CN108928327B - Lifting control method, device, power exchange station, controller and medium - Google Patents

Abstract

The present invention relates to a lifting control method and device, as well as a power exchange station, a controller and a medium. The method includes step S1 , detecting whether the battery is separated from the body during the descent of the battery carried by the power exchange trolley, and if it is separated, the power exchange trolley continues to carry The battery is lowered to the height for transporting the battery, otherwise, go to step S2; step S2, adjust the height of the battery-changing trolley and adjust the plane on which the body is located, then the battery-changing trolley is lowered again, and returns to step S1. The present invention obtains a plane parallel to the plane of the vehicle body and the battery by monitoring whether the battery is hung during the battery swapping process, and adjusts the height of the vehicle body adaptively, thereby ensuring the normal separation of the battery and the vehicle body.

Description

Lifting control method, device, power exchange station, controller and medium

technical field

The invention relates to the technical field of electric vehicle battery swapping, in particular to a lifting control method and device, as well as a swapping station, a controller and a medium.

Background technique

With the continuous surge in global vehicle sales, the environmental problems brought about by fuel vehicles have become increasingly serious, and the need to protect the environment has become increasingly prominent. Electric vehicles have become the focus and trend of future development. Electric vehicles have inherent advantages in environmental protection, but compared with fuel vehicles, battery life and charging are also urgent issues that need to be solved. In order to continuously improve the battery life of electric vehicles, battery swapping has become an extremely fast, convenient, safe and effective method. The power battery of an electric vehicle (hereinafter referred to as the battery) is usually installed at the bottom of the vehicle body. Therefore, during the battery replacement process, the vehicle body needs to be lifted by a lifting mechanism, and then the battery is replaced by the battery replacement trolley.

The battery 2 is fixedly installed on the body 1 by connecting parts such as screws. In addition, there is usually a battery connector 4 (such as a water and electricity connector) at one end of the battery 2 to connect with the body. As shown in Figure 1, the battery swap trolley 3 unlocks the battery 2 During the process, at the moment when the battery 2 leaves the body 1, at the battery connector 4, the battery 2 may cause a certain amount of offset between the battery 2 and the body 1. The offset may cause the gap between the battery 2 and the body 1. There may be an inclination angle, resulting in a huge lateral pressure between the battery 2 and the body 1, so that the battery 2 cannot be separated from the body 1 normally. This situation is called "hanging the battery". Damaged battery connector 4. Therefore, how to realize the lift control during the power exchange process, ensure the normal separation of the battery from the body, and avoid damage to components such as water and electricity connectors, has become an urgent technical problem to be solved.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a lifting control method and device, as well as a power exchange station, a controller and a medium, to monitor whether the battery is hanging during the power exchange process, and to adjust the height of the vehicle body adaptively to obtain the plane phase of the vehicle body and the battery. parallel planes, thus ensuring the normal separation of the battery and the body.

In order to solve the above-mentioned technical problems, according to the first aspect of the present invention, a kind of lifting control method is provided, comprising:

Step S1, detecting whether the battery is separated from the body during the descending process of the battery-changing trolley. If it is separated, the battery-changing trolley continues to carry the battery and descend to the height for transporting the battery, otherwise, go to step S2;

In step S2, the height of the battery-changing trolley is adjusted and the plane on which the vehicle body is located is adjusted. Then, the battery-changing trolley is lowered again with the battery, and the process returns to step S1.

Further, the detection of whether the battery is separated from the vehicle body during the descent of the battery-carrying trolley includes the following steps:

Real-time detection of the height of the battery swap trolley;

When the battery swap trolley descends to a preset first height, the distance between different points on the lower surface of the battery and the upper surface of the battery swap trolley is detected. The critical height value of ;

According to the detected distance between different points on the lower surface of the battery and the upper surface of the battery swap car and a preset distance threshold, determine whether the battery is separated from the body;

Wherein, the side of the battery in contact with the battery-changing trolley is the lower surface of the battery, and the side of the battery-changing trolley that is in contact with the battery is the upper surface of the battery-changing trolley, and the distance threshold is based on the number and setting of the rangefinder. The value of the distance between the lower surface of the battery and the upper surface of the battery-changing trolley is set in the position of the battery-changing trolley and/or when the battery is normally separated from the body.

Further, the method further includes: if the battery is not separated from the vehicle body, one end of the battery corresponding to the point where the distance between the lower surface of the battery and the upper surface of the battery swap car is greater than the preset distance threshold is not separated from the vehicle body. The end is called the unseparated end.

Further, the detection of the distance between different points on the lower surface of the battery and the upper surface of the battery swap car includes the following steps:

More than two rangefinders are arranged on the upper surface of the battery-swapping trolley;

Each of the rangefinders measures the distance from a point on the lower surface of the battery to the upper surface of the battery swap cart.

Further, the setting of two or more rangefinders on the upper surface of the battery-swapping trolley includes:

The four corners of the battery are respectively provided with a rangefinder at the corresponding position on the upper surface of the battery-changing trolley,

Wherein, the range finder includes a laser range finder, an ultrasonic range finder and a proximity switch.

