车的锁止机构内移出以拆卸位于电动汽车底部的电池包，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，其特征在于，所述解锁控制方法包括：
    获取所述保护锁对应的第四位置状态；
    根据所述第四位置状态判断所述保护锁处于解锁状态，若否，则控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则驱动所述锁舌旋转以进行解锁。
  8. 如权利要求7所述的锁止机构的解锁控制方法，其特征在于，所述获取所述保护锁对应的第四位置状态的步骤包括：
    采用视觉传感器采集所述保护锁对应的第四目标图像；
    根据所述第四目标图像获取所述保护锁对应的所述第四位置信息；
    和/或，采用定位传感器获取所述保护锁的所述第四位置信息；
    所述根据所述第四位置状态判断所述保护锁处于解锁状态，若否，则控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则驱动所述锁舌旋转以进行解锁的步骤包括：
    判断所述第四位置信息是否为第一预设解锁位置，若否，则确定所述保护锁未达到解锁状态，并控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则确定所述保护锁达到解锁状态，并驱动所述锁舌旋转以进行解锁。
  9. 如权利要求7所述的锁止机构的解锁控制方法，其特征在于，所述驱动所述锁舌旋转以进行解锁的步骤之后还包括：
    获取所述锁舌对应的第五位置状态；
    根据所述第五位置状态判断所述锁舌是否处于解锁状态，若否，则继续驱动所述锁舌旋转以达到解锁状态；若是，则控制所述锁舌停止旋转动作。
  10. 如权利要求9所述的锁止机构的解锁控制方法，其特征在于，所述获取所述锁舌对应的第五位置状态的步骤包括：
    采用视觉传感器采集所述锁舌对应的第五目标图像；
    根据所述第五目标图像获取所述锁舌对应的所述第五位置信息；
    和/或，采用定位传感器获取所述锁舌的所述第五位置信息；
    所述根据所述第五位置状态判断所述锁舌是否处于解锁状态，若否，则继续驱动所述锁舌旋转以达到解锁状态；若是，则控制所述锁舌停止旋转动作的步骤包括：
    判断所述第五位置信息是否为第二预设解锁位置，若否，则确定所述锁舌未达到解锁状态，并继续驱动所述锁舌旋转以达到所述第二预设解锁位置；若是，则确定所述锁舌达到解锁状态，并控制所述锁舌停止旋转动作。
  11. 一种锁止机构的锁止控制系统，通过将电池包的锁轴安装于电动汽车的锁止机构内以安装所述电池包于电动汽车的底部，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，其特征在于，所述锁止控制系统包括：
    第一位置状态获取模块，用于获取所述锁舌对应的第一位置状态；
    第一判断模块，用于根据所述第一位置状态判断所述锁舌处于锁止状态，若是，则调用第一驱动模块；
    所述第一驱动模块用于驱动所述保护锁伸出以对所述锁舌进行限位锁止。
  12. 一种锁止机构的解锁控制系统，通过将电池包的锁轴从电动汽车的锁止机构内移出以拆卸位于电动汽车底部的电池包，所述锁止机构包括锁基座、锁舌和保护锁，所述锁基座包括基座本体以及设于所述基座本体上的锁槽，所述锁槽用于供电池包的锁轴进入并锁定，所述锁舌通过固定件可转动设于所述基座本体内，在锁止状态和解锁状态之间切换，以关闭或打开所述锁轴进出所述锁槽的通道，所述保护锁用于限制所述锁舌向解锁状态转动，其特征在于，所述解锁控制系统包括：
    第二位置状态获取模块，用于获取所述保护锁对应的第四位置状态；
    第二判断模块，用于根据所述第四位置状态判断所述保护锁处于解锁状态，若否，则调用第一驱动模块控制所述保护锁缩回以解除对所述锁舌的限位锁止；若是，则调用第二驱动模块以驱动所述锁舌旋转以进行解锁。
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