Control method, system, medium, device and charging and swapping station

Abstract

The present invention relates to the field of charging and swapping technology, and specifically to a control method, system, medium, device and charging and swapping station for a charging and swapping station. The present application aims to solve the problem that the charging and swapping station is prone to error reporting and shutdown when the temperature is low. To this end, the charging and swapping station of the present application includes a battery swapping device, and the battery swapping device includes a locking and unlocking mechanism, which is configured to be able to lock and unlock the battery locking mechanism by rotating its locking and unlocking head. The control method of the charging and swapping station includes: obtaining the station temperature in the charging and swapping station; comparing the station temperature with a preset temperature threshold; and selectively controlling the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result. The present application can realize the preheating of the locking and unlocking mechanism when the temperature is low, ensure the operating efficiency of the locking and unlocking mechanism, and avoid the frequent error reporting and shutdown under low temperature conditions.

Description

Technical Field

[0001] The present invention relates to the field of charging and swapping technology, and in particular to a control method, system, medium, device and charging and swapping station for a charging and swapping station. Background Art

[0002] With the rapid development of the electric vehicle industry, how to quickly recharge depleted batteries has become a focus of the industry. As an important recharge measure, battery replacement solutions are favored by the majority of users due to their short replacement process and minimal damage to the battery.

[0003] The battery swapping solution needs to be carried out in the charging and swapping station, and the temperature in the charging and swapping station will have a certain impact on the normal operation of the battery swapping device. In the cold winter or in areas with low temperatures, the low temperature will increase the operating torque of the servo motor of the battery swapping device, causing the operating torque of the servo motor to be too large, resulting in abnormal error reporting and shutdown of the charging and swapping station. Frequent false alarms not only affect the efficiency of battery swapping, but also affect the user experience.

[0004] Accordingly, the art needs a new technical solution to solve the above problems. Summary of the invention

[0005] In order to solve at least one of the above problems in the prior art, that is, to solve the problem that the charging and swapping station is prone to error shutdown when the temperature is low, the present application provides a control method for a charging and swapping station, the charging and swapping station includes a battery swapping device, the battery swapping device includes a locking and unlocking mechanism, the locking and unlocking mechanism is configured to lock and unlock the battery locking mechanism by rotating its locking and unlocking head, and the control method of the charging and swapping station includes:

[0006] Obtaining the temperature inside the charging and swapping station;

[0007] Comparing the temperature in the station with a preset temperature threshold;

[0008] According to the comparison result, the locking and unlocking mechanism is selectively controlled to rotate alternately forward and reverse.

[0009] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the step of "selectively controlling the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result" further includes:

[0010] When the temperature in the station is lower than the preset temperature threshold, determining whether a successful authentication signal of the vehicle to be replaced is received;

[0011] When the authentication success signal is received, the locking and unlocking mechanism is controlled to rotate forward and reverse alternately.

[0012] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the step of "selectively controlling the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result" further includes:

[0013] When the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is less than the preset temperature threshold and the authentication success signal is not received, the locking and unlocking mechanism is controlled to maintain a current state.

[0014] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the step of "controlling the locking and unlocking mechanism to rotate alternately forward and reverse" further includes:

[0015] The locking and unlocking mechanism is controlled to rotate alternately forward and reverse at a preset torque and a preset speed.

[0016] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, after the step of "controlling the locking and unlocking mechanism to rotate alternately forward and reverse", the control method further includes:

[0017] Determine whether the preset stop rotation condition is met;

[0018] When the stop rotation condition is met, the locking and unlocking mechanism is controlled to stop rotating.

[0019] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the stopping rotation condition includes at least one of the following conditions:

[0020] The temperature inside the charging and swapping station is greater than or equal to a preset temperature threshold;

[0021] Receive the battery replacement start signal.

[0022] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the charging and swapping station further includes a centering device, and the centering device is configured to perform a centering operation on the vehicle to be swapped, and the control method further includes:

[0023] After the temperature in the station is less than the preset temperature threshold and the centering device is started, obtaining the no-load running torque of the centering device;

[0024] Based on the no-load running torque, a no-load torque warning threshold is selectively increased.

[0025] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the step of "obtaining the no-load running torque of the centering device" further includes:

[0026] Acquire multiple no-load running torques of the centering device after startup;

[0027] The step of “selectively increasing the no-load torque warning threshold based on the no-load running torque” further includes:

[0028] Calculating a torque average based on the plurality of no-load running torques;

[0029] Comparing the torque mean value with a preset torque threshold value;

[0030] selectively increasing the no-load torque alarm threshold based on the comparison result;

[0031] Wherein, the preset torque threshold is smaller than the no-load torque alarm threshold.

[0032] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the step of "selectively increasing the no-load torque alarm threshold based on the comparison result" further includes:

[0033] If the torque mean is greater than or equal to the preset torque threshold, increasing the no-load torque alarm threshold;

[0034] If the torque mean is less than the preset torque threshold, the no-load torque alarm threshold is kept unchanged.

[0035] In the preferred technical solution of the control method of the above-mentioned charging and swapping station, the step of "calculating the torque mean based on the multiple no-load running torques" further includes:

[0036] Based on the multiple no-load running torques, screening out the no-load running torque in a preset time period after the centering device is started;

[0037] The torque mean is calculated based on the filtered no-load running torque.

[0038] The present application also provides a control system of a charging and swapping station, the charging and swapping station includes a battery swapping device, the battery swapping device includes a locking and unlocking mechanism, the locking and unlocking mechanism is configured to lock and unlock a battery locking mechanism by rotating a locking and unlocking head thereof, and the control system of the charging and swapping station includes:

[0039] An acquisition module, the acquisition module is configured to acquire the station temperature in the charging and swapping station;

[0040] A comparison module, wherein the comparison module is configured to compare the temperature in the station with a preset temperature threshold;

[0041] A control module is configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result.

[0042] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the control module is further configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result in the following manner:

[0043] When the temperature in the station is lower than the preset temperature threshold, determining whether a successful authentication signal of the vehicle to be replaced is received;

[0044] When the authentication success signal is received, the locking and unlocking mechanism is controlled to rotate forward and reverse alternately.

[0045] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the control module is further configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result in the following manner:

[0046] When the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is less than the preset temperature threshold and the authentication success signal is not received, the locking and unlocking mechanism is controlled to maintain a current state.

[0047] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the control module is further configured to control the locking and unlocking mechanism to rotate alternately forward and reverse in the following manner:

[0048] The locking and unlocking mechanism is controlled to rotate alternately forward and reverse at a preset torque and a preset speed.

[0049] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the control system also includes:

[0050] A judgment module, the judgment module being configured to judge whether a preset stop rotation condition is met after controlling the locking and unlocking mechanism to rotate forward and reverse alternately;

[0051] The control module is further configured to control the locking and unlocking mechanism to stop rotating when the stop rotation condition is met.