Further, the adjustment of the height of the battery-changing trolley and the adjustment of the plane where the body is located includes the following steps:

Controlling the battery swap cart to rise from the first height to the battery swap height, where the battery swap height is the height corresponding to when the battery swap cart unlocks the battery from the body;

The end of the body corresponding to the unseparated end is raised by a preset adjustment distance, and the adjustment distance is based on the length of the battery along the azimuth where the battery is not separated from the body, the height of the battery connector, and the relationship between the body lifting mechanism and the battery. The shape and size of the lift point that the body contacts are set.

Further, raising the end of the vehicle body corresponding to the unseparated end by a preset adjustment distance includes the following steps:

By controlling the lifting mechanism for lifting the vehicle, the end of the body corresponding to the unseparated end is raised by a preset adjustment distance.

Further, the lifting mechanism is a four-column lifting mechanism, including four columns evenly distributed on the bottom of the vehicle body, and during the initial lifting of the vehicle by the lifting mechanism, the four columns are in a synchronous mode;

The step of raising one end of the vehicle body corresponding to the unseparated end by a preset adjustment distance by controlling the lifting mechanism used to lift the vehicle includes the following steps:

controlling the four uprights to exit the synchronizing mode, the exiting the synchronizing mode comprising controlling two of the uprights to be in the synchronous mode or controlling each of the uprights to be in an individual control mode;

According to the orientation where the battery is not separated from the vehicle body, the two uprights corresponding to the orientation are controlled to rise simultaneously by a preset adjustment distance.

According to a second aspect of the present invention, a lift control device is provided, comprising:

The detection device is used to detect whether the battery is separated from the body during the descent of the battery carried by the battery-changing trolley;

The adjusting device is used to adjust the height of the battery-swapping trolley one or more times and adjust the plane where the vehicle body is located, so that the plane where the vehicle body is located reaches a position parallel to the battery plane, so as to complete the separation of the battery from the vehicle body.

Further, the detection device includes a height detector, a distance detection unit and a judgment mechanism, wherein:

The height detector is used to detect the height of the battery-changing trolley in real time, and when the battery-changing trolley drops to a preset first height, the distance detection unit is triggered to work;

The distance detection unit is used to detect the distance between different points on the lower surface of the battery and the upper surface of the battery swap car, and the first height is greater than or equal to a critical height value that damages the battery connector parts when the battery is not separated from the vehicle body;

The judging mechanism is used for judging whether the battery is separated from the vehicle body according to the distance between different points on the lower surface of the battery and the upper surface of the battery swap car and a preset distance threshold;

Wherein, the side of the battery in contact with the battery-changing trolley is the lower surface of the battery, and the side of the battery-changing trolley that is in contact with the battery is the upper surface of the battery-changing trolley, and the distance threshold is based on the number and setting of the rangefinder. The value of the distance between the lower surface of the battery and the upper surface of the battery-changing trolley is set in the position of the battery-changing trolley and/or when the battery is normally separated from the body.

Further, the judging mechanism is also used for judging the unseparated end when the battery is not separated from the vehicle body, specifically including:

If the battery is not separated from the vehicle body, the end of the battery corresponding to the point where the distance between the lower surface of the battery and the upper surface of the battery swap cart is greater than the preset distance threshold is determined as the non-separated end.

Further, the judging mechanism includes:

There are two or more rangefinders arranged on the upper surface of the battery-changing trolley, each of which measures the distance from a point on the lower surface of the battery to the upper surface of the battery-changing trolley.

Further, the judging mechanism includes four rangefinders, which are respectively arranged at the corresponding positions of the four corners of the battery on the upper surface of the battery-swapping trolley; wherein,

The range finder includes a laser range finder, an ultrasonic range finder and a proximity switch.

Further, the adjustment device includes:

a first adjustment mechanism, used to control the power-swap trolley to rise to a power-swap height, where the power-swap height is the height corresponding to when the power-swap cart unlocks the battery from the body;

The second adjustment mechanism lifts one end of the vehicle body corresponding to the unseparated end by a preset adjustment distance, and the adjustment distance is based on the length of the battery along the orientation where the battery is not separated from the vehicle body, the height of the battery connector, and The shape and size of the lift point where the body lift mechanism is in contact with the body is set.

Further, the second adjustment mechanism is also used for raising the end of the vehicle body corresponding to the unseparated end by a preset adjustment distance by controlling the lifting mechanism used to lift the vehicle.

Further, the lifting mechanism is a four-column lifting mechanism, including four columns evenly distributed with the bottom of the vehicle body, and the four columns are in a synchronous mode during the initial lifting of the vehicle by the lifting mechanism;

The second adjustment mechanism includes:

a first control unit, configured to control the four uprights to exit the synchronous mode, the exiting from the synchronous mode includes controlling two of the uprights to be in the synchronous mode or each of the uprights to be in an individual control mode;

The second control unit controls the two uprights corresponding to the azimuth to simultaneously rise by a preset adjustment distance according to the azimuth where the battery is not separated from the vehicle body.

According to a third aspect of the present invention, there is provided a power exchange station, including the lift control device, which is used to adjust the height of the power exchange trolley and adjust the plane where the vehicle body is located, so that the plane where the vehicle body is located reaches a position parallel to the battery plane, and the battery is completed. separation from the body.

