Unlocking control method, system, medium and device and charging and swapping station

Abstract

The present application relates to the technical field of battery replacement, and in particular to a locking and unlocking control method, system, medium, device and battery charging and replacing station. The present application aims to solve the problems of cost increase, long battery replacement time and complex structure of the battery charging and replacing station caused by the setting of the existing leveling mechanism. To this end, the locking and unlocking control method of the present application comprises: after the vehicle to be replaced is parked on the parking platform, the carrying platform is controlled to rise so that the carrying platform is in contact with the chassis of the vehicle to be replaced; during the rising of the carrying platform, it is judged whether the stopping condition is met; if the stopping condition is met, the carrying platform is controlled to stop rising; and the locking and unlocking mechanism is controlled to perform unlocking operation. The present application can level the vehicle chassis by using the lifting action of the carrying platform, so that the setting of the leveling mechanism can be omitted under the premise of ensuring safety and battery replacement success rate, thereby saving the construction cost of the battery charging and replacing station, shortening the battery replacement service time and simplifying the structure of the parking platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery replacement, in particular to a locking and unlocking control method, system, medium, device and battery charging and replacing station. BACKGROUND

[0002] With the rapid progress of modern science and technology, electric vehicles are also booming. As one of the important means to solve the energy supplement problem of electric vehicles, battery replacement technology has been valued by more and more manufacturers.

[0003] In the battery replacement process, in order to ensure the success rate of battery disassembly and assembly, a leveling mechanism is usually provided on the parking platform to lift the vehicle and thus level the chassis of the vehicle. Although the provision of the leveling mechanism can indeed improve the success rate of battery disassembly and assembly, it inevitably brings related problems such as increased construction cost of the battery charging and replacing station, long battery replacement time, and complex structure design of the parking platform.

[0004] Correspondingly, there is a need in the art for a new technical solution to solve the above problems. SUMMARY

[0005] In order to solve at least one of the above problems in the prior art, i.e. to solve the problems of increased cost, long replacement time and complex structure of the existing leveling mechanism, the present application provides a locking and unlocking control method for a battery charging and replacing station, wherein the battery charging and replacing station comprises a parking platform and a battery replacing device, the parking platform is arranged to allow a vehicle to be replaced to be parked thereon, the battery replacing device comprises a lifting bearing platform and a locking and unlocking mechanism arranged on the bearing platform, the bearing platform is arranged to be capable of bearing a battery, and the locking and unlocking mechanism is arranged to be capable of locking and unlocking the battery,

[0006] The locking and unlocking control method comprises:

[0007] After the vehicle to be replaced is parked on the parking platform, the bearing platform is controlled to rise so that the bearing platform is in contact with the battery on the chassis of the vehicle to be replaced;

[0008] During the rising of the bearing platform, it is determined whether a stop condition is met;

[0009] If the stop condition is met, the rising of the bearing platform is controlled to stop;

[0010] The locking and unlocking mechanism is controlled to perform an unlocking operation.

[0011] In the preferred technical solution of the above locking and unlocking control method, the stop condition comprises at least one of the following three conditions:

[0012] The real-time torque of the bearing platform is greater than or equal to a first preset torque threshold value;

[0013] The number of battery presence sensors arranged on the bearing platform that are triggered is greater than or equal to a preset number threshold value; the battery presence sensors are arranged to be triggered when the distance between the battery presence sensors and the battery is less than or equal to a preset distance threshold value;

[0014] The bearing platform rises to a target position.

[0015] In the preferred technical solution of the above unlocking control method, the step of "judging whether the stop condition is met" further comprises:

[0016] judging whether the condition that the real-time torque of the bearing platform is greater than or equal to a first preset torque threshold value is met;

[0017] If the condition is met, it is determined that the stop condition is met; otherwise, it is further judged whether the condition that the number of battery presence sensors arranged on the bearing platform that are triggered is greater than or equal to a preset number threshold value is met;

[0018] If the condition is met, it is determined that the stop condition is met; otherwise, it is further judged whether the condition that the bearing platform rises to a target position is met;

[0019] If the condition is met, it is determined that the stop condition is met.

[0020] In the preferred technical solution of the above unlocking control method, the unlocking control method further comprises:

[0021] If the three conditions are not met, and the judgment time exceeds a first preset time threshold value, the battery swap device is controlled to stop running and send an alarm information.

[0022] In the preferred technical solution of the above unlocking control method, after the step of "controlling the unlocking mechanism to perform unlocking operation", the unlocking control method further comprises:

[0023] controlling the bearing platform to descend by a preset height;

[0024] judging whether a battery presence sensor is switched from a triggered state to an untriggered state;

[0025] If yes, the battery swap device is controlled to stop running and send an alarm information.

[0026] In the preferred technical solution of the above unlocking control method, the unlocking control method further comprises:

[0027] controlling the bearing platform to carry the battery to be installed to rise;

[0028] determining whether the carrying platform reaches the locking position;

[0029] after the carrying platform rises to the locking position, controlling the locking and unlocking mechanism to perform a locking operation.

[0030] In the preferred technical solutions of the above locking and unlocking control method, after the step of "controlling the carrying platform to stop rising", the locking and unlocking control method further comprises:

[0031] recording the current position as the locking and unlocking working position;

[0032] The step of "determining whether the carrying platform reaches the locking position" further comprises:

[0033] determining whether the carrying platform reaches the locking and unlocking working position.

[0034] In the preferred technical solutions of the above locking and unlocking control method, the carrying platform is further provided with a plurality of retractable body positioning pins, and the locking and unlocking control method further comprises:

[0035] Before controlling the carrying platform to rise while carrying the battery to be installed, the plurality of body positioning pins are controlled to extend;

[0036] During the process of the carrying platform rising while carrying the battery to be installed, the static torque of the plurality of body positioning pins is acquired;

[0037] According to the acquired static torque, it is determined whether the condition for continuing to rise is met;

[0038] When the condition for continuing to rise is met, the plurality of body positioning pins are controlled to retract, and the carrying platform is controlled to rise to the locking position.

[0039] In the preferred technical solutions of the above locking and unlocking control method, the step of "determining whether the condition for continuing to rise is met" further comprises:

[0040] determining whether all the static torques are greater than or equal to a second preset torque threshold;

[0041] If yes, it is determined that the condition for continuing to rise is met.

[0042] In the preferred technical solutions of the above locking and unlocking control method, the locking and unlocking control method further comprises:

[0043] If part of the static torques are greater than or equal to the second preset torque threshold, the carrying platform is controlled to continue to rise, and the body positioning pin with the static torque greater than or equal to the second preset torque threshold is controlled to descend at the same moving speed as the carrying platform.

[0044] In the preferred technical solutions of the above unlocking control method, the unlocking control method further comprises:

[0045] If all the static torques are greater than or equal to the second preset torque threshold, and the judgment time exceeds the second preset time threshold, the power exchange device is controlled to stop running and send an alarm information.

[0046] The application also provides an unlocking control system for a charging and power exchange station, wherein the charging and power exchange station comprises a parking platform and a power exchange device, the parking platform is arranged to allow a vehicle to be powered to be parked thereon, the power exchange device comprises a load-bearing platform arranged to be liftable and an unlocking mechanism arranged on the load-bearing platform, the load-bearing platform is arranged to be capable of bearing a battery, and the unlocking mechanism is arranged to be capable of unlocking the battery,

[0047] The unlocking control system comprises:

[0048] A platform lifting control module, which is configured to control the load-bearing platform to ascend after the vehicle to be powered is parked on the parking platform, so that the load-bearing platform is in contact with the battery on the chassis of the vehicle to be powered;

[0049] A judgment module, which is configured to judge whether a stop condition is met during the ascending of the load-bearing platform;

[0050] The platform lifting control module is further configured to control the load-bearing platform to stop ascending when the stop condition is met;

[0051] An unlocking control module, which is configured to control the unlocking mechanism to perform an unlocking operation.

[0052] In the preferred technical solutions of the above unlocking control system, the stop condition comprises at least one of the following three conditions:

[0053] The real-time torque of the load-bearing platform is greater than or equal to a first preset torque threshold;

[0054] The number of battery presence sensors arranged on the load-bearing platform and triggered is greater than or equal to a preset number threshold; the load-bearing platform is provided with a plurality of battery presence sensors, and the battery presence sensors are arranged to be triggered when the distance between the battery presence sensors and the battery is less than or equal to a preset distance threshold;

[0055] The load-bearing platform ascends to a target position.

[0056] In the preferred technical solutions of the above unlocking control system, the judgment module is further configured to judge whether the stop condition is met by the following manner:

[0057] determining whether a real-time torque of the bearing platform is greater than or equal to a first preset torque threshold;

[0058] If yes, it is determined that the stop condition is met; otherwise, it is further determined whether a number of triggered battery presence sensors on the bearing platform is greater than or equal to a preset number threshold;

[0059] If yes, it is determined that the stop condition is met; otherwise, it is further determined whether the bearing platform is raised to a target position;

[0060] If yes, it is determined that the stop condition is met.