[0052] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the stopping rotation condition includes at least one of the following conditions:

[0053] The temperature inside the charging and swapping station is greater than or equal to a preset temperature threshold;

[0054] Receive the battery replacement start signal.

[0055] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the charging and swapping station further comprises a centering device, which is configured to perform a centering operation on the vehicle to be swapped.

[0056] The acquisition module is further configured to acquire the no-load running torque of the centering device after the temperature in the station is less than the preset temperature threshold and the centering device is started;

[0057] The control system further comprises:

[0058] A threshold modification module is configured to selectively increase an idle torque warning threshold based on the idle running torque.

[0059] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the acquisition module is further configured to acquire the no-load running torque of the centering device in the following manner:

[0060] Acquire multiple no-load running torques of the centering device after startup;

[0061] The control system further comprises:

[0062] a calculation module configured to calculate a torque average based on the plurality of no-load running torques;

[0063] The comparison module is further configured to compare the torque mean value with a preset torque threshold value;

[0064] The threshold modification module is further configured to selectively increase the no-load torque warning threshold based on the comparison result;

[0065] Wherein, the preset torque threshold is smaller than the no-load torque alarm threshold.

[0066] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the threshold modification module is further configured to selectively increase the no-load torque alarm threshold based on the comparison result in the following manner:

[0067] If the torque mean is greater than or equal to the preset torque threshold, increasing the no-load torque alarm threshold;

[0068] If the torque mean is less than the preset torque threshold, the no-load torque alarm threshold is kept unchanged.

[0069] In the preferred technical solution of the control system of the above-mentioned charging and swapping station, the calculation module is further configured to calculate the torque mean based on the multiple no-load running torques in the following manner:

[0070] Based on the multiple no-load running torques, screening out the no-load running torque in a preset time period after the centering device is started;

[0071] The torque mean is calculated based on the filtered no-load running torque.

[0072] The present application also provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the control method of the charging and swapping station described in any one of the above technical solutions.

[0073] The present application also provides a control device, comprising:

[0074] processor;

[0075] A memory, wherein the memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the control method of the charging and swapping station described in any one of the above technical solutions.

[0076] The present application also provides a charging and swapping station, which includes a battery swapping device, and the battery swapping device includes a locking and unlocking mechanism, which is configured to lock and unlock the battery locking mechanism by rotating its locking and unlocking head. The charging and swapping station also includes the above-mentioned control device.

[0077] In the preferred technical solution of the present application, by comparing the temperature in the station with the preset temperature threshold, and controlling the locking and unlocking mechanism to rotate alternately forward and reverse based on the comparison result, the locking and unlocking mechanism can be preheated when the temperature is low, ensuring the operating efficiency of the locking and unlocking mechanism and avoiding frequent error shutdowns under low temperature conditions. At the same time, since this control method does not require any additional hardware and can be implemented only by adjusting the software, it also saves costs and facilitates the automated operation of the charging and swapping station.

[0078] Furthermore, by controlling the alternating forward and reverse rotation of the locking and unlocking mechanism based on the authentication success signal of the vehicle to be replaced when the temperature in the station is lower than the preset temperature threshold, it is possible to reduce the ineffective preheating of the locking and unlocking mechanism and reduce the energy consumption of the charging and swapping station.

[0079] Furthermore, by controlling the unlocking and locking mechanism to stop rotating when the conditions for stopping rotation are met, high-precision preheating can be achieved, avoiding poor preheating effect due to insufficient preheating time, or slowing down the battery replacement rhythm due to too long preheating time.

[0080] Furthermore, by adjusting the no-load torque alarm threshold based on the no-load operating torque of the centering device when the temperature in the station is lower than the preset temperature threshold, the present application can also reduce false alarms of shutdown of the centering device during the battery replacement process, thereby further improving the battery replacement efficiency.

[0081] Furthermore, by calculating a torque average based on a plurality of no-load running torques and comparing the calculated torque average with a preset torque threshold, the calculation and comparison accuracy can be improved.

[0082] Furthermore, by screening out the no-load running torque in a preset time period after the centering device is started from multiple no-load running torques, and calculating the torque mean based on the screened no-load running torque, it is possible to filter out the sudden change in torque when the locking and unlocking mechanism is started and / or stopped, thereby improving the calculation accuracy of the torque mean.

[0083] Solution 1. A control method for a charging and swapping station, characterized in that the charging and swapping station includes a battery swapping device, the battery swapping device includes a locking and unlocking mechanism, and the locking and unlocking mechanism is configured to lock and unlock a battery locking mechanism by rotating a locking and unlocking head thereof, and the control method for the charging and swapping station includes:

[0084] Obtaining the temperature inside the charging and swapping station;

[0085] Comparing the temperature in the station with a preset temperature threshold;

[0086] According to the comparison result, the locking and unlocking mechanism is selectively controlled to rotate alternately forward and reverse.

[0087] Solution 2. The control method of the charging and swapping station according to Solution 1 is characterized in that the step of "selectively controlling the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result" further includes:

[0088] When the temperature in the station is lower than the preset temperature threshold, determining whether a successful authentication signal of the vehicle to be replaced is received;

[0089] When the authentication success signal is received, the locking and unlocking mechanism is controlled to rotate forward and reverse alternately.

[0090] Solution 3. The control method of the charging and swapping station according to Solution 2 is characterized in that the step of "selectively controlling the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result" further includes:

[0091] When the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is less than the preset temperature threshold and the authentication success signal is not received, the locking and unlocking mechanism is controlled to maintain a current state.

[0092] Solution 4. The control method of the charging and swapping station according to Solution 1 is characterized in that the step of "controlling the locking and unlocking mechanism to rotate alternately forward and reverse" further comprises:

[0093] The locking and unlocking mechanism is controlled to rotate alternately forward and reverse at a preset torque and a preset speed.

[0094] Solution 5. The control method of the charging and swapping station according to Solution 2 is characterized in that after the step of "controlling the locking and unlocking mechanism to rotate alternately forward and reverse", the control method further comprises:

[0095] Determine whether the preset stop rotation condition is met;

[0096] When the stop rotation condition is met, the locking and unlocking mechanism is controlled to stop rotating.

[0097] Solution 6. The control method of the charging and swapping station according to Solution 5 is characterized in that the stopping condition includes at least one of the following conditions:

[0098] The temperature inside the charging and swapping station is greater than or equal to a preset temperature threshold;

[0099] Receive the battery replacement start signal.

[0100] Solution 7. The control method of the charging and swapping station according to Solution 1 is characterized in that the charging and swapping station also includes a centering device, and the centering device is configured to perform a centering operation on the vehicle to be swapped, and the control method further includes:

[0101] After the temperature in the station is less than the preset temperature threshold and the centering device is started, obtaining the no-load running torque of the centering device;

[0102] Based on the no-load running torque, a no-load torque warning threshold is selectively increased.