According to a fourth aspect of the present invention, there is provided a controller comprising a memory and a processor, the memory storing a computer program capable of implementing the steps of the method when executed by the processor.

According to a fifth aspect of the present invention, there is provided a computer-readable storage medium for storing a computer program which, when executed by a computer or processor, implements the steps of the method.

Compared with the prior art, the present invention has obvious advantages and beneficial effects. With the above technical solutions, a lifting control method, device, power exchange station, controller and medium of the present invention can achieve considerable technical progress and practicability, and have extensive industrial value, and at least have the following advantages:

The present invention monitors whether the battery is hanging in the battery replacement process, and adjusts the height of the body adaptively to obtain a plane parallel to the battery plane, so as to ensure the normal separation of the battery and the body, and avoid damage to the battery during the battery replacement process. components such as water and electricity connections.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific preferred embodiments, and in conjunction with the accompanying drawings, are described in detail as follows.

Description of drawings

Figure 1 is a schematic diagram of the hanging battery situation when the battery cannot be normally separated from the body during the battery replacement process;

2 is a flowchart of a lifting control method provided by an embodiment of the present invention;

3 is a schematic diagram of a lifting control process provided by an embodiment of the present invention;

4 is a schematic diagram of a lift control device provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of a lift control device according to another embodiment of the present invention.

【Symbol Description】

1: Body 2: Battery

3: Battery swap trolley 4: Battery connector

5: Detection device 6: Adjustment device

51: Height detector 52: Distance detection unit

53: Judging Mechanism 61: First Adjusting Mechanism

62: Second adjustment mechanism

Detailed ways

In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following describes a lifting control method, a device, a power exchange station, a controller and a medium according to the present invention with reference to the accompanying drawings and preferred embodiments. The specific embodiment and its effect are described in detail as follows.

As shown in Figure 2, the present embodiment provides a kind of lifting control method, comprises the following steps:

Step S1: Detect whether the battery is separated from the body during the descending process of the battery-changing trolley. If it is separated, the battery-changing trolley continues to carry the battery down to the height H1 for transporting the battery, otherwise, go to step S2; wherein, the height H1 for the transporting battery refers to It is the height at which the battery-changing trolley is located when the battery is exchanged with the battery storage device of the battery-changing station.

In step S2, the height of the battery-changing trolley is adjusted and the plane on which the vehicle body is located is adjusted. Then, the battery-changing trolley is lowered again with the battery, and the process returns to step S1.

By performing steps S1 and S2, monitoring whether the battery is hanging during the battery replacement process, and by adaptively adjusting the height of the vehicle body, obtain the plane parallel to the battery plane, so as to ensure the normal separation of the battery and the vehicle body. Effectively avoid damage to the battery's water and electricity connectors and other components.

It should be noted that all the heights involved in the embodiments of the present invention are the heights from the bottom surface of the swap station. For example, the swap station is directly set on the ground, and the bottom surface of the swap station is the bottom surface, so all the heights are the heights from the ground. . In addition, the battery is usually fixed on the body by screws and other connectors, and one end of the battery is usually connected to the body with components such as water and electricity connectors, which are collectively referred to as battery connectors, such as water connectors and electrical connectors. The connector is used to connect with the water cooling system. During the process of unlocking the battery of the battery swap car, the battery is prone to hang at the battery connector, so that the battery is not separated from the body.

As an example, in step S1, detecting whether the battery is separated from the vehicle body during the lowering process of the battery-changing trolley includes the following steps:

Step S11, detecting the height of the battery-changing trolley in real time;

The battery-changing trolley can usually be connected to a lifting motor to realize lifting. In step S11, an encoder connected to the lifting motor of the battery-changing trolley can be set to collect the information of the lifting motor of the battery-changing trolley in real time, so as to obtain the information of the lifting motor of the battery-changing trolley in real time. The height of the electric trolley. As an example, the lift motor of the battery swap car can supply three-phase power, so that it will rotate at high frequency when encountering high-speed signs, rotate at medium frequency when encountering medium-speed signs, and rotate at low-frequency when encountering low-speed signs. The battery swap car can be a Rail Guide Vehicle (RGV for short).

Step S12, when the battery-swapping trolley descends to a preset first height H2, detect the distance between different points on the lower surface of the battery and the upper surface of the battery-swapping trolley, wherein the first height H2 needs to be greater than or equal to when the battery is not separated from the body. The critical height value h1 at which damage to the battery connector parts occurs. After the battery is unlocked, the battery is lowered by the battery swap car. When it drops to h1, if the battery is not separated from the body, it will damage the battery connector parts where the battery is not separated from the body.

