Battery case locking control system and control method

Abstract

The application provides a battery box locking control system and a control method, which are used for loading a battery box into a battery compartment. A push disc box comprises a push disc box body and a suction disc. The suction disc is arranged on the surface of the push disc box body in an extendable manner. The suction disc of the push disc box is used for being attached to the battery box. A first controller is used for driving the push disc box to advance, so that the battery box enters the battery compartment. A fourth detection unit is used for detecting whether the push disc box reaches a second limit position during the advancing process. If yes, a second pause signal is sent to the first controller. The first controller is also used for pausing the advancing of the push disc box after receiving the second pause signal. The battery box locking control system and the control method are characterized in that the fourth detection unit is used for detecting whether the push disc box reaches the second limit position during the advancing process. If the push disc box reaches the second limit position, it indicates that an abnormality occurs in the advancing process of the push disc box. The first controller pauses the advancing of the push disc box and enters an abnormality processing stage.

Description

[0001] The present application is a divisional application of the Chinese Patent Application No. 201811053010.6, with the title of "Battery Box Locking Control System and Control Method", filed on September 10, 2018. TECHNICAL FIELD

[0002] The present application relates to a battery box locking control system and control method. BACKGROUND

[0003] In the battery replacement process of an electric vehicle, the old battery box in the electric vehicle needs to be taken out from the battery compartment on the vehicle, and then placed on the battery compartment of the charging rack. Then, the new battery box on the charging rack is taken out and installed on the electric vehicle.

[0004] In the existing battery replacement device, the battery box is installed into the battery compartment by using a push disc box to push the battery box into the battery compartment. After determining that the battery box has entered the battery compartment, the push disc box is separated from the battery box, and the push disc box is driven to return. How to control the forward and return strokes of the push disc box and the timing of separating the push disc box from the battery box is a difficult problem to be solved in the process of installing the battery box in the battery replacement device. SUMMARY

[0005] The present application solves the technical problem of controlling the forward and return strokes of the push disc box and the timing of separating the push disc box from the battery box in the process of installing the battery box in the prior art, and provides a battery box locking control system and control method.

[0006] The present application solves the above technical problems by the following technical solutions:

[0007] The present application provides a battery box locking control system for installing a battery box into a battery compartment, which comprises:

[0008] a push disc box, the push disc box comprising a push disc box body and a suction disc, the suction disc being telescopically arranged on the surface of the push disc box body, the suction disc of the push disc box being used to be in close contact with the battery box;

[0009] a first controller, the first controller being used to drive the push disc box to advance so that the battery box enters the battery compartment;

[0010] a fourth detection unit, the fourth detection unit being used to detect whether the push disc box reaches a second limit position during the advancing process, and if so, a second pause signal is sent to the first controller, and the first controller is further used to pause the advancing of the push disc box after receiving the second pause signal.

[0011] Preferably, the first controller is further configured to control the push tray box to return after stopping driving the push tray box to advance.

[0012] Preferably, the battery box locking control system further comprises a second detection unit configured to detect whether the push tray box reaches a first limit position during the returning process, and send a first pause signal to the first controller if yes, and the first controller is further configured to pause the returning of the push tray box after receiving the first pause signal.

[0013] Preferably, the battery box locking control system further comprises:

[0014] a second controller configured to switch the push tray box and the battery box between the two states of being connected and being disconnected;

[0015] a first detection unit configured to send a first signal to the first controller and the second controller after detecting that the suction cup is retracted to a first predetermined position, and the first controller is further configured to stop driving the push tray box to advance after receiving the first signal, and the second controller is further configured to control the push tray box to be disconnected from the battery box after receiving the first signal.

[0016] Preferably, the suction cup is an electromagnetic suction cup, the battery box comprises a magnetic disc, the magnetic disc of the battery box is configured to be attracted to the suction cup of the push tray box, and the second controller is configured to control the suction cup to be powered off after receiving the first signal, so that the push tray box is disconnected from the battery box.

