A balancing method and balancing system for a battery transport vehicle

Abstract

The present disclosure proposes a balancing method and balancing system for a battery transport vehicle, wherein the balancing method includes: S1: after the vehicle reaches a predetermined position, controlling the movement of multiple support devices around the vehicle body so that the first horizontal degree of the vehicle body is not greater than a horizontal threshold; S2: collecting and storing the vehicle's position information and the support information of multiple support devices; S3: establishing a corresponding relationship between the position information and the multiple support information; S4: after the vehicle reaches the predetermined position again, retrieving multiple support information corresponding to the position information according to the input position information, and controlling the movement of the support device according to the support information. In a balancing method and balancing system for a battery transport vehicle disclosed in the present disclosure, after the vehicle reaches the predetermined position again, by retrieving multiple stored support information and controlling the movement of the support device according to the support information, the vehicle body is quickly balanced, effectively reducing the difficulty of balancing the vehicle body.

Description

Technical Field

[0001] This disclosure relates to the field of battery transportation technology, and in particular to a balancing method and balancing system for a battery transportation vehicle. Background Technology

[0002] With the development of electric vehicles, the types of electric vehicles are also increasing. Conventional electric vehicles are usually charged using fixed charging piles or fixed battery swapping stations. However, for fields such as engineering construction, electric vehicles need to be mobile to meet usage needs. However, mobile electric vehicles need to travel back and forth to fixed battery swapping stations, which is time-consuming and labor-intensive, increases operating costs, and reduces operating efficiency.

[0003] The emergence of mobile battery swapping stations has largely solved the above problems. However, mobile battery swapping stations need to be constantly moved and positioned, which makes it easy for battery transport vehicles to tilt during positioning, making it difficult to achieve balance. As a result, battery swapping stations cannot replace batteries accurately, efficiently, and safely. Summary of the Invention

[0004] This disclosure aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the purpose of this disclosure is to provide a balancing method and balancing system for battery transport vehicles.

[0006] To achieve the above objectives, the first aspect of this disclosure provides a balancing method for a battery transport vehicle, comprising: S1: after the vehicle reaches a predetermined position, controlling the movement of multiple support devices around the vehicle body to ensure that a first levelness of the vehicle body is not greater than a level threshold; S2: collecting and storing the vehicle's position information and the support information of the multiple support devices; S3: establishing a correspondence between the position information and the multiple support information; S4: after the vehicle reaches the predetermined position again, retrieving the multiple support information corresponding to the input position information, and controlling the movement of the support devices according to the support information.

[0007] Optionally, before controlling the operation of multiple support devices around the vehicle body to ensure that the first levelness of the vehicle body is not greater than a level threshold, the balancing method further includes: S101: collecting loading information on the vehicle body; S102: comparing the loading information with the loading threshold; S103: if the loading information is not less than the loading threshold, controlling the operation of multiple support devices to ensure that the first levelness is not greater than the level threshold.

[0008] Optionally, controlling the operation of multiple support devices around the vehicle body to ensure that the first levelness of the vehicle body is not greater than a level threshold includes: S104: acquiring the first levelness; S105: establishing the operation sequence of the multiple support devices according to the arrangement order; S106: using one of the support devices as a reference point, controlling the operation of the multiple support devices sequentially according to the operation sequence and the comparison result between the first levelness and the level threshold to ensure that the first levelness is not greater than the level threshold.

[0009] Optionally, after controlling the operation of the plurality of support devices around the vehicle body to ensure that the first levelness of the vehicle body is not greater than a level threshold, the balancing method further includes: S107: controlling the saddle movement of the vehicle to separate the front of the vehicle from the body.

[0010] Optionally, the step of collecting and storing the vehicle's location information and the support information of the multiple support devices includes: S201: collecting the telescopic distance of the support device as the support information; S202: storing the location information and the multiple telescopic distances corresponding to the location information.

[0011] Optionally, the step of collecting and storing the vehicle's location information and the support information of the multiple support devices includes: S203: storing the location information and the multiple support information corresponding to the location information in a first storage unit; S204: calculating the number of repetitions of the location information and the multiple support information corresponding to the location information in the first storage unit; S205: comparing the number of repetitions with a repetition threshold; S206: if the number of repetitions is not less than the repetition threshold, then storing the location information and the multiple support information corresponding to the location information in a second storage unit.

[0012] Optionally, the balancing method further includes: S5: verifying the second levelness of the vehicle body so that the second levelness is not greater than the level threshold.