As an example, in step S12, detecting the distance between different points on the lower surface of the battery and the upper surface of the battery swap car includes the following steps:

Step S121, setting more than two rangefinders on the upper surface of the battery-swapping trolley;

The range finder includes a laser range finder, an ultrasonic range finder, a proximity switch and other range finder devices. The above examples are all existing range finder devices, so their structural composition and working principle will not be repeated here. However, it can be understood that, the range finder according to the embodiment of the present invention is not limited to the above-mentioned several range-finding devices, and other range-finding devices may also be applicable to this. It should be noted that the specific number and specific positions of the rangefinders arranged on the upper surface of the battery-changing trolley are not limited. For example, two rangefinders can be set, which are located at the two ends of the center line parallel to the length of the battery on the upper surface of the battery-changing trolley. position; 3 rangefinders can also be set to be evenly distributed on the upper surface of the battery-changing trolley; 5 rangefinders can also be set to be evenly or unevenly distributed on the upper surface of the battery-changing trolley, etc. In actual use, it can be based on specific application requirements Adaptively adjust the number and setting positions of the rangefinders.

Step S122: Each range finder measures the distance between a point on the lower surface of the battery and the upper surface of the battery swap cart.

Steps S121-S122 will be described below through a specific example. In this example, four laser rangefinders are used, which are respectively installed when the battery swap car normally accepts the battery (that is, during the process of unlocking the battery by the battery swap car, the battery and the body are normal separation), the four corners of the battery are at the corresponding positions on the upper surface of the battery swap car, which are the first laser rangefinder LR_A, the second laser rangefinder LR_B, the third laser rangefinder LR_C, and the fourth laser rangefinder. LR_D is used to measure the distance between the four corner vertices of the lower surface of the battery and the upper surface of the battery swap car, and the corresponding measured values are set to LR_A, LR_B, LR_C and LR_D respectively.

Step S13 , according to the detected distance between different points on the lower surface of the battery and the upper surface of the battery swap car and a preset distance threshold d, determine whether the battery is separated from the vehicle body. Wherein, the side of the battery in contact with the battery-changing trolley is the lower surface of the battery, the side of the battery-changing trolley in contact with the battery is the upper surface of the battery-changing trolley, and the distance threshold d is based on the number of rangefinders, It is set at the position of the battery-changing trolley and/or the distance between the lower surface of the battery and the upper surface of the battery-changing trolley when the battery is normally separated from the body.

The step S13 further includes: if the battery is not separated from the vehicle body, one end of the battery corresponding to the point at which the distance between the lower surface of the battery and the upper surface of the battery swap car is greater than the preset distance threshold d is not separated from the vehicle body, and the end of the battery is not separated from the vehicle body. called the unseparated end. As an example, the battery is usually a long-direction structure. The battery includes the front end of the battery, the left end of the battery, the rear end of the battery, and the right end of the battery. The front of the car is the front end), and the right end of the battery is the end close to the right side of the car (the front of the car is the front).

Continuing to refer to the above specific example, when the battery-changing trolley descends to the preset first height H2, the four laser rangefinders feed back the distance between the four corner vertices of the small surface of the battery and the surface of the battery-changing trolley in real time, and set the end of the battery close to the front of the battery as The front end of the battery, the end of the battery near the rear of the car is set as the rear end of the battery, the first laser rangefinder LR_A and the second laser rangefinder LR_B are located at the front of the battery, and the third laser rangefinder LR_C and the fourth laser rangefinder LR_D are located at the battery At the back end, the second laser rangefinder LR_B is adjacent to the third laser rangefinder LR_C, and the first laser rangefinder LR_A is adjacent to the fourth laser rangefinder LR_D. The following examples are used to determine the battery and the orientation judge:

Example 1. The distance threshold d is set according to the distance between the lower surface of the battery and the upper surface of the battery swap car when the battery is normally separated from the body. In the measurement results, both LR_A and LR_B are greater than the distance threshold d, and both LR_C and LR_D in the measurement results are smaller than the distance threshold d. Equal to the distance threshold d, it can be seen that the battery hanging phenomenon occurs at the front end of the battery, so that the battery is not separated from the vehicle body.

Example 2. The distance threshold d is set according to the number of rangefinders, the position set on the battery-changing trolley, and the distance between the lower surface of the battery and the upper surface of the battery-changing trolley when the battery is normally separated from the body. LR_A and LR_B output a feedback value Value1, combined with LR_C and LR_D to output a feedback value Value2, and then compare the absolute value of (Value2-Value1) with the distance threshold d. If it is greater than the distance, it is judged that the battery is hanging on the front end of the battery. The battery is not separated from the body.

It should be noted that, according to the understanding of those of ordinary skill in the art, after detecting the distance between different points on the lower surface of the battery and the upper surface of the battery swap car, simple mathematical operations and/or geometric operations can be used, combined with the set distance. The threshold d can determine whether the lower surface of the battery is parallel to the upper surface of the battery swap car. If it is parallel, it is determined that the battery is separated from the body. If the lower surface of the battery is not parallel to the upper surface of the battery replacement car, it is determined that the battery is not separated from the body. Simple mathematical operations and/or geometric operations can be further used, combined with the set distance threshold d to determine the orientation where the battery is not separated from the vehicle body, that is, to determine which end of the battery is not separated from the vehicle body, and the phenomenon of hanging battery occurs.