[0061] In the preferred technical solution of the above unlocking control system, the platform lifting control module is further configured to control the battery replacement device to stop running and send an alarm information when the three conditions are not met and a judgment time exceeds a first preset time threshold.

[0062] In the preferred technical solution of the above unlocking control system, the platform lifting control module is further configured to control the bearing platform to descend by a preset height after the unlocking mechanism performs the unlocking operation.

[0063] The judgment module is further configured to determine whether a battery presence sensor is switched from a triggered state to an untriggered state.

[0064] The platform lifting control module is further configured to control the battery replacement device to stop running and send an alarm information when the battery presence sensor is switched from the triggered state to the untriggered state.

[0065] In the preferred technical solution of the above unlocking control system, the platform lifting control module is further configured to control the bearing platform to carry the battery to be installed to rise.

[0066] The judgment module is further configured to determine whether the bearing platform reaches a locking position.

[0067] The unlocking control module is further configured to control the locking mechanism to perform a locking operation after the bearing platform rises to the locking position.

[0068] In the preferred technical solution of the above unlocking control system, the unlocking control system further comprises:

[0069] A recording module is arranged to record a current position as a locking work position after the bearing platform stops rising.

[0070] The judgment module is further configured to determine whether the bearing platform reaches the locking position according to the following manner:

[0071] determining whether the carrying platform reaches the locking / unlocking working position.

[0072] In the preferred technical solution of the above-mentioned locking / unlocking control system, a plurality of retractable body positioning pins are further arranged on the carrying platform, and the locking / unlocking control system further comprises:

[0073] a positioning pin lifting control module configured to control the plurality of body positioning pins to extend before the carrying platform carrying the battery to be installed is lifted up;

[0074] an acquisition module configured to acquire the static torque of the plurality of body positioning pins during the process of the carrying platform carrying the battery to be installed being lifted up;

[0075] the determination module is further configured to determine whether the continue-lifting condition is met according to the acquired static torque;

[0076] the positioning pin lifting control module is further configured to control the plurality of body positioning pins to retract when the continue-lifting condition is met;

[0077] the platform lifting control module is further configured to control the carrying platform to be lifted up to the locking position when the continue-lifting condition is met.

[0078] In the preferred technical solution of the above-mentioned locking / unlocking control system, the determination module is further configured to determine whether the locking condition is met by the following manner:

[0079] determining whether all the static torques are greater than or equal to a second preset torque threshold;

[0080] if yes, it is determined that the continue-lifting condition is met.

[0081] In the preferred technical solution of the above-mentioned locking / unlocking control system, the platform lifting control module is further configured to control the carrying platform to continue to be lifted up when part of the static torques are greater than or equal to the second preset torque threshold;

[0082] the positioning pin lifting control module is further configured to control the body positioning pins with the static torque greater than or equal to the second preset torque threshold to descend at the same moving speed as the carrying platform.

[0083] In the preferred technical solution of the above-mentioned locking / unlocking control system, the platform lifting control module is further configured to control the battery swapping device to stop running and send an alarm information when all the static torques are not greater than or equal to the second preset torque threshold, and the determination time exceeds a second preset time threshold.

[0084] This application also provides a computer-readable storage medium storing a plurality of program codes adapted to be loaded and run by a processor to perform the unlocking control method described in any of the preferred technical solutions above.

[0085] This application also provides a control device, including:

[0086] processor;

[0087] A memory adapted to store multiple lines of program code, the program code being loaded and executed by the processor to perform the unlocking / unlocking control method described in any of the preferred technical solutions above.

[0088] This application also provides a charging and battery swapping station, which includes a parking platform and a battery swapping device. The parking platform is configured to allow vehicles waiting to have their batteries swapped to park thereon. The battery swapping device includes a liftable support platform and an unlocking mechanism disposed on the support platform. The support platform is configured to support a battery, and the unlocking mechanism is configured to unlock or deactivate the battery. The charging and battery swapping station also includes the aforementioned control device.

[0089] This application utilizes the direct contact between the lifting platform and the battery on the chassis during the lifting process. By leveraging the necessary lifting logic of the platform during unlocking, the battery on the vehicle chassis can be raised, ultimately achieving chassis leveling. This eliminates the need for a leveling mechanism while ensuring safety and high battery swapping success rate, saving on charging / swapping station construction costs, shortening battery swapping service time, and simplifying the parking platform structure. Through repeated experiments, observations, analyses, and comparisons, the inventors have found that adopting this technical solution can save 30,000-80,000 RMB in charging / swapping station construction costs and shorten battery swapping service time by at least 15 seconds. Furthermore, this application can automatically adapt to the vehicle chassis height for leveling, eliminating the need to raise the vehicle to the original leveling mechanism height for battery unlocking and unlocking, thus improving the user's battery swapping experience. In addition, the implementation of the above control logic requires no structural adjustments to existing charging / swapping station devices, or only very minor adjustments such as adding, removing, or replacing some components. This greatly facilitates the modification and upgrading of existing charging / swapping stations.

[0090] Furthermore, by sequentially judging whether three conditions are met to control the lifting platform to stop rising, this application can use multiple judgment methods to judge the leveling effect of the lifting platform and ensure that the lifting platform levels the vehicle chassis.

[0091] Furthermore, by controlling the carrier platform to descend a preset height after the unlocking operation and changing the sensor from a triggered state to a non-triggered state to determine whether a battery is present, this application can also verify in real time whether the battery has been successfully unlocked after the unlocking mechanism is unlocked, and promptly stop the machine and alarm if the judgment result is yes, to prevent damage to the battery and vehicle caused by the battery being upside down due to the failure of some locking mechanisms to unlock.

[0092] Furthermore, by recording the current position as the unlocking / unlocking working position when the carrier platform stops rising during the unlocking process, and controlling the rise of the carrier platform with the unlocking / unlocking working position as the target position during the locking process, this application can save the secondary leveling of the vehicle and directly use the data from the first leveling to achieve precise battery installation.

[0093] Furthermore, by using the static torque of multiple body positioning pins to determine whether the conditions for continued lifting are met, this application can simultaneously use the body positioning pins to verify the positioning of the support platform and the vehicle chassis during the locking process, thereby ensuring the accuracy and success rate of battery installation.

[0094] Furthermore, by controlling the load-bearing platform to continue rising when the static torque is greater than or equal to the second preset torque threshold, and simultaneously controlling the vehicle positioning pin with a static torque greater than or equal to the second preset torque threshold to descend at the same moving speed as the load-bearing platform, it is possible to protect the vehicle chassis and prevent vehicle damage caused by the vehicle positioning pin hitting the chassis while verifying the positioning accuracy.

[0095] Solution 1. A locking / unlocking control method for a charging / swapping station, characterized in that the charging / swapping station includes a parking platform and a battery swapping device, the parking platform is configured to allow vehicles to be swapped to park thereon, the battery swapping device includes a liftable support platform and a locking / unlocking mechanism disposed on the support platform, the support platform is configured to support a battery, and the locking / unlocking mechanism is configured to lock / unlock the battery.

[0096] The encryption / unlocking control method includes:

[0097] After the vehicle to be swapped is parked on the parking platform, the support platform is raised so that it comes into contact with the battery on the chassis of the vehicle to be swapped.

[0098] During the ascent of the supporting platform, it is determined whether the stopping condition is met;

[0099] If the stopping conditions are met, the carrying platform is controlled to stop rising;

[0100] Control the unlocking mechanism to perform the unlocking operation.

[0101] Solution 2. The unlocking / unlocking control method according to Solution 1, characterized in that the stopping condition includes at least one of the following three conditions:

[0102] The real-time torque of the bearing platform is greater than or equal to the first preset torque threshold.

[0103] The number of battery presence sensors triggered on the carrier platform is greater than or equal to a preset threshold number; the carrier platform is equipped with multiple battery presence sensors, and the battery presence sensors are set to be triggered when the distance between them and the battery is less than or equal to a preset distance threshold.

[0104] The support platform rises to the target position.

[0105] Solution 3. The unlocking / unlocking control method according to Solution 2, characterized in that the step of "determining whether the stopping condition is met" further includes:

[0106] Determine whether the condition that the real-time torque of the bearing platform is greater than or equal to the first preset torque threshold is met;

[0107] If the condition is met, the stopping condition is determined to be met; otherwise, it is further determined whether the condition that the number of battery sensors on the carrier platform being triggered is greater than or equal to a preset threshold is met.

[0108] If the condition is met, the stopping condition is determined to be met; otherwise, it is further determined whether the condition for the carrying platform to rise to the target position is met.

[0109] If the condition is met, then the stop condition is deemed to be met.

[0110] Solution 4. The encryption / unlocking control method according to Solution 3, characterized in that the encryption / unlocking control method further includes:

[0111] If none of the three conditions are met, and the judgment time exceeds the first preset time threshold, then the battery swapping device will be controlled to stop operating and an alarm message will be sent.