[0013] Optionally, the verification of the vehicle body's levelness includes: S501: acquiring the second levelness; S502: comparing the second levelness with the level threshold; S503: if the second levelness is greater than the level threshold, controlling the operation of multiple support devices to ensure that the second levelness is not greater than the level threshold; S504: updating multiple support information corresponding to the position information.

[0014] Optionally, the balancing method further includes: S6: uploading the location information and a plurality of support information corresponding to the location information to a sharing center, so that a plurality of vehicles can download and use the location information and the plurality of support information corresponding to the location information from the sharing center.

[0015] A second aspect of this disclosure provides a balancing system for a battery transport vehicle, comprising: a plurality of support devices disposed around the vehicle body, the plurality of support devices supporting the vehicle body to ensure that a first levelness of the vehicle body is not greater than a level threshold; a data acquisition module for acquiring the vehicle's position information and the support information of the plurality of support devices; a storage module for storing the position information and the plurality of support information in the data acquisition module; a matching module for establishing a correspondence between the position information in the storage module and the plurality of support information; and a control module for controlling the support devices to operate after the vehicle reaches a predetermined position, and, after the vehicle reaches the predetermined position again, retrieving the plurality of support information corresponding to the position information in the storage module based on the input position information, and controlling the support devices to operate based on the support information.

[0016] The technical solution provided in this disclosure may include the following beneficial effects:

[0017] After the vehicle first arrives at the designated position, multiple support devices are controlled to keep the vehicle body within the allowable level, thus achieving vehicle balance. At the same time, after the vehicle arrives at the designated position again, multiple stored support information is retrieved and the support devices are controlled according to the support information to achieve rapid vehicle balance. This effectively reduces the difficulty of vehicle body balance and ensures accurate, efficient and safe battery replacement at the battery swapping station.

[0018] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0020] Figure 1 This is a schematic flowchart of a balancing method for a battery transport vehicle according to an embodiment of this disclosure;

[0021] Figure 2 This is a schematic diagram of the structure of a battery transport vehicle according to an embodiment of this disclosure;

[0022] Figure 3This is a schematic diagram of the structure of the base in a battery transport vehicle according to an embodiment of the present disclosure;

[0023] Figure 4 This is a schematic diagram of the structure of the base in a battery transport vehicle according to an embodiment of the present disclosure;

[0024] Figure 5 This is a schematic diagram of the structure at the front of the battery transport vehicle according to an embodiment of the present disclosure;

[0025] Figure 6 yes Figure 2 Enlarged view of section A in the middle;

[0026] Figure 7 This is a schematic diagram of the oil circuit of a support device in a battery transport vehicle according to an embodiment of this disclosure;

[0027] Figure 8 This is a schematic diagram of the structure of the base in a battery transport vehicle according to an embodiment of the present disclosure;

[0028] Figure 9 This is a schematic diagram of the structure of the base in a battery transport vehicle according to an embodiment of the present disclosure;

[0029] As shown in the picture: 1. Front of the vehicle, 2. Body of the vehicle, 3. Base, 4. Battery;

[0030] 5. Locking device, 501. First connecting plate, 502. Second connecting plate, 503. Locking bolt, 504. First clamping plate, 505. Second clamping plate, 506. First lead screw, 507. Second lead screw, 508. Drive motor;

[0031] 6. Support device; 601. Sleeve; 602. Support rod; 603. Reinforcing rod; 604. Hydraulic cylinder; 605. Three-position four-way valve; 606. Washer plate; 607. Groove; 608. Cone.

[0032] 7. Loading detection components: 701. Weighing sensor; 702. Photoelectric sensor;

[0033] 8. Distance sensor, 9. Hydraulic station, 10. Saddle, 11. Traction pin. Detailed Implementation

[0034] Embodiments of this disclosure are described in detail below, with examples of embodiments illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0035] like Figure 1 As shown in the embodiments of this disclosure, a balancing method for a battery transport vehicle is proposed, comprising:

[0036] S1: After the vehicle reaches the predetermined position, control the movement of multiple support devices 6 around the vehicle body 2 to ensure that the first levelness of the vehicle body 2 is not greater than the level threshold.

[0037] S2: Collect and store the vehicle's location information and the support information of multiple support devices 6;

[0038] S3: Establish the correspondence between location information and multiple supporting information;

[0039] S4: After the vehicle arrives at the predetermined position again, retrieve multiple support information corresponding to the input position information, and control the support device 6 to operate according to the support information.