As an example, step S2 includes the following steps:

Step S21, controlling the power-swap cart to rise from the first height H2 to the power-swap height H3, where the power-swap height H3 is the height corresponding to when the power-swap cart unlocks the battery from the body;

It should be noted that when the battery is hung up, it is necessary to raise the battery-changing trolley from the first height H2 to the battery-changing height H3, and then adjust the body to ensure that the battery connector is not damaged during the adjustment process, and the reliability is high. , If the battery swap cart is not raised from the first height H2 to the battery swap height H3, but is directly adjusted at other positions, since there is already lateral pressure on the battery hanging part itself, direct adjustment will cause the lateral pressure to continue to increase, thereby damaging the battery. connector.

Step S22: Raise one end of the vehicle body corresponding to the unseparated end by a preset adjustment distance h, and the adjustment distance h may be based on the length of the battery along the orientation where the battery and the vehicle body are not separated, the height of the battery connector and the length of the vehicle body. The shape and size of the lifting point where the lifting mechanism contacts the body is set. It should be noted that the normally set adjustment distance h can be adjusted once to separate the battery from the body when the battery hangs. If the separation of the battery and the body is not achieved, steps S1 to S2 need to be executed cyclically, and after several adjustments, the separation of the battery and the body is finally realized.

Wherein, as an example, step S22 may include the following steps:

Step S221 , by controlling the lifting mechanism for lifting the vehicle, the end of the vehicle body corresponding to the unseparated end is raised by a preset adjustment distance h.

As an example, the lifting mechanism is a four-column lifting mechanism, including four columns evenly distributed on the bottom of the vehicle body. During the initial lifting of the vehicle by the lifting mechanism, the four columns are in a synchronous mode, so The step S221 may specifically include the following steps:

Step S2211, controlling the four columns to exit the synchronization mode, the exiting the synchronization mode includes controlling two of the columns to be in the synchronization mode or controlling each column to be in an independent control mode;

Step S2212 , according to the azimuth where the battery and the vehicle body are not separated, control the two uprights corresponding to the azimuth to simultaneously rise by a preset adjustment distance h.

Continuing the above example, when the battery swap car unlocks the battery, the height of the four columns is M, the height of the battery swap car is H3, and when the battery swap car drops to the first height H2, after the judgment of the four laser rangefinders, the battery There is a phenomenon that the front end and the body are connected to the battery. Assuming that the adjustment distance h is 1cm, control the four columns to exit the synchronization mode, control the two columns at the front of the body to enter the synchronization mode, and control the two columns at the rear of the body to enter the synchronization mode. The two uprights at the end remain unchanged, and the two uprights at the front end of the body are controlled to rise by 1cm. Then, the battery-changing trolley is lowered again with the battery. If it meets the requirements, the battery will be separated from the body during the process of lowering the battery. Otherwise, the next adjustment will be performed until the battery is separated from the body. The specific process is shown in Figure 3. As a variation of the above example, the above adjustment can also be achieved by controlling the four uprights to independently control the modes, and then simultaneously controlling the two front uprights to rise by 1 cm, and controlling the rear two uprights to remain stationary. Among them, the four-column lifting mechanism can control the height of each column through the four-column lifting motor, and the four-column lifting mechanism can be connected to an encoder to feedback the current height of each column in real time. In this example, through the control system of laser ranging and servo motor, and by switching between synchronous and asynchronous modes, the height of the battery-changing trolley and the plane on which the body is located are adjusted, so as to effectively solve the problem of hanging batteries and ensure that the body and battery are normal. Separation, among them, the synchronous control mode has good synchronization and high precision, and independent control can carry out high-precision independent control. Through the feedback value of the laser rangefinder, the switching between synchronous and non-synchronous modes is controlled to realize the normal separation of the vehicle body and the battery. Avoid damage to the battery connector and improve the accuracy and efficiency of battery replacement.

The embodiment of the present invention also provides a lifting control device, as shown in FIG. 4 , including a detection device 5 and an adjustment device 6, wherein the detection device 5 is used to detect whether the battery is separated from the vehicle body during the descent of the battery carried by the battery-changing trolley; The device 6 is used to adjust the height of the battery-changing trolley one or more times and adjust the plane where the body is located, so that the plane where the body is located reaches a position parallel to the battery plane, completes the separation of the battery and the body, and the battery-changing trolley continues to carry the battery down to The height H1 for transporting the battery, wherein the height H1 for transporting the battery refers to the height at which the battery swapping trolley is located when the battery is exchanged with the battery storage device of the battery swapping station. The device monitors whether the battery is hung up during the power exchange process, and adaptively adjusts the height of the vehicle body through the adjustment device 6 to obtain the plane of the vehicle body that is parallel to the battery plane, thereby ensuring the normal separation of the battery and the vehicle body, and can effectively Avoid damaging the battery's water and electricity connectors and other components.

It should be noted that all the heights involved in the embodiments of the present invention are the heights from the bottom surface of the swap station. For example, the swap station is directly set on the ground, and the bottom surface of the swap station is the bottom surface, so all the heights are the heights from the ground. . In addition, the battery is usually fixed on the body by screws and other connectors, and one end of the battery is usually connected to the body with components such as water and electricity connectors, which are collectively referred to as battery connectors, such as water connectors and electrical connectors. The connector is used to connect with the water cooling system. During the process of unlocking the battery of the battery swap car, the battery is prone to hang at the battery connector, so that the battery is not separated from the body.