[0017] Preferably, the battery box further comprises a lock tongue and a button, the lock tongue is matched with a lock seat of the battery compartment, and the button is connected with the lock tongue; the push tray box further comprises a top rod and a third controller, the third controller is configured to control the top rod to extend and retract, and the top rod is configured to drive the lock tongue to move and reset after the button is pressed.

[0018] Preferably, the third controller is in communication connection with the first controller; the first controller is configured to send a second signal to the third controller when driving the push tray box to advance to a second predetermined position, and the third controller is configured to control the top rod to press the button after receiving the second signal.

[0019] Preferably, the battery box locking control system further comprises a third detection unit configured to send an allow signal to the first controller after detecting that the lock tongue and the lock seat are in a locking state, and the first controller is further configured to determine whether the allow signal is received after stopping the push tray box from advancing, and control the push tray box to return if yes.

[0020] Preferably, the battery box locking control system further comprises a fourth detection unit for detecting whether the push disc box reaches a second limit position during the advancing process, and sending a second pause signal to the first controller if yes, and the first controller is further configured to pause the advancing of the push disc box after receiving the second pause signal.

[0021] The application further provides a battery box locking control method for loading a battery box into a battery compartment, wherein a push disc box comprises a push disc box body and a suction disc which is arranged on the surface of the push disc box body in an extendable manner, and the suction disc of the push disc box is in contact with the battery box; the battery box locking control method comprises the following steps,

[0022] S0, the suction disc of the push disc box is in contact with the battery box and remains in a connected state, the battery box is located in front of the push disc box, the advancing of the push disc box is controlled until the battery box is located in the battery compartment; during the execution of the step S0, the following step is further included: detecting whether the push disc box reaches a second limit position, and pausing the advancing of the push disc box if yes.

[0023] Preferably, the step S0 further comprises the following step: S1, when the battery box is located in the battery compartment, the advancing of the push disc box is controlled to make the suction disc retract into the push disc box body;

[0024] S2, detecting whether the suction disc retracts to a first predetermined position, and executing the step S3 if yes, or executing the step S1 if no;

[0025] S3, controlling the push disc box to stop advancing, and controlling the push disc box to be separated from the battery box.

[0026] Preferably, the step S3 further comprises the following step:

[0027] S4, controlling the push disc box to return.

[0028] Preferably, the step S4 further comprises the following step during the execution: detecting whether the push disc box reaches a first limit position, and pausing the returning of the push disc box if yes.

[0029] Preferably, the suction disc is an electromagnetic suction disc, the battery box comprises a magnetic disc, and the suction disc of the push disc box is attracted to the magnetic disc of the battery box; in the step S2, the suction disc is controlled to be powered off to make the push disc box separated from the battery box.

[0030] Preferably, the battery box further comprises a lock tongue which is used to cooperate with a lock seat of the battery compartment; in the step S1, when the battery box is located in the battery compartment, the lock tongue is locked with the lock seat of the battery compartment.

[0031] Preferably, the battery box further comprises a lock tongue and a button, and the push disc box further comprises a top rod; before step S1, the following step is further included: before the battery box is located in the battery compartment, the top rod is controlled to press the button, so that the lock tongue is moved and reset.

[0032] On the basis of common general knowledge in the art, the above-mentioned preferred conditions can be combined arbitrarily, thereby obtaining preferred examples of the present application.

[0033] The positive progress effect of the present application is that:

[0034] The battery box locking control system and the control method, the fourth detection unit is used for detecting whether the push disc box reaches the second limit position in the advancing process; if the push disc box reaches the second limit position, it indicates that the push disc box has an abnormality in the advancing process, and the first controller pauses the advancing of the push disc box and enters an abnormality processing stage. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the battery box locking control system of embodiment 1 of the present application.

[0036] Figure 2 It is a structural schematic diagram of the battery compartment of the battery box locking control system. Figure 1

[0037] Figure 3 It is a module schematic diagram of the battery box locking control system. Figure 1

[0038] Figure 4 It is a module schematic diagram of the battery box locking control system of embodiment 2 of the present application.