[0103] Solution 8. The control method of the charging and swapping station according to Solution 7 is characterized in that the step of "obtaining the no-load running torque of the centering device" further includes:

[0104] Acquire multiple no-load running torques of the centering device after startup;

[0105] The step of “selectively increasing the no-load torque warning threshold based on the no-load running torque” further includes:

[0106] Calculating a torque average based on the plurality of no-load running torques;

[0107] Comparing the torque mean value with a preset torque threshold value;

[0108] selectively increasing the no-load torque alarm threshold based on the comparison result;

[0109] Wherein, the preset torque threshold is smaller than the no-load torque alarm threshold.

[0110] Solution 9. The control method of the charging and swapping station according to Solution 8 is characterized in that the step of "selectively increasing the no-load torque alarm threshold based on the comparison result" further includes:

[0111] If the torque mean is greater than or equal to the preset torque threshold, increasing the no-load torque alarm threshold;

[0112] If the torque mean is less than the preset torque threshold, the no-load torque alarm threshold is kept unchanged.

[0113] Solution 10. The control method of the charging and swapping station according to Solution 8 is characterized in that the step of "calculating the torque mean based on the multiple no-load running torques" further includes:

[0114] Based on the multiple no-load running torques, screening out the no-load running torque in a preset time period after the centering device is started;

[0115] The torque mean is calculated based on the filtered no-load running torque.

[0116] Solution 11. A control system for a charging and swapping station, characterized in that the charging and swapping station includes a battery swapping device, the battery swapping device includes a locking and unlocking mechanism, the locking and unlocking mechanism is configured to lock and unlock a battery locking mechanism by rotating its locking and unlocking head, and the control system of the charging and swapping station includes:

[0117] An acquisition module, the acquisition module is configured to acquire the station temperature in the charging and swapping station;

[0118] A comparison module, wherein the comparison module is configured to compare the temperature in the station with a preset temperature threshold;

[0119] A control module is configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result.

[0120] Solution 12. The control system of the charging and swapping station according to Solution 11 is characterized in that the control module is further configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result in the following manner:

[0121] When the temperature in the station is lower than the preset temperature threshold, determining whether a successful authentication signal of the vehicle to be replaced is received;

[0122] When the authentication success signal is received, the locking and unlocking mechanism is controlled to rotate forward and reverse alternately.

[0123] Solution 13. The control system of the charging and swapping station according to Solution 12 is characterized in that the control module is further configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result in the following manner:

[0124] When the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is less than the preset temperature threshold and the authentication success signal is not received, the locking and unlocking mechanism is controlled to maintain a current state.

[0125] Solution 14. The control system of the charging and swapping station according to Solution 11 is characterized in that the control module is further configured to control the locking and unlocking mechanism to rotate alternately forward and reverse in the following manner:

[0126] The locking and unlocking mechanism is controlled to rotate alternately forward and reverse at a preset torque and a preset speed.

[0127] Solution 15. The control system of the charging and swapping station according to Solution 12 is characterized in that the control system further includes:

[0128] A judgment module, the judgment module being configured to judge whether a preset stop rotation condition is met after controlling the locking and unlocking mechanism to rotate forward and reverse alternately;

[0129] The control module is further configured to control the locking and unlocking mechanism to stop rotating when the stop rotation condition is met.

[0130] Solution 16. The control system of the charging and swapping station according to Solution 15 is characterized in that the stop rotation condition includes at least one of the following conditions:

[0131] The temperature inside the charging and swapping station is greater than or equal to a preset temperature threshold;

[0132] Receive the battery replacement start signal.

[0133] Solution 17. The control system of the charging and swapping station according to Solution 11 is characterized in that the charging and swapping station also includes a centering device, which is configured to perform a centering operation on the vehicle to be swapped.

[0134] The acquisition module is further configured to acquire the no-load running torque of the centering device after the temperature in the station is less than the preset temperature threshold and the centering device is started;

[0135] The control system further comprises:

[0136] A threshold modification module is configured to selectively increase an idle torque warning threshold based on the idle running torque.

[0137] Solution 18. The control system of the charging and swapping station according to Solution 17 is characterized in that the acquisition module is further configured to acquire the no-load running torque of the centering device in the following manner:

[0138] Acquire multiple no-load running torques of the centering device after startup;

[0139] The control system further comprises:

[0140] a calculation module configured to calculate a torque average based on the plurality of no-load running torques;

[0141] The comparison module is further configured to compare the torque mean value with a preset torque threshold value;

[0142] The threshold modification module is further configured to selectively increase the no-load torque warning threshold based on the comparison result;

[0143] Wherein, the preset torque threshold is smaller than the no-load torque alarm threshold.

[0144] Solution 19. The control system of the charging and swapping station according to Solution 18 is characterized in that the threshold modification module is further configured to selectively increase the no-load torque alarm threshold based on the comparison result in the following manner:

[0145] If the torque mean is greater than or equal to the preset torque threshold, increasing the no-load torque alarm threshold;

[0146] If the torque mean is less than the preset torque threshold, the no-load torque alarm threshold is kept unchanged.

[0147] Solution 20. The control system of the charging and swapping station according to Solution 18 is characterized in that the calculation module is further configured to calculate the torque mean based on the multiple no-load running torques in the following manner:

[0148] Based on the multiple no-load running torques, screening out the no-load running torque in a preset time period after the centering device is started;

[0149] The torque mean is calculated based on the filtered no-load running torque.

[0150] Solution 21. A computer-readable storage medium storing a plurality of program codes, characterized in that the program codes are suitable for being loaded and run by a processor to execute the control method of a charging and swapping station described in any one of Solutions 1 to 10.

[0151] Solution 22. A control device, comprising:

[0152] processor;

[0153] A memory, wherein the memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the control method of the charging and swapping station described in any one of Schemes 1 to 10.

[0154] Scheme 23. A charging and swapping station, characterized in that the charging and swapping station includes a battery swapping device, the battery swapping device includes a locking and unlocking mechanism, the locking and unlocking mechanism is configured to lock and unlock a battery locking mechanism by rotating its locking and unlocking head, and the charging and swapping station also includes the control device described in Scheme 22. BRIEF DESCRIPTION OF THE DRAWINGS

[0155] The control method, system, medium, device and charging and swapping station of the present application are described below with reference to the accompanying drawings. In the accompanying drawings:

[0156] Figure 1 A top view of the parking platform of the charging and swapping station of the present application;

[0157] Figure 2 This is an assembly diagram of the battery replacement device of the present application;

[0158] Figure 3 This is a flow chart of the control method of the charging and swapping station of the present application;

[0159] Figure 4 This is a flow chart of another implementation of the control method of the charging and swapping station of the present application;

[0160] Figure 5 A logic diagram of the control method of the charging and swapping station of the present application;

[0161] Figure 6 A logic diagram of another implementation of the control method of the charging and swapping station of the present application;

[0162] Figure 7 System diagram of the control system of the charging and swapping station of the present application.