For example, as shown in FIG. 5 , the detection device 5 includes a height detector 51 , a distance detection unit 52 and a judgment mechanism 53 , wherein: the height detector 51 is used to detect the height of the battery swap cart in real time. At the first height H2, the distance detection unit 52 is triggered to work. The battery-changing trolley can usually be connected to a lifting motor to realize lifting. The distance detection unit 52 can collect the information of the lifting motor of the battery-changing trolley in real time by setting an encoder connected to the lifting motor of the battery-changing trolley, so as to obtain the information of the lifting motor of the battery-changing trolley in real time. The height of the electric trolley. As an example, the lift motor of the battery swap car can supply three-phase power, so that it will rotate at high frequency when encountering high-speed signs, rotate at medium frequency when encountering medium-speed signs, and rotate at low-frequency when encountering low-speed signs. The battery swap car can be a Rail Guide Vehicle (RGV for short).

The distance detection unit 52 is used to detect the distance between different points on the lower surface of the battery and the upper surface of the battery-swapping trolley. The first height H2 is greater than or equal to the critical height value h1 that damages the battery connector parts when the battery is not separated from the vehicle body; After the electric trolley unlocks the battery, the carrying battery goes down. When it descends to h1, if the battery is not separated from the body, the battery connector part where the battery is not separated from the body will be damaged.

The judging mechanism 53 is used to judge whether the battery is separated from the vehicle body according to the distance between different points on the lower surface of the battery and the upper surface of the battery swap car and a preset distance threshold d.

The judging mechanism 53 is also used for judging the non-separating end when the battery is not separated from the body, specifically including: if the battery is not separated from the body, the distance between the lower surface of the battery and the upper surface of the battery swap car is greater than the preset distance. The end of the battery corresponding to the distance threshold point is determined as the unseparated end. That is, it is determined which end of the battery is not separated from the vehicle body. Wherein, the side of the battery in contact with the battery-changing trolley is the lower surface of the battery, the side of the battery-changing trolley in contact with the battery is the upper surface of the battery-changing trolley, and the distance threshold d is set at the The position of the battery-changing trolley and/or the distance between the lower surface of the battery and the upper surface of the battery-changing trolley when the battery is normally separated from the body is set.

As an example, the judging mechanism 53 includes two or more rangefinders arranged on the upper surface of the battery-changing cart, each of which measures the distance from a point on the lower surface of the battery to the upper surface of the battery-changing cart. Wherein, the range finder includes a laser range finder, an ultrasonic range finder and a proximity switch and other range finder devices. The above examples are all existing distance measuring devices, so the structural composition and working principle thereof will not be repeated here. However, it can be understood that, the range finder according to the embodiment of the present invention is not limited to the above-mentioned range measurement devices, and other range measurement devices may also be applicable to this. It should be noted that the specific number and specific positions of the rangefinders arranged on the upper surface of the battery-changing trolley are not limited. For example, two rangefinders can be set, which are located at the two ends of the center line parallel to the length of the battery on the upper surface of the battery-changing trolley. position; 3 rangefinders can also be set to be evenly distributed on the upper surface of the battery-changing trolley; 5 rangefinders can also be set to be evenly or unevenly distributed on the upper surface of the battery-changing trolley, etc. In actual use, it can be based on specific application requirements Adaptively adjust the number and setting positions of the rangefinders.

For example, as shown in FIG. 5 , the adjustment device 6 includes a first adjustment mechanism 61 and a second adjustment mechanism 62 , wherein the first adjustment mechanism 61 is used to control the power-swap cart to rise to the power-swap height H3 , which is the power-swap height H3 The height corresponding to when the trolley unlocks the battery from the body; it should be noted that in the event of a battery hanging, the battery replacement trolley needs to be raised from the first height H2 to the battery replacement height H3, and then the body is adjusted, which can ensure the adjustment process. The middle battery connector is not damaged, and the reliability is high. If the battery swap cart is not raised from the first height H2 to the battery swap height H3, and is directly adjusted at other positions, since there is already lateral pressure on the battery hanging part, it will be adjusted directly. The lateral pressure continues to increase, thereby damaging the battery connector.

The second adjustment mechanism 62 raises one end of the vehicle body corresponding to the unseparated end by a preset adjustment distance h, and the adjustment distance h is based on the length of the battery along the direction in which the battery is not separated from the vehicle body, and the length of the battery connector The height and the shape and size of the lift point where the body lift mechanism contacts the body are set.

The second adjustment mechanism 62 is also used to raise the end of the vehicle body corresponding to the unseparated end by a preset adjustment distance h by controlling the lifting mechanism used to lift the vehicle. The adjustment distance h can be set according to the length of the battery along the azimuth where the battery and the body are not separated, the height of the battery connector, and the shape and size of the lifting point where the body lifting mechanism contacts the body. It should be noted that , The normally set adjustment distance h can be adjusted once by the adjustment device 6 to separate the battery from the vehicle body when the battery hangs up. , and finally realize the separation of the battery from the body.