[0040] Understandably, after the vehicle first arrives at the predetermined position, multiple support devices 6 are controlled to keep the vehicle body 2 within the allowable level, thereby achieving the balance of the vehicle body 2. At the same time, after the vehicle arrives at the predetermined position again, multiple stored support information is retrieved and the support devices 6 are controlled to achieve the rapid balance of the vehicle body 2, effectively reducing the difficulty of balancing the vehicle body 2 and ensuring that the battery swapping station can replace the battery 4 accurately, efficiently and safely.

[0041] It should be noted that the detection method for the first levelness can be set according to actual needs and is not limited thereto. For example, a first level is installed on vehicle body 2, and the first level is used to detect the first levelness. The level is an instrument used to establish a horizontal line of sight and measure the height difference between two points on a plane. Its principle is based on the principle of leveling to measure the height difference between points on a plane. The reading of the level is the value of the first levelness. The specific value of the level threshold can be set according to actual needs and is not limited thereto.

[0042] Location information refers to information indicating the vehicle's location. The specific content of the location information can be set according to actual needs and there are no restrictions on it. For example, the location information can be set number information, such as position 1, position 2, etc.

[0043] The vehicle includes a cab 1 and a body 2. Multiple support devices 6 are arranged around the body 2. The specific type of vehicle can be set according to actual needs and there are no restrictions. For example, the vehicle can be a trailer, a semi-trailer, etc.

[0044] Battery 4 is used to replace batteries in electric vehicles. The specific type of battery 4 can be set according to actual needs and there are no restrictions on it.

[0045] The specific type of support device 6 can be set according to actual needs and is not limited thereto. For example, such as... Figure 5 , Figure 6 and Figure 7 As shown, the support device 6 includes a sleeve 601, a support rod 602, and a telescopic component. The sleeve 601 is located at the bottom of the vehicle body 2. Multiple sleeves 601 are symmetrically arranged on both sides of the vehicle body 2, and a reinforcing rod 603 is provided between two symmetrically arranged sleeves 601. The support rod 602 is slidably disposed at the end of the sleeve 601 away from the vehicle body 2. The telescopic component is disposed between the sleeve 601 and the support rod 602. The telescopic component is used to drive the support rod 602 to extend or retract relative to the sleeve 601, so that the end of the support rod 602 away from the sleeve 601 rests against or moves away from the ground.

[0046] Understandably, when the telescopic component is extended, it drives the support rod 602 to move away from the sleeve 601 and rest against the ground, thus supporting the vehicle body 2. When the telescopic component is retracted, it drives the support component to move closer to the sleeve 601 and away from the ground, facilitating the movement of the vehicle body 2. Therefore, through the telescopic movement of the component, the vehicle can be positioned and balanced while avoiding interference with its movement.

[0047] Multiple sleeves 601 are symmetrically arranged on both sides of the vehicle body 2, and a reinforcing rod 603 is provided between two symmetrically arranged sleeves 601, thereby further improving the support stability of the support device 6 on the vehicle body 2 and ensuring that the battery swapping station can replace the battery 4 accurately, efficiently and safely.

[0048] The way the sleeve 601 is set at the bottom of the vehicle body 2 can be set according to actual needs, and there is no restriction on it. For example, the sleeve 601 is set at the bottom of the vehicle body 2 by means of bolt fixing, welding fixing, etc.

[0049] The sliding structure of the support rod 602 on the sleeve 601 can be set according to actual needs, and there is no limitation thereto. For example, the sleeve 601 is provided with a groove at the end away from the vehicle body 2, and the end of the support rod 602 close to the vehicle body 2 is slidably inserted into the groove. At the same time, the telescopic component is set in the groove, one end of the telescopic component is connected to the bottom of the groove, and the other end of the telescopic component is connected to the end of the support rod 602 close to the vehicle body 2.

[0050] The specific type of expansion joint can be set according to actual needs, and there are no restrictions on it.

[0051] As a first embodiment of the telescopic component, such as Figure 7As shown, the battery 4 transport vehicle also includes a hydraulic station 9, which is installed on the vehicle body 2. The telescopic component includes a hydraulic cylinder 604 and a three-position four-way valve 605. The hydraulic cylinder 604 is installed inside a sleeve 601. The cylinder end of the hydraulic cylinder 604 is connected to the sleeve 601, and the piston rod end of the hydraulic cylinder 604 is connected to the support rod 602. The three-position four-way valve 605 is installed on the vehicle body 2. The first end of the three-position four-way valve 605 is connected to the outlet end of the hydraulic station 9, the second end of the three-position four-way valve 605 is connected to the inlet end of the hydraulic station 9, the third end of the three-position four-way valve 605 is connected to the rod chamber of the hydraulic cylinder 604, and the fourth end of the three-position four-way valve 605 is connected to the rodless chamber of the hydraulic cylinder 604.