[0039] Figure 5 It is a structural schematic diagram of the battery box of the battery box locking control system of embodiment 3 of the present application.

[0040] Figure 6 It is a structural schematic diagram of the battery compartment of the battery box locking control system. Figure 5

[0041] Figure 7 It is a structural schematic diagram of the push disc box of the battery box locking control system. Figure 5

[0042] Figure 8 It is a module schematic diagram of the battery box locking control system. Figure 5

[0043] Figure 9 It is a module schematic diagram of the battery box locking control system of embodiment 4 of the present application. ​​​​​

[0044] Figure 10 Module diagram of the battery box locking control system of embodiment 5 of the present application.

[0045] Figure 11 Step diagram of the battery box locking control method of embodiment 6 of the present application.

[0046] Figure 12 Step diagram of the battery box locking control method of embodiment 7 of the present application.

[0047] Figure 13 Step diagram of the battery box locking control method of embodiment 8 of the present application.

[0048] Explanation of reference numerals

[0049] Battery box 1

[0050] Magnetic disc 11

[0051] Lock tongue 12

[0052] Button 13

[0053] Battery compartment 2

[0054] Lock seat 21

[0055] Push disc box 3

[0056] Push disc box body 31

[0057] Suction disc 32

[0058] Top rod 33

[0059] Third controller 34

[0060] First controller 4

[0061] Second controller 5

[0062] First detection unit 6

[0063] Second detection unit 7

[0064] Third detection unit 8

[0065] Fourth detection unit 9 DETAILED DESCRIPTION

[0066] The present application will be further described by way of examples below, but the present application is not limited to the scope of the examples.

[0067] Embodiment 1

[0068] As Figures 1 to 3An embodiment of the battery box locking control system is shown. The battery box locking control system is used for loading the battery box 1 into the battery compartment 2. The battery box locking control system comprises a push disc box 3, a first controller 4, a second controller 5 and a first detection unit 6. The push disc box 3 comprises a push disc box body 31 and a suction disc 32, the suction disc 32 is retractably arranged on the surface of the push disc box body 31, and the suction disc 32 of the push disc box 3 is used to be attached to the battery box 1. The first controller 4 is used to drive the push disc box 3 to advance, so that the battery box 1 enters the battery compartment 2. The second controller 5 is used to switch the push disc box 3 and the battery box 1 between the connected state and the disconnected state. The first detection unit 6 is used to send a first signal to the first controller 4 and the second controller 5 after detecting that the suction disc 32 is retracted to a first predetermined position. The first controller 4 is also used to stop driving the push disc box 3 to advance after receiving the first signal. The second controller 5 is also used to control the push disc box 3 to be disconnected from the battery box 1 after receiving the first signal.

[0069] As shown in Figure 1 , the battery box 1 is placed on the platform and connected to the push disc box 3, and the first controller 4 drives the push disc box 3 to advance, thereby pushing the battery box 1 to advance. Figure 2 As shown in Figure 2 , the first controller 4 drives the push disc box 3 to advance until the battery box 1 enters the battery compartment 2. At this time, the push disc box 3 can continue to advance, and the suction disc 32 is retracted into the push disc box body 31.

[0070] The first predetermined position is set as the limit position of the retraction of the suction disc 32. As shown in Figure 3 , the first detection unit 6 sends a first signal to the first controller 4 after detecting that the suction disc 32 is retracted to the first predetermined position, and the first controller 4 stops driving the push disc box 3 to advance after receiving the first signal. The first signal of the first detection unit 6 is also sent to the second controller 5, and the second controller 5 controls the push disc box 3 to be disconnected from the battery box 1 after receiving the first signal.

[0071] By setting the retractable suction disc 32 and the first detection unit 6 for detecting the limit position, after the battery box 1 enters the battery compartment 2, the push disc box 3 can continue to advance and slowly stop, so that the push disc box 3 has a buffering process before stopping, which ensures that the push disc box 3 can stop stably, and ensures that the battery box 1 is installed in place in the battery compartment 2.