[0163] Reference numerals list

[0164] 1. Parking platform; 2. Roller device; 3. Centering device; 4. Battery replacement device; 41. Battery carrying platform; 42. Locking and unlocking mechanism;

[0165] 100. Control system of charging and swapping station; 110. Acquisition module; 120. Comparison module; 130. Control module; 140. Judgment module; 150. Threshold value modification module; 160. Calculation module. DETAILED DESCRIPTION

[0166] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0167] It should be noted that in the description of the present application, the terms "upper", "lower", "vertical", "horizontal" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0168] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0169] First refer to Figure 1 and Figure 2 , the charging and swapping station of the present application is described. Among them, Figure 1 A top view of the parking platform of the charging and swapping station of the present application; Figure 2 This is an assembly diagram of the battery replacement device of the present application.

[0170] like Figure 1 and Figure 2 As shown, in one embodiment, the charging and swapping station includes a parking platform 1, a centering device 3 and a battery swapping device 4.

[0171] The parking platform 1 is constructed of a metal frame and metal plates. Figure 1 one end (i.e. Figure 1 The lower end shown in the figure is the entrance, and the charging and swapping station has a door for vehicles to enter and exit at this end. The other end of the parking platform 1 along its length direction (i.e. Figure 1 Two roller devices 2 for supporting wheels are arranged near the two ends of the parking platform 1. The two roller devices 2 near the same end of the parking platform 1 extend in the width direction of the parking platform 1 (i.e. Figure 1 When the vehicle to be replaced drives to the parking platform 1, the front and rear wheels are supported and positioned by the roller device 2 respectively, so as to realize the positioning of the vehicle in the length direction. There is a certain gap between the parking platform 1 and the ground, which allows the battery replacement device 4 to carry the power battery in and out.

[0172] The vehicle centering device 3 includes a wheel push rod, and four wheel push rods are provided, and each two wheel push rods form a group, which are driven by a first driving mechanism. The first driving mechanism may include a servo motor and two screw nut assemblies, and the servo motor is simultaneously connected to the screws in the two screw nut assemblies, and the nuts in each screw nut assembly are respectively connected to a wheel push rod. In the present application, the four wheel push rods are respectively arranged at four roller devices 2, and can reciprocate along the width direction of the parking platform 1. Each wheel push rod pushes a wheel outward from the inner side of the wheel, and the four wheel push rods work together to achieve the centering positioning of the vehicle.

[0173] See also Figure 2 The battery exchange device 4 includes a battery carrying platform 41, a lifting mechanism (not shown in the figure) and a plurality of locking and unlocking mechanisms 42. The battery carrying platform 41 is used to carry the battery, the lifting mechanism is used to drive the battery carrying platform 41 to lift and lower, and the locking and unlocking mechanisms 42 are used to lock and unlock the battery. Specifically, the lifting mechanism can be a scissor lift, the battery carrying platform 41 is connected to the scissor lift, and the scissor lift drives the battery carrying platform 41 to lift and lower, so that the battery carrying platform 41 is close to or away from the chassis of the vehicle. The battery is fixedly connected to the chassis of the vehicle through the battery locking mechanism, and the locking and unlocking mechanism 42 is fixedly arranged on the battery carrying platform 41, which includes a second driving mechanism and a locking and unlocking head. The second driving mechanism drives the locking and unlocking head to lock and unlock the battery locking mechanism to achieve the installation and removal of the battery. The second driving mechanism includes a servo motor and a reducer, the servo motor is connected to the reducer in a transmission connection, and the reducer is connected to the locking and unlocking head in a transmission connection. Figure 2 In the battery exchange device 4 shown in the figure, ten locking and unlocking mechanisms 42 are provided, eight of which are arranged around the battery supporting platform 41 and two are arranged in the middle of the battery supporting platform 41.

[0174] In order to implement the following control method, the charging and swapping station of the present application is also provided with an upper computer and a lower computer. The upper computer is communicatively connected with the lower computer to send instructions to the lower computer. The lower computer is communicatively connected with the above-mentioned centering device 3 and the battery swapping device 4 to control the operation of the centering device 3 and the battery swapping device 4. In one embodiment, the upper computer can use the original main control system in the charging and swapping station, and the lower computer uses a PLC controller. Of course, those skilled in the art can also choose the specific setting method of the upper computer and the lower computer based on the specific application scenario. For example, the upper computer and the lower computer can also be controllers specifically used to execute the method of the present application, or they can be a functional module or functional unit of a general controller.

[0175] A temperature sensor is also provided in the charging and swapping station, and the temperature sensor is communicatively connected to the host computer, so that the host computer can obtain the temperature value in the charging and swapping station uploaded by the temperature sensor in real time.

[0176] Of course, the configuration of charging and swapping stations in the prior art is not limited to this. The above implementation is only for illustration and is not intended to limit the scope of protection of this application. Those skilled in the art can apply this application to other charging and swapping station scenarios without changing the principles of this application. For example, those skilled in the art can change the specific configuration of the above-mentioned battery swapping device 4, roller device 2, and centering device 3.

[0177] Refer to the following Figure 3 , the control method of the charging and swapping station of the present application is introduced. Among them, Figure 3 This is a flow chart of the control method of the charging and swapping station of the present application.

[0178] like Figure 3 As shown, in order to solve the problem that the charging and swapping station is prone to error shutdown when the temperature is low, the control method of the charging and swapping station of the present application includes:

[0179] S101, obtaining the station temperature in the charging and swapping station. For example, after the control method starts to be executed, the host computer obtains the temperature uploaded by the temperature sensor in real time, and uses the temperature as the station temperature in the following steps. Thereafter, the host computer uses the temperature uploaded by the temperature sensor as the station temperature every 5 minutes for the following steps.

[0180] S103, comparing the station temperature with a preset temperature threshold. For example, the preset temperature threshold is determined by experiment or experience, and after obtaining the station temperature, the station temperature is compared with the preset temperature threshold, such as by difference or ratio.

[0181] S105, based on the comparison result, selectively control the locking and unlocking mechanism to rotate alternately forward and reverse. For example, when the temperature inside the station is lower than the preset temperature threshold, it proves that the temperature inside the current charging and swapping station is relatively low, which will affect the operation effect of the locking and unlocking mechanism. At this time, the locking and unlocking mechanism is controlled to rotate alternately forward and reverse to preheat the locking and unlocking mechanism. On the contrary, if the temperature inside the station is greater than or equal to the preset temperature threshold, it proves that the temperature inside the current charging and swapping station is relatively high, and the operation effect of the locking and unlocking mechanism is stable. At this time, the locking and unlocking mechanism does not need to be preheated, and the locking and unlocking mechanism can be controlled to maintain the current state.