[0052] Understandably, the hydraulic station 9 delivers hydraulic oil to the hydraulic cylinder 604 and recovers the hydraulic oil discharged from the hydraulic cylinder 604. Moreover, through the setting of the three-position four-way valve 605, it can not only control the opening and closing of the oil circuit between the hydraulic cylinder 604 and the hydraulic station 9, so that each support device 6 can operate independently, but also control the direction of the oil circuit of the hydraulic cylinder 604, thereby controlling the extension and retraction of the hydraulic cylinder 604 and realizing the extension and retraction of the support rod 602.

[0053] The use of hydraulic cylinder 604 to drive the extension and retraction of support rod 602 reduces the overall cost and meets the requirements for greater support force.

[0054] The three-position four-way valve 605 has three states. In the first state, both the first and second ends of the three-position four-way valve 605 are disconnected from the third and fourth ends. In the second state, the first end of the three-position four-way valve 605 is connected to the third end, and the second end is connected to the fourth end. In the third state, the first end of the three-position four-way valve 605 is connected to the fourth end, and the second end is connected to the third end. The specific type of the three-position four-way valve 605 can be set according to actual needs and is not limited thereto.

[0055] The hydraulic station 9 is used for supplying and returning hydraulic fluid to the hydraulic cylinder 604. The specific type of the hydraulic station 9 can be set according to actual needs and is not limited thereto. For example, the hydraulic station 9 may include an oil tank and an oil pump. The inlet end of the oil pump is connected to the outlet end of the oil tank. The first end of the three-position four-way valve 605 is connected to the outlet end of the oil pump, and the second end of the three-position four-way valve 605 is connected to the inlet end of the oil tank.

[0056] As a second embodiment of the telescopic component, the telescopic component includes a servo electric cylinder, which is disposed inside the sleeve 601. The cylinder end of the servo electric cylinder is connected to the sleeve 601, and the piston rod end of the servo electric cylinder is connected to the support rod 602.

[0057] Understandably, the extension and retraction of the support rod 602 driven by the extension and retraction of the servo electric cylinder is simple in structure and easy to control. At the same time, the extension and retraction of the support rod 602 driven by the servo electric cylinder makes the movement precision of the support device 6 higher and enables the whole to operate stably in cold environments.

[0058] The specific type of servo electric cylinder can be set according to actual needs, and there are no restrictions on it.

[0059] To make the hydraulic outrigger support more stable, the hydraulic outrigger may also include a pad 606. The pad 606 is located at the end of the support rod 602 away from the sleeve 601. The end of the pad 606 away from the support rod 602 is provided with a groove 607, and a cone 608 is provided in the groove 607.

[0060] Understandably, the design of the shim 606 allows the support rod 602 to effectively contact the ground, thereby ensuring the stable support of the support device 6 on the vehicle body 2 and thus ensuring the overall stability of the vehicle after positioning. The groove 607 reduces the contact area between the shim 606 and the ground, increasing the pressure exerted by the shim 606 on the ground and preventing it from sliding relative to the ground. When the shim 606 contacts the ground, due to the greater pressure, it partially sinks into the ground, thus firmly anchoring the cone 608 to the ground and further preventing the shim 606 from sliding relative to the ground.

[0061] The way the pad 606 is set on the support rod 602 can be set according to actual needs, and there is no restriction on it. For example, the pad 606 is hinged to the end of the support rod 602 away from the sleeve 601.

[0062] The specific types of the groove 607 and the cone 608 can be set according to actual needs, and there are no restrictions on them.

[0063] The specific number of support devices 6 can be set according to actual needs and there is no limit to it. For example, there can be six, eight, nine, etc. of support devices 6.

[0064] In some embodiments, in S1, before controlling the movement of multiple support devices 6 around the vehicle body 2 to ensure that a first levelness of the vehicle body 2 is not greater than a level threshold, the balancing method further includes:

[0065] S101: Collect loading information on vehicle body 2;

[0066] S102: Compare loading information with loading threshold;

[0067] S103: If the loading information is not less than the loading threshold, control the operation of multiple support devices 6 to ensure that the first level is not greater than the level threshold.

[0068] It is understandable that by collecting and comparing loading information, the loading status of battery 4 on vehicle body 2 can be monitored. After ensuring that battery 4 is stably loaded on vehicle body 2, the vehicle body 2 is balanced by the action of support device 6. This avoids problems such as insufficient number of batteries 4 or batteries 4 slipping off vehicle body 2 before vehicle body 2 is balanced, effectively improving the overall balancing efficiency and safety of vehicle body 2.