[0072] Specifically, the second controller 5 controls the push disc box 3 to be disconnected from the battery box 1 in the following manner. The suction disc 32 is an electromagnetic suction disc, the battery box 1 comprises a magnetic disc 11, the magnetic disc 11 of the battery box 1 is used to be attached to the suction disc 32 of the push disc box 3, and the second controller 5 is used to control the suction disc 32 to be powered off after receiving the first signal, so that the push disc box 3 is disconnected from the battery box 1.

[0073] The first controller 4 is also configured to control the push tray 3 to return after the push tray 3 is stopped from advancing. After the battery box 1 is installed in place in the battery compartment 2 and it is determined that the push tray 3 is disengaged from the battery box 1, the first controller 4 controls the push tray 3 to return.

[0074] The first detection unit 6 can be a sensor. The sensor is configured to detect the push tray 3 when the push tray 3 is in the first predetermined position. When the suction cup 32 is retracted to the first predetermined position, the sensor can detect the suction cup 32 and send a first signal indicating that the suction cup 32 is in place. The first detection unit 6 can also be other detection devices that can detect the position of the suction cup 32.

[0075] Embodiment 2

[0076] As shown in Figure 4 , the battery box locking control system of this embodiment is a further improvement of the battery box locking control system of Embodiment 1.

[0077] The battery box locking control system further comprises a second detection unit 7 configured to detect whether the push tray 3 reaches a first limit position during the return of the push tray 3, and send a first pause signal to the first controller 4 if the push tray 3 reaches the first limit position. The first controller 4 is also configured to pause the return of the push tray 3 after receiving the first pause signal.

[0078] The first limit position is the limit position that the push tray 3 can reach during the return of the push tray 3. If the push tray 3 reaches the first limit position, it indicates that the push tray 3 has an abnormality during the return of the push tray 3. The first controller 4 pauses the return of the push tray 3 and enters an abnormality handling stage.

[0079] The second detection unit 7 can be a pair of infrared receivers and infrared emitters. The infrared receivers are arranged on the moving platform of the push tray 3, and the position of the infrared receivers is the first limit position during the return of the push tray 3. The infrared emitters are arranged on the push tray 3. When the push tray 3 moves to the first limit position, the infrared rays emitted by the infrared emitters are received by the infrared receivers. At this time, the infrared receivers send the first pause signal to the first controller 4. When the first controller 4 receives the first pause signal, it indicates that the push tray 3 is in the first limit position, which means that the push tray 3 has an abnormality during the return of the push tray 3. The first controller 4 pauses the return of the push tray 3 and enters an abnormality handling stage.

[0080] Embodiment 3

[0081] As shown in Figures 5 to 6 , the battery box locking control system of this embodiment is a further improvement of the battery box locking control system of Embodiment 1.

[0082] The battery box 1 further comprises a lock tongue 12 and a button 13, the lock tongue 12 is matched with the lock seat 21 of the battery compartment 2, and the button 13 is connected with the lock tongue 12. When the battery box 1 is loaded into the battery compartment 2, the lock tongue 12 of the battery box 1 is clamped in the lock seat 21 of the battery compartment 2.

[0083] As shown in Figures 7 to 8 , the push disc box 3 further comprises a top rod 33 and a third controller 34, the third controller 34 is used for controlling the extension and retraction of the top rod 33, and the top rod 33 is used for driving the lock tongue 12 to move and reset after the button 13 is pressed. Among them, the third controller 34 is in communication connection with the first controller 4; the first controller 4 is used for sending a second signal to the third controller 34 when the push disc box 3 is driven to advance to a second predetermined position, and the third controller 34 is used for controlling the top rod 33 to press the button 13 after receiving the second signal.

[0084] The second predetermined position is set before the battery box 1 enters the battery compartment 2, and the top rod 33 is controlled to press the button 13 in the process of the push disc box 3 pushing the battery box 1, so as to ensure that the lock tongue 12 is reset to a locking preparation state.