[0182] In the prior art, when a charging and swapping station is swapping batteries for a battery-swappable vehicle in a low-temperature environment, the locking and unlocking mechanism will generate an alarm of "locking and unlocking head stuck". After repeated research and analysis by the inventor, it is found that the reason for the alarm is that the no-load running torque of the locking and unlocking head (i.e., the no-load running torque of the servo motor that drives the locking and unlocking head, which can be calculated by the output current of the servo motor, etc.) is too large. During the unlocking process, the battery locking mechanism and the locking and unlocking head easily reach the preset locking and unlocking head alarm threshold, thereby generating an alarm. However, the present application compares the temperature in the station with the preset temperature threshold, and controls the locking and unlocking mechanism to rotate alternately forward and reverse based on the comparison result, so as to achieve preheating of the locking and unlocking mechanism when the temperature is low, ensure the operating efficiency of the locking and unlocking mechanism, and avoid the frequent error shutdown under low temperature conditions. At the same time, since the control method does not require the addition of any hardware and can be achieved only by adjusting the software, it also saves costs and facilitates the realization of the automated operation of the charging and swapping station.

[0183] The following is an introduction to the more preferred implementation methods of the present application.

[0184] In one embodiment, S105 further includes: when the temperature in the station is lower than a preset temperature threshold, determining whether an authentication success signal of the vehicle to be replaced is received; when the authentication success signal is received, controlling the locking and unlocking mechanism to rotate alternately forward and reverse; when the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is lower than the preset temperature threshold and no authentication success signal is received, controlling the locking and unlocking mechanism to maintain the current state.

[0185] Specifically, the preset temperature threshold can be any value between 13-17°C. In this application, 15°C is taken as an example. When the temperature inside the station obtained by the upper computer is less than 15°C, the temperature inside the charging and swapping station is low and the locking and unlocking mechanism needs to be preheated. At this time, it is further determined whether the authentication success signal is received to determine whether the vehicle to be replaced meets the battery replacement conditions. Among them, the authentication success signal refers to the signal indicating successful authentication received by the upper computer of the charging and swapping station during the mutual authentication process between the vehicle to be replaced and the charging and swapping station before the battery is replaced. When the authentication is passed, the upper computer sends a preheating signal to the lower computer. After receiving the preheating signal, the lower computer will control the locking and unlocking mechanism to rotate alternately forward and reverse to achieve preheating of the locking and unlocking mechanism. On the contrary, if the temperature inside the station is greater than or equal to 15°C, or although the temperature inside the station is less than 15°C but the vehicle authentication fails, it proves that there is no need to preheat the locking and unlocking mechanism. At this time, the upper computer does not need to send a preheating signal to the lower computer, and the locking and unlocking mechanism maintains the current state, that is, the locking and unlocking mechanism remains in a stopped state.

[0186] By controlling the alternating forward and reverse rotation of the locking and unlocking mechanism based on the authentication success signal of the vehicle to be replaced when the temperature inside the station is lower than the preset temperature threshold, it is possible to reduce the ineffective preheating of the locking and unlocking mechanism and reduce the energy consumption of the charging and swapping station.

[0187] Of course, those skilled in the art can also adjust the above-mentioned preheating condition based on specific application scenarios to improve the applicability of the control method of the present application. For example, it is possible to control the preheating of the locking and unlocking mechanism based only on the difference between the temperature in the station and the preset temperature threshold without determining whether the authentication signal is received.

[0188] In one embodiment, the step of "controlling the locking and unlocking mechanism to rotate alternately forward and reverse" further includes: controlling the locking and unlocking mechanism to rotate alternately forward and reverse at a preset torque and a preset speed.

[0189] Specifically, there are usually three types of servo motor control for the locking and unlocking mechanism: position control, torque control, and speed control. In this application, torque control and speed control are selected, and the forward and reverse alternating rotation of the locking and unlocking mechanism is controlled by setting the torque and speed of the servo motor of each locking and unlocking mechanism. For example, the preset torque can be any value between 30% and 40% of the rated idling torque of the servo motor, and the speed can be any value between 400r / min and 600r / min. For example, this application can control each locking and unlocking head to rotate alternately by one forward rotation and one reverse rotation by targeting 35% of the rated idling torque of the servo motor and 500r / min.

[0190] Of course, those skilled in the art may also select other control methods based on specific application scenarios, as long as the forward and reverse alternating rotation of the locking and unlocking mechanism can be achieved.

[0191] In one embodiment, after the step of "controlling the locking and unlocking mechanism to rotate forward and reverse alternately", the control method further includes: determining whether a preset stop rotation condition is met; when the stop rotation condition is met, controlling the locking and unlocking mechanism to stop rotating. Specifically, the stop rotation condition includes: the station temperature in the charging and swapping station is greater than or equal to a preset temperature threshold; or receiving a battery swap start signal.

[0192] For example, the preset temperature threshold is still 15°C. During the preheating process, the temperature inside the station continues to be obtained. When the temperature inside the station is greater than or equal to 15°C, it proves that the current locking and unlocking mechanism is in the normal temperature range, and its working effect is less affected by temperature. At this time, there is no need to continue preheating the locking and unlocking mechanism.

[0193] The battery swap start signal in this application can be a process signal received by the upper computer before the battery swap device is operated, for example, a centering completion signal of the centering device; for example, when an opening and closing door is set on the parking platform, it can be a closing signal of the opening and closing door; for example, when a lifting device is set on the parking platform, it can also be a lifting signal of the lifting device. When the opening and closing door is opened, the battery carrying platform of the battery swap device can extend from the opening and closing door and dock with the chassis of the vehicle to be swapped, thereby realizing the locking and unlocking operation of the battery. The lifting device is usually used to lift the chassis of the vehicle to be swapped, so as to achieve the leveling of the vehicle chassis and reserve battery swapping space for the battery swap device. When the battery swap start signal is received, it proves that the battery swap device is about to perform the preset battery swapping action, and there is no need to continue to preheat the locking and unlocking mechanism.

[0194] When either of the above two conditions is met, the locking and unlocking mechanism is controlled to stop rotating to stop preheating the locking and unlocking mechanism. Otherwise, when both of the above two conditions are not met, the current preheating state is maintained, and the locking and unlocking mechanism is continuously controlled to rotate alternately forward and reverse to preheat the locking and unlocking mechanism.

[0195] By controlling the unlocking mechanism to stop rotating when the conditions for stopping rotation are met, high-precision preheating can be achieved, avoiding poor preheating effect due to insufficient preheating time, or slowing down the battery replacement rhythm due to too long preheating time.

[0196] Of course, only one of the above two conditions can be used as a judgment condition, and those skilled in the art can make a choice based on specific application scenarios.

[0197] In one embodiment, the control method further includes: after the temperature in the station is less than a preset temperature threshold and the centering device is started, obtaining the no-load running torque of the centering device; based on the no-load running torque, selectively increasing the no-load torque alarm threshold.