[0112] Solution 5. The unlocking control method according to Solution 2, characterized in that, after the step of "controlling the unlocking mechanism to perform an unlocking operation", the unlocking control method further includes:

[0113] Control the support platform to descend to a preset height;

[0114] The sensor that determines whether a battery is present changes from a triggered state to a non-triggered state.

[0115] If so, the battery swapping device will be stopped and an alarm message will be sent.

[0116] Solution 6. The encryption / unlocking control method according to Solution 1, characterized in that the encryption / unlocking control method further includes:

[0117] Control the lifting platform to raise the battery to be installed;

[0118] Determine whether the support platform has reached the locking position;

[0119] After the support platform rises to the locking position, the locking / unlocking mechanism is controlled to perform the locking operation.

[0120] Solution 7. The unlocking / unlocking control method according to Solution 6, characterized in that, after the step of "controlling the support platform to stop rising", the unlocking / unlocking control method further includes:

[0121] Record the current position as the unlock / unlock working position;

[0122] The step of "determining whether the support platform has reached the locking position" further includes:

[0123] Determine whether the carrier platform has reached the unlock / unlock working position.

[0124] Solution 8. The unlocking / unlocking control method according to Solution 6, characterized in that the supporting platform is further provided with a plurality of retractable vehicle body positioning pins, and the unlocking / unlocking control method further includes:

[0125] Before the load-bearing platform is raised to carry the battery to be installed, the plurality of vehicle body positioning pins are extended.

[0126] During the process of the support platform lifting the battery to be installed, the static torque of the plurality of vehicle body positioning pins is obtained;

[0127] Based on the obtained static torque, determine whether the conditions for continued upward movement are met;

[0128] When the conditions for continued ascent are met, the multiple vehicle body positioning pins are retracted, and the load-bearing platform is raised to the locked position.

[0129] Solution 9. The unlocking / unlocking control method according to Solution 8, characterized in that the step of "determining whether the conditions for continued ascent are met" further includes:

[0130] Determine whether all static torques are greater than or equal to the second preset torque threshold.

[0131] If true, then the conditions for continued upward movement are met.

[0132] Solution 10. The encryption / unlocking control method according to Solution 9, characterized in that the encryption / unlocking control method further includes:

[0133] If a portion of the static torque is greater than or equal to the second preset torque threshold, the load-bearing platform is controlled to continue rising, while the vehicle positioning pin with a static torque greater than or equal to the second preset torque threshold is controlled to descend at the same moving speed as the load-bearing platform.

[0134] Solution 11. The encryption / unlocking control method according to Solution 9, characterized in that the encryption / unlocking control method further includes:

[0135] If all static torques are not greater than or equal to the second preset torque threshold, and the judgment time exceeds the second preset time threshold, then the battery swapping device is controlled to stop operating and an alarm message is sent.

[0136] Solution 12. A locking / unlocking control system for a charging / swapping station, characterized in that the charging / swapping station includes a parking platform and a battery swapping device, the parking platform is configured to allow vehicles to be swapped to park thereon, the battery swapping device includes a liftable support platform and a locking / unlocking mechanism disposed on the support platform, the support platform is configured to support a battery, and the locking / unlocking mechanism is configured to lock / unlock the battery.

[0137] The encryption / unlocking control system includes:

[0138] A platform lifting control module is configured to control the lifting of the carrying platform after the vehicle to be swapped is parked on the parking platform, so that the carrying platform contacts the battery on the chassis of the vehicle to be swapped.

[0139] The judgment module is configured to determine whether a stopping condition is met during the ascent of the carrying platform.

[0140] The platform lifting control module is also configured to control the carrying platform to stop rising when the stopping conditions are met;

[0141] An unlocking control module is configured to control the unlocking mechanism to perform an unlocking operation.

[0142] Solution 13. The unlocking control system according to Solution 12, characterized in that the stopping condition includes at least one of the following three conditions:

[0143] The real-time torque of the bearing platform is greater than or equal to the first preset torque threshold.

[0144] The number of battery presence sensors triggered on the carrier platform is greater than or equal to a preset threshold number; the carrier platform is equipped with multiple battery presence sensors, and the battery presence sensors are set to be triggered when the distance between them and the battery is less than or equal to a preset distance threshold.

[0145] The support platform rises to the target position.

[0146] Solution 14. The unlocking / unlocking control system according to Solution 13, characterized in that the judging module is further configured to judge whether the stopping condition is met by means of the following method:

[0147] Determine whether the condition that the real-time torque of the bearing platform is greater than or equal to the first preset torque threshold is met;

[0148] If the condition is met, the stopping condition is determined to be met; otherwise, it is further determined whether the condition that the number of battery sensors on the carrier platform being triggered is greater than or equal to a preset threshold is met.

[0149] If the condition is met, the stopping condition is determined to be met; otherwise, it is further determined whether the condition for the carrying platform to rise to the target position is met.

[0150] If the condition is met, then the stop condition is deemed to be met.

[0151] Option 15. The unlocking control system according to Option 14, characterized in that,

[0152] The platform lifting control module is further configured to control the battery swapping device to stop operating and send an alarm message when none of the three conditions are met and the judgment time exceeds a first preset time threshold.

[0153] Option 16. The encryption / unlocking control system according to Option 13, characterized in that,

[0154] The platform lifting control module is further configured to control the carrying platform to descend a preset height after the unlocking mechanism performs the unlocking operation;

[0155] The judgment module is further configured to determine whether a battery exists and whether the sensor changes from a triggered state to a non-triggered state.

[0156] The platform lifting control module is further configured to control the battery swapping device to stop operating and send an alarm message when the battery presence sensor changes from a triggered state to a non-triggered state.

[0157] Option 17. The unlocking control system according to Option 12, characterized in that,

[0158] The platform lifting control module is further configured to control the carrying platform to lift the battery to be installed.

[0159] The judgment module is further configured to determine whether the carrier platform has reached the locking position;

[0160] The locking / unlocking control module is further configured to control the locking / unlocking mechanism to perform a locking operation after the carrier platform rises to the locking position.

[0161] Solution 18. The encryption / unlocking control system according to Solution 17, characterized in that the encryption / unlocking control system further includes:

[0162] A recording module is configured to record the current position as the unlocking / unlocking working position after the carrying platform stops rising.

[0163] The determination module is further configured to determine whether the carrier platform has reached the locking position according to the following method:

[0164] Determine whether the carrier platform has reached the unlock / unlock working position.

[0165] Solution 19. The unlocking control system according to Solution 17, characterized in that the supporting platform is further provided with a plurality of retractable vehicle body positioning pins, and the unlocking control system further includes:

[0166] A positioning pin lifting control module is configured to control the extension of the plurality of vehicle positioning pins before the support platform lifts up carrying the battery to be installed.

[0167] An acquisition module is configured to acquire the static torque of the plurality of vehicle body positioning pins during the process of the carrier platform carrying the battery to be installed rising.

[0168] The judgment module is further configured to determine whether the conditions for continued upward movement are met based on the obtained static torque.

[0169] The positioning pin lifting control module is further configured to control the retraction of the plurality of vehicle body positioning pins when the conditions for continued lifting are met.

[0170] The platform lifting control module is further configured to control the carrying platform to rise to the locked position when the conditions for continued rising are met.

[0171] Option 20. The unlocking and unlocking control system according to Option 19, characterized in that the judging module is further configured to judge whether the conditions for continued ascent are met in the following manner:

[0172] Determine whether all static torques are greater than or equal to the second preset torque threshold.

[0173] If true, then the conditions for continued upward movement are met.

[0174] Option 21. The unlocking control system according to Option 20, characterized in that,

[0175] The platform lifting control module is further configured to control the carrying platform to continue rising when a portion of the static torque is greater than or equal to the second preset torque threshold.

[0176] The positioning pin lifting control module is further configured to control the vehicle positioning pin with a static torque greater than or equal to the second preset torque threshold to descend at the same moving speed as the bearing platform.

[0177] Option 22. The unlocking control system according to Option 20, characterized in that,

[0178] The platform lifting control module is further configured to control the battery swapping device to stop operating and send an alarm message when all static torques greater than or equal to the second preset torque threshold are not met, and the judgment time exceeds the second preset time threshold.

[0179] Scheme 23. A computer-readable storage medium storing a plurality of program codes, characterized in that the program codes are adapted to be loaded and run by a processor to perform the unlocking control method described in any one of Schemes 1 to 11.

[0180] Option 24. A control device, characterized in that it comprises:

[0181] processor;

[0182] A memory adapted to store multiple lines of program code, the program code being adapted to be loaded and run by the processor to perform any one of schemes 1 to 11 for the unlock control method.