[0085] Embodiment 4

[0086] As shown in Figure 9 , the battery box locking control system of the present embodiment is a further improvement on the embodiment 1.

[0087] The battery box locking control system further comprises a third detection unit 8, the third detection unit 8 is used for sending an allowed signal to the first controller 4 after detecting that the lock tongue 12 and the lock seat 21 are in a locking state, and the first controller 4 is further used for judging whether the allowed signal is received after stopping the advancement of the push disc box 3, and if so, controlling the push disc box 3 to return.

[0088] Before the push disc box 3 returns, the third detection unit 8 is used to detect whether the lock tongue 12 and the lock seat 21 are in a locking state. Only when the lock tongue 12 and the lock seat 21 are in a locking state, i.e. the battery box 1 is installed in place in the battery compartment 2, can the push disc box 3 be allowed to return.

[0089] Among them, the third detection unit 8 can be a sensor. When the sensor detects that the lock tongue 12 is located in the lock seat 21, it indicates that the lock tongue 12 and the lock seat 21 are in a locking state, and the sensor sends an allowed signal to the first controller 4 to allow the push disc box 3 to return, so that the first controller 4 can control the push disc box 3 to return. In addition to the sensor, the third detection unit 8 can also be other detection devices that can detect the position of the lock tongue 12.

[0090] Embodiment 5

[0091] As shown in Figure 10 , the battery box locking control system of the present embodiment is a further improvement on the embodiment 1.

[0092] The battery box locking control system further comprises a fourth detection unit 9, which is configured to detect whether the push tray box 3 reaches a second limit position during the advancing process, and send a second pause signal to the first controller 4 if the push tray box 3 reaches the second limit position. The first controller 4 is further configured to pause the advancing of the push tray box 3 after receiving the second pause signal.

[0093] The second limit position is a limit position that the push tray box 3 can reach during the advancing process. If the push tray box 3 reaches the second limit position, it means that the push tray box 3 has an abnormality during the advancing process. The first controller 4 pauses the advancing of the push tray box 3 and enters an abnormality processing stage.

[0094] The fourth detection unit 9 can be a pair of infrared receivers and infrared emitters. The infrared receivers are arranged on the moving platform of the push tray box 3, and the position of the infrared receivers is the second limit position during the advancing process of the push tray box 3. The infrared emitters are arranged on the push tray box 3. When the push tray box 3 moves to the second limit position, the infrared rays emitted by the infrared emitters are received by the infrared receivers. At this time, the infrared receivers send a second pause signal to the first controller 4. When the first controller 4 receives the second pause signal, it means that the push tray box 3 is at the second limit position, which indicates that the push tray box 3 has an abnormality during the advancing process. The first controller 4 pauses the advancing of the push tray box 3 and enters an abnormality processing stage.

[0095] Embodiment 6

[0096] As shown in Figure 11 A battery box locking control method is shown. The control method can use the above-mentioned battery box locking control system. The battery box locking control method comprises the following steps:

[0097] Step 100, the suction cup 32 of the push tray box 3 is attached to the battery box 1 and remains in a connected state. The battery box 1 is located in front of the push tray box 3. The advancing of the push tray box 3 is controlled until the battery box 1 is located in the battery compartment 2.

[0098] Step 200, when the battery box 1 is located in the battery compartment 2, the advancing of the push tray box 3 is controlled to make the suction cup 32 retract into the push tray box 31.

[0099] Step 300, the first detection unit 6 detects whether the suction cup 32 retracts to a first predetermined position. If yes, step 400 is performed. If no, step 200 is performed.

[0100] Step 400, the advancing of the push tray box 3 is controlled to stop. The push tray box 3 is controlled to be detached from the battery box 1, and the push tray box 3 is controlled to return to a designated position.

[0101] After the battery box 1 is installed in the battery compartment 2, the push plate box 3 can continue to move forward and stop slowly, so that the push plate box 3 has a buffer process before stopping, ensuring that the push plate box 3 can stop smoothly and that the battery box 1 is installed in the battery compartment 2.