[0198] Specifically, in the present application, it is preferred to obtain multiple no-load running torques of the centering device after startup, that is, to obtain the no-load running torque of the servo motor driving the wheel push rod, which can be calculated, for example, by the output current of the servo motor. When the centering device is started, the wheel push rod is driven by the servo drive motor to run no-load from the initial position to the vicinity of the wheel, and then the wheel push rod contacts the wheel and pushes the wheel to move and center. The present application obtains multiple no-load running torques of the centering device before the wheel push rod starts to run and contacts the wheel, for example, after the wheel push rod starts to run, a no-load running torque is obtained every 10ms.

[0199] In one embodiment, the step of "selectively increasing the no-load torque alarm threshold based on the no-load running torque" further includes: calculating the torque mean based on multiple no-load running torques; comparing the torque mean with the preset torque threshold; if the torque mean is greater than or equal to the preset torque threshold, increasing the no-load torque alarm threshold; if the torque mean is less than the preset torque threshold, keeping the no-load torque alarm threshold unchanged.

[0200] Specifically, after obtaining multiple no-load running torques, the torque mean is calculated based on the no-load running torques. Since the servo motor will generate a torque mutation when starting and stopping, in this application, after obtaining multiple no-load running torques, the no-load running torques in the preset time period after the centering device is started are first screened out, and then the torque mean is calculated based on the screened no-load running torques. For example, if the wheel push rod runs no-load for 2s, the obtained no-load running torques can be classified and stored, and the no-load running torques before 100ms are removed by filtering, and all no-load running torques between 100ms-2s are screened out, and then the mean of all the screened no-load running torques is calculated as the torque mean. For another example, the running torque of the wheel push rod can also be obtained until the wheel push rod contacts the wheel, and the torque generates a mutation, and then the no-load running torque of the partial time period between the startup torque mutation and the contact torque mutation is intercepted and the mean is calculated as the torque mean. Of course, the above two methods of intercepting the preset time periods are only examples. Technical personnel in this field can adjust them based on specific application scenarios, as long as they can effectively eliminate the impact of the torque mutation when the servo motor starts and the torque mutation when the wheel push rod contacts the tire on the results.

[0201] After calculating the torque mean, the torque mean is compared with the preset torque threshold; based on the comparison result, it is determined whether to adjust the no-load torque alarm threshold.

[0202] In the prior art, the no-load torque alarm threshold is usually preset. For example, the no-load torque alarm threshold can be associated with the centering torque alarm threshold of the wheel push rod pushing the wheel to center, and is set to 50% of the centering torque alarm threshold. The preset torque threshold in this application is smaller than the no-load torque alarm threshold, for example, 40% of the centering torque alarm threshold can be taken. If the above-calculated torque mean is greater than or equal to the preset torque threshold, it proves that the current temperature in the station is low, and the no-load running torque of the push rod is too high, which is prone to frequent errors. At this time, the no-load torque alarm threshold is increased to avoid frequent errors. For example, the no-load torque alarm threshold can be increased to 60% of the centering torque alarm threshold. On the contrary, if the torque mean is less than the preset torque threshold, it proves that although the temperature in the station is low, the no-load running torque of the push rod is in the normal range. At this time, the no-load torque alarm threshold is kept unchanged.

[0203] The applicant has found through research that when the battery is being replaced in a low-temperature environment, the torque of the push rod when it is running at no-load is likely to exceed the no-load torque alarm threshold. Once exceeded, the centering device will shut down and generate an "excessive torque" alarm, resulting in the failure of the push rod to position successfully. This application can reduce the false alarm of the centering device during the battery replacement process and further improve the battery replacement efficiency by adjusting the no-load torque alarm threshold based on the no-load operating torque of the centering device when the temperature in the station is less than the preset temperature threshold. By calculating the torque mean based on multiple no-load operating torques and comparing it with the preset torque threshold, the calculation and comparison accuracy can be improved. By screening out the no-load operating torque in a preset time period after the centering device is started from multiple no-load operating torques, and calculating the torque mean based on the screened no-load operating torque, the sudden torque when the locking and unlocking mechanism is started and / or stopped can be filtered out, thereby improving the calculation accuracy of the torque mean.

[0204] Of course, the above selective increase of the no-load torque alarm threshold based on the no-load running torque is only a more preferred implementation method. Without departing from the principle of the present application, those skilled in the art can adjust the above implementation process. For example, a single operating torque during the no-load operation process can be obtained as the no-load running torque for comparison and judgment with the preset torque threshold. For another example, it is also possible not to select a part from multiple no-load running torques for calculation. For another example, the no-load torque alarm threshold and the preset torque threshold can be set according to actual conditions, and do not have to be associated with the centering torque alarm threshold.

[0205] Refer to the following Figure 5 , a possible implementation method of the preheating process of the unlocking device is introduced. Figure 5 This is a logic diagram of the control method of the charging and swapping station of the present application.

[0206] like Figure 5 As shown, in a possible implementation:

[0207] S301, the host computer receives the temperature uploaded by the temperature sensor in real time, and determines the temperature uploaded by the temperature sensor as the station temperature T every 5 minutes, and then executes S303.

[0208] S303, determine whether T<15°C is established. If so, execute S305; otherwise, if not, execute S313.

[0209] S305, determine whether the authentication success signal of the vehicle to be replaced is received? If yes, execute S307; otherwise, if no, execute S313.

[0210] S307, setting the torque and speed of each locking and unlocking mechanism, and controlling each locking and unlocking mechanism to rotate forward and reverse alternately according to the respective torque and speed. Then executing S309.

[0211] S309, determine whether the station temperature T'≥15°C is established? Or whether the door closing signal is received? If either of the two is established, execute S311; otherwise, if neither is established, return to continue to execute S307.

[0212] S311, control all locking and unlocking mechanisms to stop rotating.

[0213] S313, controlling the locking and unlocking mechanism to maintain the current state.

[0214] See below Figure 6 , a possible implementation method of modifying the no-load torque alarm threshold of the centering device is introduced. Figure 6 This is a logic diagram of another implementation of the control method of the charging and swapping station of the present application.

[0215] like Figure 6 As shown, in a possible implementation:

[0216] S401, after the centering device starts to operate, a plurality of no-load operating torques P during the operation of the wheel push rod are obtained, and after data screening, a torque mean value Pn is calculated. Then S403 is executed.

[0217] S403, determine whether Pn≥40%Pd is established. If yes, execute S405; otherwise, if no, execute S407. Pd is the centering torque alarm threshold of the wheel push rod.

[0218] S405, adjusting the no-load torque alarm threshold value Ps=60% Pd.

[0219] S407, maintaining the no-load torque alarm threshold at the default value, ie, Ps=50%Pd.