[0183] Scheme 25. A charging and battery swapping station, characterized in that the charging and battery swapping station includes a parking platform and a battery swapping device, the parking platform is configured to allow vehicles to be swapped to park thereon, the battery swapping device includes a liftable support platform and an unlocking mechanism disposed on the support platform, the support platform is configured to support a battery, the unlocking mechanism is configured to unlock or deactivate the battery, and the charging and battery swapping station further includes the control device described in Scheme 24. Attached Figure Description

[0184] The unlocking / unlocking control method, system, medium, device, and charging / swapping station of this application are described below with reference to the accompanying drawings. In the drawings:

[0185] Figure 1 This is a partial structural diagram of a parking platform in the prior art;

[0186] Figure 2 This is a structural diagram of a battery swapping device in the prior art;

[0187] Figure 3This is a flowchart of the unlocking control method of this application;

[0188] Figure 4 A logic diagram of the unlocking process in one possible implementation;

[0189] Figure 5 A logic diagram of the locking process in one possible implementation;

[0190] Figure 6 This is a system diagram of the unlocking and unlocking control system of this application.

[0191] List of reference signs

[0192] 1. Parking platform; 2. Battery swapping device; 21. Loading platform; 22. Unlocking mechanism; 23. Battery positioning pin; 24. Vehicle body positioning pin; 3. Leveling mechanism;

[0193] 100. Unlocking and unlocking control system; 110. Platform lifting and lowering control module; 120. Judgment module; 130. Unlocking and unlocking control module; 140. Recording module; 150. Positioning pin lifting and lowering control module; 160. Acquisition module. Detailed Implementation

[0194] Preferred embodiments of this application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application. For example, although the detailed steps of the method of this application are described in detail below, those skilled in the art can combine, split, and rearrange the following steps without departing from the basic principles of this application. Such modified technical solutions do not change the basic concept of this application and therefore also fall within the scope of protection of this application.

[0195] It should also be noted that in the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0196] First refer to Figure 1 and Figure 2 This paper describes existing charging and battery swapping stations. Figure 1 This is a partial structural diagram of a parking platform in the prior art; Figure 2 This is a structural diagram of a battery swapping device in the prior art.

[0197] like Figure 1 and Figure 2As shown, in the prior art, a charging and battery swapping station includes a parking platform 1, a battery swapping device 2, and a leveling mechanism 3. The parking platform 1 is configured to allow vehicles waiting to be swapped to park on it. The leveling mechanism 3 is installed on the parking platform 1 and is configured to lift the vehicle chassis from different positions to raise the vehicle to a certain height, thereby achieving vehicle leveling.

[0198] The battery swapping device 2 includes a liftable support platform 21, a battery positioning pin 23, a vehicle body positioning pin 24, and an unlocking mechanism 22 mounted on the support platform 21. The support platform 21 is liftable, and its upper surface can support the battery. The battery positioning pin 23 is retractably mounted on the support platform 21. When the battery positioning pin 23 is extended, it can be inserted into the positioning hole on the battery to position the battery, thus fixing the relative position of the battery and the support platform 21. Figure 2 In the battery swapping device 2 shown, there are two battery positioning pins 23. The vehicle body positioning pin 24 is telescopically mounted on the support platform 21. When the vehicle body positioning pin 24 is extended, it can be inserted into the positioning hole on the vehicle chassis to achieve positioning between the support platform 21 and the vehicle body. Figure 2 In the battery swapping device 2 shown, there are two vehicle body positioning pins 24, which are arranged diagonally along the support platform 21. The unlocking mechanism 22 is provided on the support platform 21 and is configured to unlock the battery. For example, the unlocking head rotates forward to drive the locking mechanism on the battery to be screwed to the vehicle body to achieve locking, and the unlocking head rotates backward to drive the battery locking mechanism to disengage from the vehicle body to achieve unlocking. Figure 2 In the battery swapping device 2 shown, there are ten unlocking mechanisms 22, eight of which are arranged around the perimeter of the support platform 21, and two of which are arranged in the center of the support platform 21.

[0199] Of course, the arrangement of the parking platform 1, the battery swapping device 2 and the leveling mechanism 3 in the prior art is not limited to this. The above embodiments are only illustrative examples and are not intended to limit the scope of protection of this application.

[0200] In existing battery swapping processes, the vehicle to be swapped is parked on parking platform 1, and then leveling mechanism 3 lifts the vehicle into the air, typically by about 500mm, to level the chassis. Battery swapping device 2 moves from its initial position to below the vehicle. At this time, the support platform 21 rises to the swapping height (not in contact with or only slightly touching the vehicle chassis), and unlocking mechanism 22 unlocks the depleted battery. After unlocking, the battery falls onto support platform 21, which then descends. Battery swapping device 2 transfers the depleted battery to the battery rack, receives a fully charged battery from the rack, positions it with the battery using battery positioning pin 23, and then moves back to below the vehicle carrying the fully charged battery. Then, support platform 21, carrying the fully charged battery, rises again to the swapping height. During the ascent, body positioning pin 24 extends and engages with positioning holes on the vehicle chassis to align the fully charged battery with the chassis mounting position. Finally, unlocking mechanism 22 locks the battery. After locking is completed, the support platform 21 descends, the battery swapping device 2 moves to its initial position, and the leveling mechanism 3 lowers the vehicle, thus completing the battery swapping.

[0201] As described in the background section, the existing battery swapping process requires the vehicle to be lifted into the air for leveling via the leveling mechanism 3, which leads to problems such as increased construction costs of charging and battery swapping stations, longer battery swapping time, and complex parking platform structure design.

[0202] See below. Figure 3 This paper introduces the encryption and unlocking control methods of this application. Figure 3 This is a flowchart of the unlocking control method of this application.

[0203] To address the issues of increased costs, longer battery swapping times, and more complex structures associated with existing leveling mechanisms at charging and battery swapping stations, this application proposes an unlocking / unlocking control method that includes:

[0204] S101. After the vehicle to be swapped is parked on the parking platform, the support platform is raised so that it contacts the battery on the chassis of the vehicle. For example, after the vehicle is parked on the parking platform, the battery swapping device first moves to the bottom of the vehicle and positions itself there. After positioning, the support platform is raised. During the raising process, the support platform contacts the depleted battery on the chassis of the vehicle and can lift the vehicle by supporting the depleted battery.

[0205] S103. During the lifting process of the support platform, determine whether the stopping condition is met. For example, if the vehicle chassis is not leveled, as the support platform rises, it will gradually contact the depleted battery and eventually make full contact with the bottom surface of the depleted battery. As it continues to rise, the support platform will lift the vehicle so that the vehicle body rises relative to the parking platform (e.g., the vehicle body rises while the tires remain on the parking platform) or the entire vehicle detaches from the parking platform (e.g., the tires have just detached from the parking platform). During the lifting process, determine whether the support platform meets the stopping condition, which is used to determine whether the vehicle chassis has been leveled.

[0206] It should be noted that in order to lift the vehicle using the support platform, the drive mechanism of the support platform in the existing technology can be replaced with a model with greater power and torque, so that the lifting force of the support platform is sufficient to lift the vehicle.

[0207] S105. If the stopping condition is met, control the lifting platform to stop rising. For example, if the stopping condition is met, it means that the lifting platform has already raised the vehicle to a leveled state. At this point, the lifting platform can be controlled to stop rising, preparing for the next operation.

[0208] S107. Control the unlocking mechanism to perform an unlocking operation. For example, after the support platform stops rising, control the unlocking mechanism to unlock the battery, remove the battery from the vehicle chassis and place it on the support platform.

[0209] As can be seen, this application utilizes the direct contact between the lifting platform and the battery on the chassis during the lifting process. It leverages the necessary lifting logic of the platform during unlocking to raise the battery on the vehicle chassis and ultimately achieve chassis leveling. This eliminates the need for a leveling mechanism while ensuring safety and high battery swapping success rate, saving on charging / swapping station construction costs, shortening battery swapping service time, and simplifying the parking platform structure. Through repeated experiments, observations, analyses, and comparisons by the inventors, this technical solution can save 30,000-80,000 RMB in charging / swapping station construction costs and shorten battery swapping service time by at least 15 seconds. Furthermore, this application can automatically adapt to the vehicle chassis height for leveling, eliminating the need to raise the vehicle to the original leveling mechanism height for battery unlocking and unlocking, thus improving the user's battery swapping experience. In addition, the implementation of the above control logic requires no structural adjustments to existing charging / swapping station devices, or only very minor adjustments such as adding, removing, or replacing some components. This greatly facilitates the modification and upgrading of existing charging / swapping stations.

[0210] The preferred embodiments of this application are described below.

[0211] In one embodiment, to implement the unlocking control method of this application, the carrier platform of the battery swapping device is further equipped with multiple battery presence sensors (not shown in the figure). The battery presence sensors are configured to be triggered and send an electrical signal when the distance between them and the battery is less than or equal to a preset distance threshold. In this application, contact sensors are used as the battery presence sensors, and the number can be 4-8, with the sensors evenly distributed on the carrier platform. This allows for the detection of contact between the carrier platform and the battery on the vehicle chassis via contact sensors. Of course, in addition to contact sensors, other sensors such as proximity sensors can be used as alternatives, as long as they can achieve battery contact detection.

[0212] Under the above settings, the stopping condition includes at least one of the following three conditions:

[0213] (1) The real-time torque of the bearing platform is greater than or equal to the first preset torque threshold;

[0214] (2) The number of sensors triggered by the battery on the carrier platform is greater than or equal to the preset threshold number;

[0215] (3) The carrying platform rises to the target position.