As an example, the lifting mechanism is a four-column lifting mechanism, including four columns evenly distributed on the bottom of the vehicle body. During the initial lifting of the vehicle by the lifting mechanism, the four columns are in a synchronous mode.

The second adjustment mechanism 62 may include a first control unit and a second control unit, wherein the first control unit is configured to control the four uprights to exit the synchronizing mode, the exiting the synchronizing mode including controlling two of the uprights to be in the synchronizing mode or each The column is in an independent control mode; the second control unit controls the two columns corresponding to the orientation to simultaneously rise by a preset adjustment distance h according to the orientation where the battery is not separated from the vehicle body.

An embodiment of the present invention also provides a power swap station, including the lift control device according to the embodiment of the present invention, the lift control device is used to adjust the height of the battery swap cart and adjust the plane where the vehicle body is located so that the plane where the vehicle body is located reaches the level of the battery. In a parallel position, the separation of the battery and the body is completed, ensuring the smooth progress of the power exchange process, and improving the reliability and efficiency of the power exchange station for the vehicle.

An embodiment of the present invention further provides a controller, which includes a memory and a processor, wherein the memory stores a computer program, and when the program is executed by the processor, the steps of the lifting control method can be implemented.

Embodiments of the present invention further provide a computer-readable storage medium for storing a computer program, the program implementing the steps of the lifting control method when executed by a computer or a processor.

In the embodiment of the present invention, by monitoring whether the battery is hanging during the power exchange process, and by adaptively adjusting the height of the vehicle body, a plane parallel to the battery plane can be obtained, so as to ensure the normal separation of the battery and the vehicle body, and avoid damage during the power exchange process. The components such as the water and electricity connectors on the battery also improve the reliability and efficiency of the power exchange at the power exchange station.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. The technical personnel, within the scope of the technical solution of the present invention, can make some changes or modifications to equivalent examples of equivalent changes by using the technical content disclosed above, but any content that does not depart from the technical solution of the present invention, according to the Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solutions of the present invention.

Claims (17)

1. A lifting control method is characterized in that: the method comprises the following steps:

step S1, detecting whether the battery is separated from the vehicle body in the descending process of the battery carried by the battery replacing trolley, if so, continuing to descend the battery carried by the battery replacing trolley to the height of the conveyed battery, otherwise, performing step S2;

step S2, adjusting the height of the battery replacing trolley and the plane of the trolley body, then descending the battery replacing trolley with the battery again, and returning to the step S1;

the method for detecting whether the battery is separated from the vehicle body in the descending process of the battery carried by the battery replacing trolley comprises the following steps:

detecting the height of the battery replacing trolley in real time;

when the battery replacing trolley descends to a preset first height, detecting the distance between different points on the lower surface of the battery and the upper surface of the battery replacing trolley, wherein the first height is more than or equal to a critical height value for damaging a battery joint part when the battery is not separated from the trolley body;

judging whether the battery is separated from the vehicle body or not according to the detected distance between different points on the lower surface of the battery and the upper surface of the battery replacing trolley and a preset distance threshold value;

the distance threshold value is set according to the number of the distance measuring instruments, the position of the battery changing trolley and/or the distance value between the lower surface of the battery and the upper surface of the battery changing trolley under the condition that the battery is normally separated from the trolley body.

2. The lift control method according to claim 1, characterized in that:

further comprising: if the battery is not separated from the vehicle body, one end of the battery corresponding to a point, where the distance between the lower surface of the battery and the upper surface of the battery changing trolley is greater than the preset distance threshold value, is not separated from the vehicle body, and the end is called an unseparated end.

3. The lift control method according to claim 1, characterized in that:

the method for detecting the distance between different points on the lower surface of the battery and the upper surface of the battery replacing trolley comprises the following steps:

more than two distance meters are arranged on the upper surface of the battery replacing trolley;

and each distance meter measures the distance from one point on the lower surface of the battery to the upper surface of the battery replacing trolley.

4. The lift control method according to claim 3, wherein:

the trade electric dolly upper surface set up more than two distancers and include:

the four corners of the battery are respectively provided with one distance meter at the corresponding position of the upper surface of the battery changing trolley,

wherein, the distancer includes laser range finder, ultrasonic ranging appearance and proximity switch.

5. The lift control method according to claim 2, characterized in that:

the method for adjusting the height of the battery replacing trolley and adjusting the plane of the trolley body comprises the following steps:

controlling the battery replacing trolley to rise from the first height to a battery replacing height, wherein the battery replacing height is a height corresponding to the battery replacing trolley when the battery replacing trolley unlocks the battery from the trolley body;

and lifting one end of the vehicle body corresponding to the end which is not separated by a preset adjusting distance, wherein the adjusting distance is set according to the length of the battery along the direction in which the battery is not separated from the vehicle body, the height of a battery joint and the shape and size formed by the lifting point of the vehicle body lifting mechanism in contact with the vehicle body.

6. The lift control method according to claim 5, wherein:

the method is characterized in that a preset adjusting distance is raised for one end of the car body corresponding to the unseparated end, and the method comprises the following steps:

and lifting one end of the vehicle body corresponding to the end which is not separated by a preset adjusting distance by controlling a lifting mechanism for lifting the vehicle.