[0220] Although the various steps in the above embodiment are described in the above-mentioned chronological order, those skilled in the art can understand that in order to achieve the effect of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple changes are within the scope of protection of this application.

[0221] Refer to the following Figure 7 , the control system of the charging and swapping station of the present application is introduced. Among them, Figure 7 This is a system diagram of the control system of the charging and swapping station of the present application.

[0222] like Figure 7As shown, in the control system 100 of the charging and swapping station of the present application, the charging and swapping station includes a battery swapping device, the battery swapping device includes a locking and unlocking mechanism, the locking and unlocking mechanism is configured to be able to lock and unlock the battery locking mechanism by rotating its locking and unlocking head, and the control system 100 of the charging and swapping station includes: an acquisition module 110, a comparison module 120 and a control module 130. The acquisition module 110 is configured to obtain the station temperature in the charging and swapping station; the comparison module 120 is configured to compare the station temperature with a preset temperature threshold; the control module 130 is configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result. In one embodiment, the description of the specific implementation function can be found in S101-S105.

[0223] In one embodiment, the control module 130 is further configured to selectively control the locking and unlocking mechanism to rotate forward and reverse alternately according to the comparison result in the following manner: when the temperature in the station is less than a preset temperature threshold, it is determined whether a successful authentication signal of the vehicle to be replaced is received; when the successful authentication signal is received, the locking and unlocking mechanism is controlled to rotate forward and reverse alternately. In one embodiment, the description of the specific implementation function can be found in the above method steps.

[0224] In one embodiment, the control module 130 is further configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result in the following manner: when the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is less than the preset temperature threshold and no authentication success signal is received, the locking and unlocking mechanism is controlled to maintain the current state. In one embodiment, the description of the specific implementation function can refer to the above method steps.

[0225] In one embodiment, the control module 130 is further configured to control the locking and unlocking mechanism to rotate alternately forward and reverse in the following manner: controlling the locking and unlocking mechanism to rotate alternately forward and reverse at a preset torque and a preset speed. In one embodiment, the description of the specific implementation function can refer to the above method steps.

[0226] In one embodiment, the control system 100 further includes: a judgment module 140, which is configured to judge whether a preset stop rotation condition is met after controlling the locking and unlocking mechanism to rotate forward and reverse alternately; the control module 130 is further configured to control the locking and unlocking mechanism to stop rotating when the stop rotation condition is met. In one embodiment, the description of the specific implementation functions can refer to the above method steps.

[0227] In one embodiment, the stop rotation condition includes at least one of the following conditions: the station temperature in the charging and swapping station is greater than or equal to a preset temperature threshold; a battery swap start signal is received. In one embodiment, the description of the specific implementation function can refer to the above method steps.

[0228] In one embodiment, the charging and swapping station further includes a centering device, which is configured to perform a centering operation on the vehicle to be swapped, and the acquisition module 110 is further configured to acquire the no-load running torque of the centering device after the temperature in the station is less than the preset temperature threshold and the centering device is started; the control system 100 also includes: a threshold modification module 150, which is configured to selectively increase the no-load torque alarm threshold based on the no-load running torque. In one embodiment, the description of the specific implementation function can be found in the above method steps.

[0229] In one embodiment, the acquisition module 110 is further configured to acquire the no-load running torque of the centering device in the following manner: acquiring multiple no-load running torques of the centering device after startup; the control system 100 further includes: a calculation module 160, the calculation module 160 is configured to calculate the torque mean based on multiple no-load running torques; the comparison module 120 is further configured to compare the torque mean with the preset torque threshold; the threshold modification module 150 is further configured to selectively increase the no-load torque alarm threshold based on the comparison result; wherein the preset torque threshold is less than the no-load torque alarm threshold. In one embodiment, the description of the specific implementation function can refer to the above method steps.

[0230] In one embodiment, the threshold modification module 150 is further configured to selectively increase the no-load torque alarm threshold based on the comparison result in the following manner: if the torque mean is greater than or equal to the preset torque threshold, the no-load torque alarm threshold is increased; if the torque mean is less than the preset torque threshold, the no-load torque alarm threshold is kept unchanged. In one embodiment, the description of the specific implementation function can refer to the above method steps.

[0231] In one embodiment, the calculation module 160 is further configured to calculate the torque mean based on the multiple no-load running torques in the following manner: based on the multiple no-load running torques, filter out the no-load running torques in a preset time period after the centering device is started; based on the filtered no-load running torques, calculate the torque mean. In one embodiment, the description of the specific implementation function can refer to the above method steps.

[0232] It should be noted that the safety protection system of the charging and swapping station provided in the above embodiment is only illustrated by the division of the above functional modules (such as acquisition module 110, comparison module 120, control module 130, judgment module 140, remaining modification module, calculation module 160, etc.). In practical applications, the above functional modules can be completed by different functional units as needed, that is, the functional modules in this embodiment can be decomposed or combined. For example, the functional modules in the above embodiment can be combined into one functional module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the functional modules involved in this embodiment are only for distinction and are not regarded as improper limitations on this application.

[0233] It is understood by those skilled in the art that the present invention implements all or part of the processes in the method of the above embodiment, and can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of each of the above method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium that can carry computer program code. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electric carrier signals and telecommunication signals.

[0234] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some or all components in a server or client according to an embodiment of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a PC program and a PC program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a PC readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0235] The present application also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present application, the computer-readable storage medium can be configured to store a program for executing the control method of the charging and swapping station of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the control method of the above-mentioned charging and swapping station. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present invention is a non-temporary computer-readable storage medium.

[0236] The present application also provides a control device. In a control device embodiment according to the present application, the control device includes a processor and a memory, the memory can be configured to store a program for executing the control method of the charging and swapping station of the above method embodiment, and the processor can be configured to execute the program in the memory, which includes but is not limited to the program for executing the control method of the charging and swapping station of the above method embodiment. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The control device may be a device formed by various electronic devices.

[0237] The present application also provides a charging and swapping station, which includes a battery swapping device, which includes a locking and unlocking mechanism, which is configured to lock and unlock the battery locking mechanism by rotating its locking and unlocking head, and the charging and swapping station also includes the above-mentioned control device.

[0238] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A control method for a charging and swapping station, characterized in that: The charging and swapping station includes a battery swapping device, the battery swapping device includes a locking and unlocking mechanism, the locking and unlocking mechanism is configured to lock and unlock a battery locking mechanism by driving a locking and unlocking head to rotate through a servo motor thereof, and the control method of the charging and swapping station includes: Obtaining the temperature inside the charging and swapping station; Comparing the temperature in the station with a preset temperature threshold; According to the comparison result, the locking and unlocking mechanism is selectively controlled to rotate forward and reverse alternately; The charging and swapping station further includes a centering device, which is configured to perform a centering operation on the vehicle to be swapped. The control method further includes: After the temperature in the station is lower than the preset temperature threshold and the centering device is started, obtaining the no-load running torque of the servo motor of the centering device; Based on the no-load running torque, a no-load torque warning threshold is selectively increased.