[0216] The real-time torque of the support platform is the output torque of the drive motor in the lifting mechanism of the support platform, which can be calculated using the output current of the drive motor. The number of battery presence sensors triggered on the support platform can be obtained by counting the number of electrical signals sent out when the contact sensors are triggered. The target position of the support platform can be obtained using the platform's height coordinates. For example, the support platform can be calibrated as zero point when it is at its lowest position, and its height coordinates can be acquired in real time during ascent. Alternatively, other methods such as position sensors can be used to determine whether the support platform has risen to the preset height.

[0217] The first preset torque threshold is determined through testing or experience. For example, the motor torque required to level the chassis of all battery-swapping models when lifted by the support platform can be determined through testing, and the maximum torque among all torques or the product of the maximum torque and a safety factor (greater than 1) can be used as the first preset torque threshold. Alternatively, different motor torques can be matched for different models as the first preset torque threshold for that model.

[0218] The preset number threshold can be determined through experiments or empirical values. For example, if five contact sensors are set, and experiments determine that the vehicle is in a leveling state when at least four contact sensors are triggered, then the preset number threshold can be set to four.

[0219] The target location can be determined based on the maximum lifting range of the support platform. For example, after the charging and battery swapping station is built, the test vehicle is lifted using the battery swapping device. Once it is lifted to the maximum height that the support platform can lift, the coordinates of that height are used as the target location for the support platform and input into the battery swapping program. Alternatively, a height coordinate close to the highest position can also be used as the target location.

[0220] Through actual experiments, observations, analyses, and comparisons by the inventors, among the three conditions mentioned above in this application, condition (3) can raise the vehicle to the highest height when it is met. However, compared to the leveling mechanism in the prior art, the lifting height of the vehicle when condition (3) is met is limited to the wheels just leaving the parking platform, which is far less than the lifting height of the leveling mechanism. When conditions (1) and (2) are met, the vehicle is usually not significantly lifted, and leveling can be achieved.

[0221] In one embodiment, when the stopping condition includes the above three conditions, S103 further includes: determining whether the condition that the real-time torque of the carrying platform is greater than or equal to a first preset torque threshold is met; if it is met, then the stopping condition is determined to be met; otherwise, further determining whether the condition that the number of battery presence sensors on the carrying platform being triggered is greater than or equal to a preset number threshold is met; if it is met, then the stopping condition is determined to be met; otherwise, further determining whether the condition that the carrying platform rises to the target position is met; if it is met, then the stopping condition is determined to be met; otherwise, if none of the above three conditions are met, and the determination time exceeds a first preset time threshold, then the battery swapping device is controlled to stop operating and an alarm message is sent.

[0222] In this application, the three conditions are judged in the order of (1)-(3) to determine whether they are met. If one condition is met, the carrying platform is judged to meet the stopping condition; otherwise, if none of the three conditions are met and the judgment time exceeds the first preset time threshold, the leveling timeout is determined. Specifically, during the lifting process, the conditions (1)-(3) are judged in sequence. When the real-time torque of the carrying platform is greater than or equal to the first preset torque threshold in condition (1), it proves that the carrying platform has achieved chassis leveling through full contact with the battery, and the stopping condition is met at this time; otherwise, if condition (1) is not met, the condition (2) is further judged to determine whether it is met. When the number of battery presence sensors on the carrying platform that are triggered is greater than or equal to the preset number threshold in condition (2), it proves that the carrying platform has fully contacted the battery and achieved chassis leveling, and the stopping condition is met at this time; otherwise, if condition (2) is not met, the condition (3) is further judged to determine whether it is met. When condition (3) is met, indicating that the platform has risen to the target position, it proves that the platform has risen to the target position and the vehicle has been lifted into a suspended state. At this point, the stopping condition is met. When none of the above three conditions are met, and the judgment time exceeds the first preset time threshold, it proves that the platform leveling process has malfunctioned. At this point, it is necessary to control the battery swapping device to stop working and send an alarm message. The first preset time can be determined based on experimental or empirical values, which will not be elaborated here.

[0223] By sequentially judging whether three conditions are met to control the lifting of the platform, this application can use multiple judgment methods to judge the leveling effect of the platform and ensure that the platform levels the vehicle chassis. According to the inventor's actual verification, under normal circumstances, conditions (1) and (2) are sufficient to achieve the purpose of leveling the vehicle. When conditions (1) and (2) are met, the wheels are still on the parking platform, and leveling and battery swapping can be achieved. Condition (3) sets the target position near the highest position of the platform, which can make a minimum judgment on the leveling process. When the first two conditions are not met, as long as condition (3) is met, the vehicle has been leveled. Of course, the height at which the vehicle is lifted is higher than when the first two conditions are met, but it is only limited to when the wheels have just left the ground.

[0224] Of course, judging the above three conditions in sequence is only a preferred implementation method. Those skilled in the art can also adjust the specific judgment method so that the unlocking control method of this application can be applied to more specific application scenarios. For example, only one or two of the above three conditions can be used for judgment, or the above judgment order can be rearranged, or other judgment conditions can be used, etc.

[0225] In one embodiment, after the step of "controlling the unlocking mechanism to perform the unlocking operation", the unlocking control method further includes: controlling the carrier platform to descend to a preset height; determining whether a battery presence sensor changes from a triggered state to a non-triggered state; if so, controlling the battery swapping device to stop operating and sending an alarm message; otherwise, controlling the carrier platform to continue descending to the transfer position.

[0226] Specifically, the preset height in this application can be determined through experimentation or experience. For example, the height at which the support platform descends when the battery is completely detached from the vehicle body can be determined experimentally, such as the required descent height of the support platform when the water and electricity plug on the battery is detached from the water and electricity socket on the vehicle body, and this height can be used as the preset height. When the water and electricity plug is detached from the water and electricity socket, the battery locking mechanism will naturally also disengage from the vehicle body. Through actual experimentation by the inventors, this preset height has been determined to be between 30-50mm.

[0227] After the unlocking mechanism completes the battery unlocking operation, the support platform is lowered to a preset height. If the battery unlocking malfunctions, for example, if some locking mechanisms fail to detach from the vehicle body due to slippage or jamming, the battery will tilt during the platform's descent. The detached locking mechanisms will cause part of the battery to remain attached to the vehicle body. At this point, the distance between the battery presence sensor and this portion of the battery will increase, causing the sensor's state to change from triggered to untriggered. This indicates unlocking failure, requiring the battery swapping unit to stop operating and issue an alarm to alert personnel for further action.

[0228] Conversely, if the battery unlocking is successful, the battery's sensor status will not change after the control platform descends to the preset height. At this point, unlocking is complete, and the control platform continues to descend to the transfer position for further operations. While in the transfer position, the battery swapping device can transfer the battery to the battery rack and receive the battery to be installed.

[0229] After the unlocking operation, the carrier platform is controlled to descend to a preset height, and the sensor for determining whether a battery is present changes from a triggered state to a non-triggered state. This application can also verify in real time whether the battery has been successfully unlocked after the unlocking mechanism is unlocked, and promptly stop the machine and alarm if the result is yes, to prevent damage to the battery and vehicle caused by the battery being upside down due to the failure of some locking mechanisms to unlock.

[0230] Of course, the control logic for determining the unlocking effect described above is not necessary. In other embodiments, those skilled in the art can selectively introduce the above control logic into the unlocking control method.

[0231] In one embodiment, the unlocking control method further includes: controlling the carrier platform to lift the battery to be installed; determining whether the carrier platform has reached the locking position; and controlling the unlocking mechanism to perform the locking operation after the carrier platform has risen to the locking position.

[0232] After unlocking, the battery swapping unit transfers the depleted battery to the battery rack and receives the battery to be installed from the rack. It then uses battery positioning pins on the support platform to position the battery to be installed, and moves the battery to be installed under the vehicle, ready for installation. At this point, the support platform carrying the battery is raised. During the rise, it is checked whether the platform has reached the locking position. If it has, the battery can be locked, and the unlocking mechanism locks the battery. Otherwise, the platform continues to rise until it reaches the locking position.

[0233] In one embodiment, after the step of "controlling the carrier platform to stop rising", the locking / unlocking control method further includes: recording the current position as the locking / unlocking working position. The step of "determining whether the carrier platform has reached the locking position" further includes: determining whether the carrier platform has reached the locking / unlocking working position.

[0234] Specifically, during the unlocking process, once the support platform has raised the vehicle to achieve leveling, the current height coordinates can be fed back by the servo controller as the unlocking / locking position. Then, during the locking process, this unlocking / locking position is used as the locking location to determine if the support platform has reached that position. Upon reaching the unlocking / locking position, it indicates that the vehicle chassis has been leveled and the battery has been properly connected to the chassis, allowing for the locking operation.

[0235] By recording the current position as the unlocking / unlocking working position when the carrier platform stops rising during the unlocking process, and controlling the rise of the carrier platform with the unlocking / unlocking working position as the target position during the locking process, this application can save the need for secondary leveling of the vehicle and directly use the data from the first leveling to achieve precise battery installation.