7. The lift control method according to claim 6, wherein:

the lifting mechanism is a four-upright lifting mechanism and comprises four uprights uniformly distributed at the bottom of the vehicle body, and the four uprights are in a synchronous mode in the initial vehicle lifting process of the lifting mechanism;

the method comprises the following steps of controlling a lifting mechanism for lifting a vehicle to lift one end of the vehicle body corresponding to the end which is not separated by a preset adjusting distance, wherein the step comprises the following steps:

controlling the four upright posts to exit from a synchronous mode, wherein the exiting from the synchronous mode comprises controlling two upright posts to be in the synchronous mode or controlling each upright post to be in an independent control mode;

and controlling the two upright posts corresponding to the position to simultaneously ascend for a preset adjusting distance according to the position where the battery is not separated from the vehicle body.

8. A kind of lifting control device, characterized by: the method comprises the following steps:

the detection device is used for detecting whether the battery is separated from the vehicle body in the descending process of the battery carried by the battery replacing trolley;

the adjusting device is used for adjusting the height of the battery replacing trolley and adjusting the plane of the vehicle body once or for multiple times to enable the plane of the vehicle body to reach a position parallel to the plane of the battery, so that the battery is separated from the vehicle body;

the detection device comprises a height detector, a distance detection unit and a judgment mechanism, wherein:

the height detector is used for detecting the height of the battery replacing trolley in real time, and when the battery replacing trolley descends to a preset first height, the distance detection unit is triggered to work;

the distance detection unit is used for detecting the distance between different points on the lower surface of the battery and the upper surface of the battery replacing trolley, and the first height is greater than or equal to a critical height value for damaging a battery joint part when the battery is not separated from the trolley body;

the judging mechanism is used for judging whether the battery is separated from the vehicle body or not according to the distance between different points on the lower surface of the battery and the upper surface of the battery replacing trolley and a preset distance threshold value;

the distance threshold value is set according to the number of the distance measuring instruments, the position of the battery changing trolley and/or the distance value between the lower surface of the battery and the upper surface of the battery changing trolley under the condition that the battery is normally separated from the trolley body.

9. The lift control device of claim 8, wherein:

judge the mechanism and still be used for when battery and automobile body do not separate, judge not separating the end, specifically include:

and if the battery is not separated from the vehicle body, judging one end of the battery corresponding to a point, with the distance between the lower surface of the battery and the upper surface of the battery replacing trolley being larger than the preset distance threshold value, as the non-separated end.

10. The lift control device of claim 8, wherein:

the judgment mechanism includes:

the distance measuring device comprises more than two distance measuring instruments arranged on the upper surface of the battery replacing trolley, and each distance measuring instrument is used for measuring the distance between one point on the lower surface of the battery and the upper surface of the battery replacing trolley.

11. The lift control device of claim 10, wherein:

the judging mechanism comprises four distance meters which are respectively arranged at the corresponding positions of the four corners of the battery on the upper surface of the battery replacing trolley; wherein,

the range finder comprises a laser range finder, an ultrasonic range finder and a proximity switch.

12. The lift control device of claim 8, wherein:

the adjusting device comprises:

the first adjusting mechanism is used for controlling the battery replacing trolley to ascend to a battery replacing height, and the battery replacing height is a height corresponding to the battery replacing trolley when the battery is unlocked from the trolley body;

and the second adjusting mechanism is used for lifting one end of the vehicle body corresponding to the end which is not separated by a preset adjusting distance, and the adjusting distance is set according to the length of the battery along the direction in which the battery is not separated from the vehicle body, the height of a battery joint and the shape and size formed by the lifting point of the vehicle body lifting mechanism in contact with the vehicle body.

13. The lift control device of claim 12, wherein:

the second adjusting mechanism is further used for lifting one end of the vehicle body corresponding to the end which is not separated by a preset adjusting distance by controlling a lifting mechanism used for lifting the vehicle.

14. The lift control device of claim 13, wherein:

the lifting mechanism is a four-upright lifting mechanism and comprises four uprights which are uniformly distributed at the bottom of the vehicle body, and the four uprights are in a synchronous mode in the initial vehicle lifting process of the lifting mechanism;

the second adjustment mechanism includes:

the first control unit is used for controlling the four stand columns to exit from a synchronous mode, wherein the exiting from the synchronous mode comprises controlling two stand columns to be in the synchronous mode or controlling each stand column to be in an independent control mode;

and the second control unit controls the two upright posts corresponding to the position to simultaneously ascend for a preset adjusting distance according to the position where the battery is not separated from the vehicle body.

15. A power conversion station comprising the lift control apparatus of any one of claims 8-14,

the lifting control device is used for adjusting the height of the battery replacing trolley and adjusting the plane of the trolley body to enable the plane of the trolley body to reach a position parallel to the plane of the battery, and the battery is separated from the trolley body.

16. A controller comprising a memory and a processor, wherein: the memory stores a computer program enabling to carry out the steps of the method of any one of claims 1 to 7 when executed by the processor.

17. A computer-readable storage medium storing a computer program, characterized in that: the program when executed by a computer or processor implements the steps of the method of any one of claims 1 to 7.

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