[0102] Example 7

[0103] like Figure 12 As shown, the battery box locking control method in this embodiment is a further improvement on embodiment 6.

[0104] Step 100 of the battery box locking control method includes the following steps:

[0105] Step 101: The suction cup 32 of the push plate box 3 is attached to the battery box 1 and kept connected. The battery box 1 is located in front of the push plate box 3. The first controller 4 controls the push plate box 3 to move forward.

[0106] Step 102: When the first controller 4 drives the push plate box 3 to move forward to the second predetermined position, it sends a second signal to the third controller 34. The third controller 34 is used to control the push rod 33 to press the button 13 after receiving the second signal, so that the locking tongue 12 moves and resets.

[0107] Step 103: The fourth detection unit 9 detects whether the pusher box 3 has reached the second limit position during its forward movement. If so, proceed to step 104; otherwise, proceed to step 105.

[0108] Step 104: The fourth detection unit 9 sends a second pause signal to the first controller 4. Upon receiving the second pause signal, the first controller 4 pauses the forward movement of the pusher box 3.

[0109] Step 105: The first controller 4 controls the pusher box 3 to continue moving forward until the battery box 1 is located in the battery compartment 2.

[0110] Using the above method, the pusher box 3 can push the battery box 1 until the battery box 1 is successfully installed into the battery compartment 2.

[0111] Example 8

[0112] like Figure 13 As shown, the battery box locking control method in this embodiment is a further improvement on embodiment 6.

[0113] Step 400 of the battery box locking control method includes the following steps:

[0114] Step 401: The first detection unit 6 sends a first signal to the first controller 4. After receiving the first signal, the first controller 4 stops driving the pusher box 3 to move forward.

[0115] Step 402, the first detection unit 6 sends the first signal to the second controller 5, and the second controller 5 controls the push tray box 3 to be separated from the battery box 1 after receiving the first signal;

[0116] Step 403, the third detection unit 8 detects whether the lock tongue 12 and the lock seat 21 are in the locking state, if not, step 404 is executed, if yes, step 405 is executed;

[0117] Step 404, an abnormality processing program is entered, and the flow ends;

[0118] Step 405, the third detection unit 8 sends the permission signal to the first controller 4, and the first controller 4 controls the push tray box 3 to return;

[0119] Step 406, the second detection unit 7 detects whether the push tray box 3 reaches the first limit position during the returning process, if yes, step 407 is executed, if not, step 408 is executed;

[0120] Step 407, the second detection unit 7 sends the first pause signal to the first controller 4, and the first controller 4 pauses the returning of the push tray box 3 after receiving the first pause signal; at this time, it is proved that the push tray box 3 runs abnormally, and an abnormality processing program is entered;

[0121] Step 408, the first controller 4 controls the push tray box 3 to return until the push tray box 3 reaches the specified position.

[0122] Through the above method, the push tray box 3 can be smoothly returned to the specified position.

[0123] The present application is not limited to the above-mentioned embodiments, and any changes in shape or structure fall within the protection scope of the present application. The protection scope of the present application is defined by the appended claims, and those skilled in the art can make various changes or modifications to the embodiments without departing from the principles and essence of the present application, and these changes and modifications fall within the protection scope of the present application.

Claims

1. A battery box locking control system for inserting a battery box into a battery compartment, characterized in that, The battery box locking control system includes: A push plate box, comprising a push plate housing and a suction cup, wherein the suction cup is retractably disposed on the surface of the push plate housing and the suction cup of the push plate box is used to adhere to the battery box; A first controller is configured to drive the pusher box forward so that the battery box enters the battery compartment. The first controller is also configured to control the pusher box to return after stopping driving the pusher box forward. A fourth detection unit is used to detect whether the pusher box reaches a second limit position during its forward movement. If so, it sends a second pause signal to the first controller. The first controller is also used to pause the forward movement of the pusher box after receiving the second pause signal. The battery box locking control system further includes: The second controller is used to switch the push plate box and the battery box between two states: connected or disconnected. The first detection unit is configured to send a first signal to the first controller and the second controller after detecting that the suction cup has retracted to a first predetermined position. The first controller is further configured to stop driving the pusher box forward after receiving the first signal, and the second controller is further configured to control the pusher box to detach from the battery box after receiving the first signal.