[0236] It should be noted that raising the control platform to the locking / unlocking position described above is merely a preferred embodiment. Those skilled in the art can select other positions as the locking position based on specific application scenarios. For example, the chassis can be leveled again using conditions similar to those described for unlocking, and the leveled position can be used as the locking position.

[0237] In one embodiment, the unlocking control method further includes: controlling multiple body positioning pins to extend before the carrier platform is raised while carrying the battery to be installed; acquiring the static torque of the multiple body positioning pins during the process of the carrier platform raising while carrying the battery to be installed; determining whether the conditions for continuing to rise are met based on the acquired static torque; and controlling the multiple body positioning pins to retract and controlling the carrier platform to rise to the locked position when the conditions for continuing to rise are met.

[0238] Specifically, it is determined whether all static torques are greater than or equal to a second preset torque threshold; if so, the condition for continuing to increase is met. If all static torques are not greater than or equal to the second preset torque threshold, and the determination time exceeds a second preset time threshold, the battery swapping device is controlled to stop operating and an alarm message is sent.

[0239] For example, before controlling the lifting platform to lift the battery to be installed, multiple body positioning pins are first extended. These pins are used to position the platform relative to the vehicle chassis, indirectly positioning the battery to be installed relative to the chassis. Preferably, all body positioning pins are extended to their maximum stroke. After all body positioning pins are extended, the platform is lifted to lift the battery. During the lifting process, the static torque of each body positioning pin is acquired in real time. The static torque can be calculated based on factors such as the current of the drive motor connected to the body positioning pins. The second preset torque threshold can be determined based on experimental or empirical values, which will not be elaborated further.

[0240] When the vehicle body locating pins are inserted into the locating holes on the vehicle chassis, their static torque begins to increase. At this point, the accuracy of the battery's alignment with the vehicle chassis is determined by assessing the static torque of each locating pin. When all static torques are greater than or equal to a second preset torque threshold, it indicates that each locating pin has been inserted into the locating hole on the chassis, and the battery is aligned with the vehicle body, allowing the platform to continue rising. If the condition that all static torques are greater than or equal to the second preset torque threshold is not met, and the assessment time exceeds a second preset time threshold, it indicates a malfunction in the alignment process, which may prevent the battery from being installed correctly. In this case, the battery swapping device needs to be stopped, and an alarm message should be sent. The second preset time can be determined based on experimental or empirical values, and will not be elaborated here.

[0241] When the conditions for continued upward movement are met, it proves that the battery to be installed is accurately positioned with the vehicle chassis. At this point, the unlocking mechanism can be controlled to continue rising to the locked position, while the body positioning pin is controlled to retract. When it rises to the locked position, the battery to be installed is precisely connected with the vehicle chassis.

[0242] By using the static torque of multiple body locating pins to determine whether the conditions for continued lifting are met, this application can verify the positioning of the support platform and the vehicle chassis by using the body locating pins while the support platform drives the battery to rise during the locking process, thus ensuring the battery installation accuracy and success rate.

[0243] Of course, the control logic described above for determining positioning accuracy using the vehicle body positioning pin is not mandatory. In other embodiments, those skilled in the art can selectively introduce the above control logic into the unlocking control method.

[0244] In one embodiment, the unlocking control method further includes: if all static torques greater than or equal to the second preset torque threshold are not true, and some static torques are greater than or equal to the second preset torque threshold, then the load-bearing platform is controlled to continue to rise, while the vehicle body positioning pins with static torques greater than or equal to the second preset torque threshold are controlled to descend at the same moving speed as the load-bearing platform.

[0245] Specifically, taking the example of two body locating pins on the support platform, when the static torque corresponding to one of the body locating pins is greater than or equal to a second preset torque threshold, while the static torque corresponding to the other body locating pin is less than the second preset torque threshold, it proves that one body locating pin has been inserted into the locating hole, while the other body locating pin has not. If the support platform continues to rise, the static torque of the body locating pin that has been inserted into the locating hole will continue to increase, and may even break through the chassis, affecting the chassis strength. At this time, the body locating pin is controlled to descend. Preferably, the descent speed is matched with the ascending speed of the support platform to ensure that while the support platform is rising, the static torque of the body locating pin always remains greater than or equal to the second preset torque threshold.

[0246] By controlling the load-bearing platform to continue rising when the static torque is greater than or equal to the second preset torque threshold, and simultaneously controlling the vehicle body positioning pin with a static torque greater than or equal to the second preset torque threshold to descend at the same moving speed as the load-bearing platform, the vehicle chassis can be protected while leveling, preventing damage to the vehicle caused by the vehicle body positioning pin hitting the chassis.

[0247] Of course, in addition to controlling the body positioning pin to descend at the same speed as the carrying platform, the body positioning pin can also be controlled to descend at a speed greater than or less than the speed at which the carrying platform rises, as long as the descent method can meet the conditions that the body positioning pin does not damage the vehicle chassis and its static torque is greater than or equal to the second preset torque threshold.

[0248] The following reference Figure 4 and Figure 5 The encryption and unlocking process in one possible implementation is described. Figure 4A logic diagram of the unlocking process in one possible implementation; Figure 5 This is a logic diagram of the locking process in one possible implementation.

[0249] Reference Figure 4 In one possible implementation, after the vehicle to be swapped has driven to the parking platform and been initially positioned, the battery swapping device moves under the vehicle to unlock the depleted battery. The unlocking process includes:

[0250] S201, control the lifting platform to rise, then execute S202.

[0251] S202: Obtain the real-time torque Tc of the bearing platform and determine whether Tc ≥ T1, where T1 is the first preset torque threshold. If it is true, proceed to S207; otherwise, if it is false, proceed to S203.

[0252] S203: Obtain the number N of battery presence sensors in the triggered state, and determine whether N≥N1 is true, where N1 is a preset threshold number. If true, proceed to S207; otherwise, if false, proceed to S204.

[0253] S204: Obtain the current position H (height coordinates) of the carrying platform and determine whether H ≥ H1 is true, where H1 is the target position. If true, proceed to S207; otherwise, if false, proceed to S205.

[0254] S205: Obtain the judgment time t, and determine whether t≥t1 is true, where t1 is the first preset time. If true, execute S206; otherwise, if false, return to execute S201.

[0255] S206, control the battery swapping device to stop and send alarm information.

[0256] S207, record the current position as the unlock / unlock working position H2, and then execute S208.

[0257] S208, control the unlocking mechanism to unlock the depleted battery, and then execute S209.

[0258] S209, control the support platform to lower the depleted battery to a preset height H3, and then execute S210.

[0259] S210: During the descent, the number N of battery presence sensors in the triggered state is acquired again, and it is determined whether N≥N1 is true. If true, the unlocking is complete; otherwise, if false, S206 is executed.

[0260] Reference Figure 5In one possible implementation, after unlocking, the battery swapping device transfers the depleted battery to the battery rack and receives the battery to be installed from the rack. Then, the swapping device controls the battery positioning pin to extend into the positioning hole of the battery to be installed, thus positioning the battery to be installed with the support platform. Next, the swapping device, carrying the battery to be installed, moves again under the vehicle to be swapped for locking. The locking process includes:

[0261] S301, control the two body positioning pins to extend to the maximum travel position, and then execute S302.

[0262] S302, control the support platform to lift the battery to be installed, and then execute S303.

[0263] S303: During the lifting process of the support platform, the static torques Tx1 and Tx2 of the two body positioning pins are obtained, and it is determined whether Tx1≥T2 and Tx2≥T2 are true, where T2 is a second preset torque threshold. If true, then S308 is executed; otherwise, if not true, then S304 is executed.

[0264] S304, determine whether Tx1≥T2 or Tx2≥T2 is true, that is, whether one of the two static torques reaches the second preset torque threshold. If true, execute S305; otherwise, if false, execute S306.

[0265] S305, control the body positioning pin, whose static torque has reached the second preset torque threshold, to descend at the same moving speed as the load-bearing platform, and then return to execute S302.

[0266] S306: Obtain the judgment time t' and determine whether t'≥t2 is true, where t2 is the second preset time. If true, execute S307; otherwise, if false, return to execute S302.

[0267] S307 controls the battery swapping device to stop and sends alarm information.

[0268] S308, control the platform to continue rising, then execute S309.

[0269] S309: Obtain the current position H' (height coordinates) of the carrier platform and determine whether H' ≥ H2 is true, where H2 is the unlock / unlock working position. If true, proceed to S310; otherwise, return to S308.

[0270] S310 controls the locking / unlocking mechanism to lock the battery to be installed; locking is complete.

[0271] Although the steps in the above embodiments are described in the above order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not need to be executed in such order. They can be executed simultaneously (in parallel) or in reverse order. These simple changes are all within the protection scope of this application.

[0272] The following reference Figure 6 This paper provides a brief introduction to the encryption and unlocking control system of this application. Figure 6 This is a system diagram of the unlocking and unlocking control system of this application.