2. The control method of the charging and swapping station according to claim 1, characterized in that: The step of "selectively controlling the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result" further includes: When the temperature in the station is lower than the preset temperature threshold, determining whether a successful authentication signal of the vehicle to be replaced is received; When the authentication success signal is received, the locking and unlocking mechanism is controlled to rotate forward and reverse alternately.

3. The control method of the charging and swapping station according to claim 2, characterized in that: The step of "selectively controlling the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result" further includes: When the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is less than the preset temperature threshold and the authentication success signal is not received, the locking and unlocking mechanism is controlled to maintain a current state.

4. The control method of the charging and swapping station according to claim 1, characterized in that: The step of "controlling the locking and unlocking mechanism to rotate alternately forward and reverse" further includes: The locking and unlocking mechanism is controlled to rotate alternately forward and reverse at a preset torque and a preset speed.

5. The control method of the charging and swapping station according to claim 2, characterized in that: After the step of "controlling the locking and unlocking mechanism to rotate alternately forward and reverse", the control method further includes: Determine whether the preset stop rotation condition is met; When the stop rotation condition is met, the locking and unlocking mechanism is controlled to stop rotating.

6. The control method of the charging and swapping station according to claim 5, characterized in that: The stop rotation condition includes at least one of the following conditions: The temperature inside the charging and swapping station is greater than or equal to a preset temperature threshold; Receive the battery replacement start signal.

7. The control method of the charging and swapping station according to claim 1, characterized in that: The step of "obtaining the no-load running torque of the centering device" further comprises: Acquire multiple no-load running torques of the centering device after startup; The step of "selectively increasing the no-load torque warning threshold based on the no-load running torque" further includes: Calculating a torque average based on the plurality of no-load running torques; Comparing the torque mean value with a preset torque threshold value; selectively increasing the no-load torque alarm threshold based on the comparison result; Wherein, the preset torque threshold is smaller than the no-load torque alarm threshold.

8. The control method of the charging and swapping station according to claim 7, characterized in that: The step of "selectively increasing the no-load torque warning threshold based on the comparison result" further includes: If the torque mean is greater than or equal to the preset torque threshold, increasing the no-load torque alarm threshold; If the torque mean is less than the preset torque threshold, the no-load torque alarm threshold is kept unchanged.

9. The control method of the charging and swapping station according to claim 7, characterized in that: The step of "calculating a torque mean based on the plurality of no-load running torques" further comprises: Based on the multiple no-load running torques, screening out the no-load running torque in a preset time period after the centering device is started; The torque mean is calculated based on the filtered no-load running torque.

10. A control system for a charging and swapping station, characterized in that: The charging and swapping station includes a battery swapping device, and the battery swapping device includes a locking and unlocking mechanism, and the locking and unlocking mechanism is configured to lock and unlock the battery locking mechanism by driving the locking and unlocking head to rotate through its servo motor. The control system of the charging and swapping station includes: An acquisition module, the acquisition module is configured to acquire the station temperature in the charging and swapping station; A comparison module, wherein the comparison module is configured to compare the temperature in the station with a preset temperature threshold; A control module, the control module being configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result; The charging and swapping station further comprises a centering device, which is configured to perform a centering operation on the vehicle to be swapped. The acquisition module is further configured to acquire the no-load running torque of the servo motor of the centering device after the temperature in the station is less than the preset temperature threshold and the centering device is started; The control system further comprises: A threshold modification module is configured to selectively increase an idle torque warning threshold based on the idle running torque.

11. The control system of the charging and swapping station according to claim 10, characterized in that: The control module is further configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result in the following manner: When the temperature in the station is lower than the preset temperature threshold, determining whether a successful authentication signal of the vehicle to be replaced is received; When the authentication success signal is received, the locking and unlocking mechanism is controlled to rotate forward and reverse alternately.

12. The control system of the charging and swapping station according to claim 11, characterized in that: The control module is further configured to selectively control the locking and unlocking mechanism to rotate alternately forward and reverse according to the comparison result in the following manner: When the temperature in the station is greater than or equal to the preset temperature threshold, or when the temperature in the station is less than the preset temperature threshold and the authentication success signal is not received, the locking and unlocking mechanism is controlled to maintain a current state.

13. The control system of the charging and swapping station according to claim 10, characterized in that: The control module is further configured to control the locking and unlocking mechanism to rotate alternately forward and reverse in the following manner: The locking and unlocking mechanism is controlled to rotate alternately forward and reverse at a preset torque and a preset speed.

14. The control system of the charging and swapping station according to claim 11, characterized in that: The control system further comprises: A judgment module, the judgment module being configured to judge whether a preset stop rotation condition is met after controlling the locking and unlocking mechanism to rotate forward and reverse alternately; The control module is further configured to control the locking and unlocking mechanism to stop rotating when the stop rotation condition is met.

15. The control system of the charging and swapping station according to claim 14, characterized in that: The stop rotation condition includes at least one of the following conditions: The temperature inside the charging and swapping station is greater than or equal to a preset temperature threshold; Receive the battery replacement start signal.

16. The control system of the charging and swapping station according to claim 10, characterized in that: The acquisition module is further configured to acquire the no-load running torque of the centering device in the following manner: Acquire multiple no-load running torques of the centering device after startup; The control system further comprises: a calculation module configured to calculate a torque average based on the plurality of no-load running torques; The comparison module is further configured to compare the torque mean value with a preset torque threshold value; The threshold modification module is further configured to selectively increase the no-load torque warning threshold based on the comparison result; Wherein, the preset torque threshold is smaller than the no-load torque alarm threshold.

17. The control system of the charging and swapping station according to claim 16, characterized in that: The threshold modification module is further configured to selectively increase the no-load torque warning threshold based on the comparison result by: If the torque mean is greater than or equal to the preset torque threshold, increasing the no-load torque alarm threshold; If the torque mean is less than the preset torque threshold, the no-load torque alarm threshold is kept unchanged.

18. The control system of the charging and swapping station according to claim 16, characterized in that: The calculation module is further configured to calculate a torque mean value based on the plurality of no-load running torques in the following manner: Based on the multiple no-load running torques, screening out the no-load running torque in a preset time period after the centering device is started; The torque mean is calculated based on the filtered no-load running torque.

19. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the control method of the charging and swapping station according to any one of claims 1 to 9.

20. A control device, characterized in that: include: processor; A memory, wherein the memory is suitable for storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by the processor to execute the control method of the charging and swapping station according to any one of claims 1 to 9.

21. A charging and swapping station, characterized in that: The charging and swapping station includes a battery swapping device, and the battery swapping device includes a locking and unlocking mechanism, which is configured to lock and unlock the battery locking mechanism by rotating its locking and unlocking head. The charging and swapping station also includes the control device described in claim 20.

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