2. The battery box locking control system as described in claim 1, characterized in that: The battery box locking control system further includes a second detection unit, which is used to detect whether the pusher box reaches a first limit position during its return process. If so, it sends a first pause signal to the first controller. The first controller is also used to pause the return of the pusher box after receiving the first pause signal.

3. The battery box locking control system as described in claim 1, characterized in that: The suction cup is an electromagnetic suction cup, and the battery box includes a magnetic disk. The magnetic disk of the battery box is used to attract the suction cup of the pusher box. The second controller is used to control the suction cup to be de-energized after receiving the first signal, so that the pusher box is detached from the battery box.

4. The battery box locking control system as described in claim 1, characterized in that: The battery box also includes a latch and a button. The latch cooperates with the lock seat of the battery compartment, and the button is connected to the latch. The push plate box also includes a push rod and a third controller. The third controller is used to control the extension and retraction of the push rod, and the push rod is used to move and reset the latch after the button is pressed.

5. The battery box locking control system as described in claim 4, characterized in that: The third controller is communicatively connected to the first controller; the first controller is used to send a second signal to the third controller when driving the pusher box forward to the second predetermined position, and the third controller is used to control the push rod to press the button after receiving the second signal.

6. The battery box locking control system as described in claim 4, characterized in that: The battery box locking control system further includes a third detection unit. The third detection unit is used to send an allow signal to the first controller after detecting that the locking tongue and the locking seat are in a locked state. The first controller is also used to determine whether the allow signal has been received after stopping the forward movement of the push plate box. If so, it controls the push plate box to return.

7. A battery box locking control method for inserting a battery box into a battery compartment, characterized in that: The push plate box includes a push plate housing and a suction cup. The suction cup is retractably disposed on the surface of the push plate housing, and the suction cup of the push plate box is attached to the battery box. The battery box locking control method includes the following steps. S0. The suction cup of the pusher box is attached to and connected to the battery box, with the battery box located in front of the pusher box. The pusher box is controlled to move forward until the battery box is located in the battery compartment. Step S0 also includes the following steps: detecting whether the pusher box has reached the second limit position; if so, pausing the forward movement of the pusher box. After step S0, the following steps are also included: S1. When the battery box is located in the battery compartment, control the pusher box to continue moving forward so that the suction cup retracts into the pusher box. S2. Detect whether the suction cup has retracted to the first predetermined position. If yes, proceed to step S3; otherwise, proceed to step S1. S3. Control the pusher box to stop moving forward and control the pusher box to disengage from the battery box. The first controller is used to control the pusher box to return after stopping driving the pusher box to move forward.

8. The battery box locking control method as described in claim 7, characterized in that, Following step S3, the following steps are also included: S4. Control the pusher box to return.

9. The battery box locking control method as described in claim 8, characterized in that: The execution of step S4 also includes the following steps. Detect whether the pusher box has reached the first limit position; if so, pause the return of the pusher box.

10. The battery box locking control method as described in claim 7, characterized in that: The suction cup is an electromagnetic suction cup, the battery box includes a magnetic disk, and the suction cup of the pusher box is attracted to the magnetic disk of the battery box; In step S2, the suction cup is de-energized so that the pusher box is detached from the battery box.

11. The battery box locking control method as described in claim 7, characterized in that: The battery box also includes a locking tongue, which is used to engage with the lock seat of the battery compartment; In step S1, when the battery box is located in the battery compartment, the locking tongue is locked to the locking seat of the battery compartment.

12. The battery box locking control method as described in claim 7, characterized in that: The battery box also includes a locking tongue and a button, and the push plate box also includes a push rod; Before step S1, the following steps are also included: Before the battery box is positioned in the battery compartment, the push rod is controlled to press the button, causing the locking tongue to move and reset.

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