[0273] like Figure 6 As shown, the unlocking control system 100 of this application is used in a charging and battery swapping station. The charging and battery swapping station includes a parking platform and a battery swapping device. The parking platform is configured to allow vehicles to be swapped to park on it. The battery swapping device includes a liftable support platform and an unlocking mechanism mounted on the support platform. The support platform is configured to support the battery, and the unlocking mechanism is configured to unlock the battery. The unlocking control system 100 includes: a platform lifting control module 110, a judgment module 120, and an unlocking control module 130. The platform lifting control module 110 is configured to control the support platform to rise after the vehicle to be swapped is parked on the parking platform, so that the support platform contacts the battery on the chassis of the vehicle to be swapped. The judgment module 120 is configured to determine whether a stopping condition is met during the rising of the support platform. The platform lifting control module is also configured to control the support platform to stop rising when the stopping condition is met. The unlocking control module 130 is configured to control the unlocking mechanism to perform an unlocking operation. In one embodiment, a description of the specific functions can be found in S101-S107.

[0274] In one embodiment, the stopping condition includes at least one of the following three conditions: the torque of the support platform is greater than or equal to a first preset torque threshold; the number of battery presence sensors triggered on the support platform is greater than or equal to a preset number threshold; multiple battery presence sensors are provided on the support platform, and the battery presence sensors are set to be triggered when the distance between them and the battery is less than or equal to a preset distance threshold; the support platform rises to the target position. For a detailed description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0275] In one embodiment, the judgment module 120 is further configured to determine whether the stopping condition is met by: determining whether the condition that the torque of the carrying platform is greater than or equal to a first preset torque threshold is met; if it is met, the stopping condition is determined to be met; otherwise, further determining whether the condition that the number of battery presence sensors triggered on the carrying platform is greater than or equal to a preset number threshold is met; if it is met, the stopping condition is determined to be met; otherwise, further determining whether the condition that the carrying platform rises to the target position is met; if it is met, the stopping condition is determined to be met. For a detailed description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0276] In one embodiment, the platform lifting control module 110 is further configured to control the battery swapping device to stop operating and send an alarm message when the condition for the carrying platform to rise to the target position is not met and the judgment time exceeds a first preset time threshold. For a description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0277] In one embodiment, the platform lifting control module 110 is further configured to control the carrying platform to descend a preset height after the unlocking mechanism performs an unlocking operation; the judgment module 120 is further configured to determine whether a battery presence sensor changes from a triggered state to a non-triggered state; the platform lifting control module 110 is further configured to control the battery swapping device to stop operating and send an alarm message when the battery presence sensor changes from a triggered state to a non-triggered state. For a detailed description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0278] In one embodiment, the platform lifting control module 110 is further configured to control the carrier platform to lift the battery to be installed; the judgment module 120 is further configured to determine whether the carrier platform has reached the locking position; and the unlocking control module 130 is further configured to control the unlocking mechanism to perform a locking operation after the carrier platform rises to the locking position. For a detailed description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0279] In one embodiment, the unlocking / unlocking control system 100 further includes: a recording module 140, configured to record the current position as the unlocking / unlocking working position after the carrier platform stops rising; and a judgment module 120 further configured to determine whether the carrier platform has reached the locking position by determining whether the carrier platform has reached the unlocking / unlocking working position. For a detailed description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0280] In one embodiment, the support platform is further provided with multiple retractable vehicle body positioning pins. The unlocking control system 100 further includes: a positioning pin lifting control module 150, configured to control the extension of multiple vehicle body positioning pins before the support platform lifts up carrying the battery to be installed; an acquisition module 160, configured to acquire the static torque of the multiple vehicle body positioning pins during the process of the support platform lifting up carrying the battery to be installed; a judgment module 120, further configured to determine whether the condition for continued lifting is met based on the acquired static torque; and a platform lifting control module 110, further configured to control the support platform to rise to the locked position when the condition for continued lifting is met. For a detailed description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0281] In one embodiment, the determination module 120 is further configured to determine whether the condition for continued upward movement is met by: determining whether all static torques are greater than or equal to a second preset torque threshold; if so, determining that the condition for continued upward movement is met. For a detailed description of the specific function implemented in one embodiment, please refer to the above method steps.

[0282] In one embodiment, the platform lifting control module 110 is further configured to control the support platform to continue rising when a portion of the static torque is greater than or equal to a second preset torque threshold; the positioning pin lifting control module 150 is further configured to control the vehicle positioning pin with a static torque greater than or equal to the second preset torque threshold to descend at the same moving speed as the support platform. For a description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0283] In one embodiment, the platform lifting control module 110 is further configured to control the battery swapping device to stop operating and send an alarm message when all instances of static torque being greater than or equal to a second preset torque threshold are not met, and the judgment time exceeds a second preset time threshold. For a description of the specific functions implemented in one embodiment, please refer to the above method steps.

[0284] It should be noted that the safety protection system for the charging and swapping station provided in the above embodiments is only illustrated by the division of the above functional modules (such as platform lifting control module 110, judgment module 120, unlocking control module 130, recording module 140, positioning pin lifting control module 150, acquisition 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 further decomposed or combined. For example, the functional modules in the above embodiments can be merged 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 differentiation and are not considered as an improper limitation of this application.

[0285] Those skilled in the art will understand that all or part of the processes in the method of the above embodiment of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying computer program code, media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed 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 electrical carrier signals and telecommunication signals.

[0286] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the server or client according to embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a PC program and PC program products) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a PC-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0287] This application also provides a computer-readable storage medium. In one embodiment of the computer-readable storage medium according to this application, the computer-readable storage medium can be configured to store a program that performs the encryption / unlocking control method of the above-described method embodiments. This program can be loaded and run by a processor to implement the above-described encryption / unlocking control method. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The computer-readable storage medium can be a storage device comprising various electronic devices. Optionally, in the embodiments of the present invention, the computer-readable storage medium is a non-transitory computer-readable storage medium.

[0288] This application also provides a control device. In one embodiment of the control device according to this application, the control device includes a processor and a memory. The memory can be configured to store a program for executing the encryption / unlocking control method of the above-described method embodiments, and the processor can be configured to execute the program in the memory. The program includes, but is not limited to, a program for executing the encryption / unlocking control method of the above-described method embodiments. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention. The control device can be a device comprising various electronic devices.

[0289] This application also provides a charging and battery swapping station, which includes a parking platform and a battery swapping device. The parking platform is configured to allow vehicles waiting to have their batteries swapped to park on it. The battery swapping device includes a liftable support platform and an unlocking mechanism mounted on the support platform. The support platform is configured to support the battery, and the unlocking mechanism is configured to unlock the battery. The charging and battery swapping station also includes the aforementioned control device.

[0290] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this 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 all fall within the scope of protection of this application.

Claims

1. A method for lock / unlock control, used in a charging and battery swapping station, characterized in that, The charging and battery swapping station comprises a parking platform and a battery swapping device, the parking platform is configured to allow a vehicle to be parked thereon, the battery swapping device comprises a lifting platform and a locking and unlocking mechanism, the lifting platform is configured to carry a battery, and the locking and unlocking mechanism is configured to lock and unlock the battery, The locking and unlocking control method comprises: After the vehicle to be swapped is parked on the parking platform, the lifting platform is controlled to rise so that the lifting platform is in contact with the battery on the chassis of the vehicle to be swapped, so that the lifting platform lifts the vehicle by carrying the battery; During the rising of the lifting platform, it is determined whether a stop condition is met; If the stop condition is met, it is proved that the lifting platform has lifted the vehicle to a levelled chassis state, and the lifting platform is controlled to stop rising; The locking and unlocking mechanism is controlled to perform an unlocking operation.

2. The lock / unlock control method according to claim 1, characterized by, The stop condition comprises at least one of the following three conditions: A real-time torque of the lifting platform is greater than or equal to a first preset torque threshold, wherein the first preset torque threshold is determined based on the following manner: the maximum torque when all battery swapping vehicles are lifted and the chassis is levelled or the product of the maximum torque and a safety factor is taken as the first preset torque threshold, or different motor torques are matched for different vehicle types as the first preset torque threshold of the vehicle type; A number of battery presence sensors provided on the lifting platform are triggered is greater than or equal to a preset number threshold; The lifting platform is provided with a plurality of battery presence sensors, and the battery presence sensors are configured to be triggered when a distance between the battery presence sensors and the battery is less than or equal to a preset distance threshold; The lifting platform rises to a target position, wherein the target position is a height coordinate of a maximum height at which the lifting platform can be lifted or a height coordinate of a certain height close to the maximum height.

3. The lock / unlock control method according to claim 2, characterized by, The step of "determining whether the stop condition is met" further comprises: It is determined whether a condition that the real-time torque of the lifting platform is greater than or equal to the first preset torque threshold is met; If the condition is met, it is determined that the stop condition is met; otherwise, it is further determined whether a condition that the number of the battery presence sensors provided on the lifting platform and triggered is greater than or equal to the preset number threshold is met; If the condition is met, it is determined that the stop condition is met; otherwise, it is further determined whether a condition that the lifting platform rises to the target position is met; If the condition is met, it is determined that the stop condition is met.

4. The lock / unlock control method according to claim 3, characterized by, The locking and unlocking control method further comprises: If the three conditions are not met and a determination time exceeds a first preset time threshold, the battery swapping device is controlled to stop running and an alarm information is sent.

5. The lock / unlock control method according to claim 2, characterized by, After the step of "controlling the locking and unlocking mechanism to perform the unlocking operation", the locking and unlocking control method further comprises: The lifting platform is controlled to descend by a preset height; It is determined whether a battery presence sensor is switched from a triggered state to an untriggered state; If yes, the battery swapping device is controlled to stop running and an alarm information is sent.

6. The lock / unlock control method according to claim 1, characterized by, The locking and unlocking control method further comprises: The lifting platform is controlled to carry a battery to be installed and rise; It is determined whether the lifting platform reaches a locking position; After the carrying platform rises to the locking position, the locking and unlocking mechanism is controlled to perform a locking operation.

7. The lock / unlock control method according to claim 6, characterized by, After the step of "controlling the carrying platform to stop rising", the locking and unlocking control method further comprises: record the current position as a locking and unlocking working position; the step of "judging whether the carrying platform reaches the locking position" further comprises: judging whether the carrying platform reaches the locking and unlocking working position.

8. The lock / unlock control method according to claim 6, characterized by, The carrying platform is further provided with a plurality of retractable vehicle body positioning pins, and the locking and unlocking control method further comprises: Before controlling the carrying platform to rise while carrying the battery to be installed, the plurality of vehicle body positioning pins are controlled to extend; During the process of the carrying platform rising while carrying the battery to be installed, the static torques of the plurality of vehicle body positioning pins are acquired; According to the acquired static torques, it is judged whether a condition for continuing to rise is met; When the condition for continuing to rise is met, the plurality of vehicle body positioning pins are controlled to retract, and the carrying platform is controlled to rise to the locking position.

9. The lock / unlock control method according to claim 8, characterized by, The step of "judging whether the condition for continuing to rise is met" further comprises: judging whether all the static torques are greater than or equal to a second preset torque threshold; If yes, it is determined that the condition for continuing to rise is met.

10. The lock / unlock control method according to claim 9, characterized by, The locking and unlocking control method further comprises: If part of the static torques is greater than or equal to the second preset torque threshold, the carrying platform is controlled to continue to rise, and the vehicle body positioning pin with the static torque greater than or equal to the second preset torque threshold is controlled to descend at the same moving speed as the carrying platform.

11. The lock / unlock control method according to claim 9, characterized by, The locking and unlocking control method further comprises: If all the static torques are not greater than or equal to the second preset torque threshold, and the judgment time exceeds a second preset time threshold, the battery swapping device is controlled to stop running and an alarm information is sent.

12. A lock / unlock control system for a charging and swapping station, characterized in that, The battery charging and swapping station comprises a parking platform and a battery swapping device, the parking platform is arranged to allow a vehicle to be swapped to be parked thereon, the battery swapping device comprises a carrying platform arranged to be liftable and a locking and unlocking mechanism arranged on the carrying platform, the carrying platform is arranged to be capable of carrying a battery, and the locking and unlocking mechanism is arranged to be capable of locking and unlocking the battery, The locking and unlocking control system comprises: a platform lifting control module, the platform lifting control module is configured to control the carrying platform to rise after the vehicle to be swapped is parked on the parking platform, so that the carrying platform contacts the battery on the chassis of the vehicle to be swapped, and the carrying platform lifts the vehicle by carrying the battery to be installed; a judging module, the judging module is configured to judge whether a stopping condition is met during the process of the carrying platform rising; the platform lifting control module is further configured to, when the stopping condition is met, prove that the current carrying platform has lifted the vehicle to a chassis leveling state, and at this time, the carrying platform is controlled to stop rising; a locking and unlocking control module, the locking and unlocking control module is configured to control the locking and unlocking mechanism to perform an unlocking operation.

13. The lock control system of claim 12, wherein, The stopping condition comprises at least one of the following three conditions: The real-time torque of the bearing platform is greater than or equal to a first preset torque threshold, wherein the first preset torque threshold is determined in the following manner: the maximum torque or the product of the maximum torque and a safety factor when all battery swap vehicles are lifted and leveled is taken as the first preset torque threshold, or different motor torques are matched for different vehicle models as the first preset torque threshold for the vehicle models; The number of battery presence sensors provided on the bearing platform that are triggered is greater than or equal to a preset number threshold; The bearing platform is provided with a plurality of battery presence sensors, and the battery presence sensors are configured to be triggered when the distance between the battery presence sensors and the battery is less than or equal to a preset distance threshold; The bearing platform is lifted to a target position, wherein the target position is a height coordinate of the maximum height that the bearing platform can be lifted to, or a height coordinate of a certain height close to the highest position.

14. The lock control system of claim 13, wherein, The judgment module is further configured to determine whether the stop condition is met in the following manner: Determine whether the condition that the real-time torque of the bearing platform is greater than or equal to the first preset torque threshold is met; If so, it is determined that the stop condition is met; otherwise, it is further determined whether the condition that the number of battery presence sensors provided on the bearing platform that are triggered is greater than or equal to the preset number threshold is met; If so, it is determined that the stop condition is met; otherwise, it is further determined whether the condition that the bearing platform is lifted to the target position is met; If so, it is determined that the stop condition is met.

15. The unlocking and locking control system according to claim 14, wherein The platform lifting control module is further configured to control the battery swap device to stop running and send an alarm message when the three conditions are not met and the judgment time exceeds a first preset time threshold.

16. The unlocking and locking control system according to claim 13, wherein The platform lifting control module is further configured to control the bearing platform to descend by a preset height after the unlocking and locking mechanism performs the unlocking operation; The judgment module is further configured to determine whether a battery presence sensor is switched from the triggered state to the untriggered state; The platform lifting control module is further configured to control the battery swap device to stop running and send an alarm message when a battery presence sensor is switched from the triggered state to the untriggered state.

17. The unlocking and locking control system according to claim 12, wherein The platform lifting control module is further configured to control the bearing platform to lift the battery to be installed; The judgment module is further configured to determine whether the bearing platform reaches the locking position; The unlocking and locking control module is further configured to control the unlocking and locking mechanism to perform the locking operation after the bearing platform is lifted to the locking position.

18. The lock control system of claim 17, wherein, The unlocking and locking control system further comprises: A recording module configured to record the current position as the unlocking and locking working position after the bearing platform stops lifting; The judgment module is further configured to determine whether the bearing platform reaches the locking position in the following manner: Determine whether the bearing platform reaches the unlocking and locking working position.

19. The lock control system of claim 17, wherein, The carrying platform is also provided with a plurality of retractable vehicle body positioning pins, and the unlocking and locking control system further comprises: a positioning pin lifting control module configured to control the plurality of vehicle body positioning pins to extend before the carrying platform carrying the battery to be installed is lifted up; an acquisition module configured to acquire static torques of the plurality of vehicle body positioning pins during the process that the carrying platform carrying the battery to be installed is lifted up; the judgment module is further configured to judge whether a continue-lifting condition is met according to the acquired static torques; the positioning pin lifting control module is further configured to control the plurality of vehicle body positioning pins to retract when the continue-lifting condition is met; the platform lifting control module is further configured to control the carrying platform to be lifted up to the locking position when the continue-lifting condition is met.

20. The lock control system of claim 19, wherein, the judgment module is further configured to judge whether the continue-lifting condition is met by: judging whether all the static torques are greater than or equal to a second preset torque threshold; if yes, it is determined that the continue-lifting condition is met.

21. The unlocking and locking control system according to claim 20, wherein the platform lifting control module is further configured to control the carrying platform to continue to be lifted up when part of the static torques are greater than or equal to the second preset torque threshold; the positioning pin lifting control module is further configured to control the vehicle body positioning pins whose static torques are greater than or equal to the second preset torque threshold to be lowered at the same moving speed as the carrying platform.

22. The unlocking and locking control system according to claim 20, wherein the platform lifting control module is further configured to control the battery swapping device to stop running and send an alarm information when all the static torques are not greater than or equal to the second preset torque threshold, and a judgment time exceeds a second preset time threshold.

23. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by the processor to execute the unlocking and locking control method in any one of claims 1 to 11.

24. A control device characterized by comprising: comprises: a processor; a memory adapted to store a plurality of program codes, the program codes being adapted to be loaded and run by the processor to execute the unlocking and locking control method in any one of claims 1 to 11.

25. A charging station, comprising: The battery charging and swapping station comprises a parking platform and a battery swapping device, the parking platform is arranged to allow a vehicle to be swapped to be parked thereon, the battery swapping device comprises a carrying platform arranged to be liftable and a unlocking and locking mechanism arranged on the carrying platform, the carrying platform is arranged to be capable of carrying a battery, the unlocking and locking mechanism is arranged to be capable of unlocking and locking the battery, and the battery charging and swapping station further comprises the control device according to claim 24.

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