[0069] It should be noted that the loading method of battery 4 on vehicle body 2 can be set according to actual needs and there is no restriction. For example, vehicle body 2 is provided with multiple bases 3, and multiple batteries 4 are respectively placed on multiple bases 3. The bases 3 are provided with locking devices 5, which are used to lock the batteries 4.

[0070] Since the battery 4 is mounted on the base 3, the number of batteries 4 loaded in the vehicle is no greater than the number of bases 3. Since the locking device 5 is used to lock the battery 4 onto the base 3, the number of locking devices 5 is the same as the number of bases 3. The specific number of batteries 4, bases 3 and locking devices 5 can be set according to actual needs and there is no limitation. For example, there can be eight, nine or ten batteries 4, bases 3 and locking devices 5.

[0071] The distribution of multiple bases 3 on the vehicle body 2 can be set according to actual needs and there are no restrictions. For example, multiple bases 3 are evenly distributed along the length of the vehicle body 2.

[0072] The specific type of locking device 5 can be set according to actual needs, and there are no restrictions on it.

[0073] As a first embodiment of the locking device 5, such as Figure 8 As shown, the locking device 5 includes a first connecting plate 501, a second connecting plate 502 and a locking bolt 503. The first connecting plate 501 is mounted on the battery 4, and the second connecting plate 502 is mounted on the base 3. The first connecting plate 501 and the second connecting plate 502 are connected by the locking bolt 503.

[0074] It is understandable that after the first connecting plate 501 and the second connecting plate 502 are connected by the locking bolt 503, the battery 4 is fixedly set on the base 3. The locking bolt 503 not only ensures the stable connection between the battery 4 and the base 3, but also facilitates disassembly and ensures the efficiency of battery 4 disassembly and assembly.

[0075] The way the locking bolt 503 connects the first connecting plate 501 and the second connecting plate 502 can be set according to actual needs and is not limited. For example, the first connecting plate 501 is provided with a first connecting hole and the second connecting plate 502 is provided with a second connecting hole. The threaded rod of the locking bolt 503 passes through the first connecting hole and the second connecting hole and is connected to the nut. After the nut is tightened, the first connecting plate 501 and the second connecting plate 502 are fixedly connected.

[0076] As a second embodiment of the locking device 5, such as Figure 9 As shown, the locking device 5 includes a first clamping plate 504, a second clamping plate 505, a first lead screw 506, a second lead screw 507, and a drive motor 508. The first clamping plate 504 is slidably disposed on the base 3, and the second clamping plate 505 is slidably disposed on the base 3. The first lead screw 506 is rotatably disposed within the base 3 and is threadedly connected to the first clamping plate 504. The second lead screw 507 is rotatably disposed within the base 3 and is threadedly connected to the second clamping plate 505. The first lead screw 506 and the second lead screw 507 are coaxially connected, and their thread directions are opposite. The output shaft of the drive motor 508 is connected to either the first lead screw 506 or the second lead screw 507. The drive motor 508 drives the first lead screw 506 and the second lead screw 507 to rotate synchronously, so that the first clamping plate 504 and the second clamping plate 505 move relative to or opposite to each other.

[0077] It is understandable that the drive motor 508 drives the first lead screw 506 and the second lead screw 507 to rotate synchronously, thereby moving the first clamping plate 504 and the second clamping plate 505. Since the first lead screw 506 and the second lead screw 507 have opposite helical directions, the first clamping plate 504 and the second clamping plate 505 move relative to or away from each other, thereby achieving the clamping and release of the battery 4. The overall structure avoids changing the structure of the battery 4 and can adapt to batteries 4 of different sizes, making it more convenient to use.

[0078] In addition, anti-slip buffer pads can be provided on the first clamping plate 504 and the second clamping plate 505 to reduce the wear of the first clamping plate 504 and the second clamping plate 505 on the battery 4 and to ensure the stable setting of the battery 4 on the base 3. The specific type of anti-slip buffer pad can be set according to actual needs and there is no restriction. For example, the anti-slip buffer pad can be a rubber pad, a silicone pad, etc.

[0079] The method for collecting information loaded on vehicle body 2 can be set according to actual needs, and there are no restrictions on it. For example, Figure 3 and Figure 4As shown, multiple loading detection devices 7 are installed on the vehicle body 2. The loading detection devices 7 are used to detect the loading status of the battery 4 on the base 3. It can be understood that by setting the loading detection devices 7, it is possible to determine whether the base 3 is loaded with battery 4, thereby collecting the loading information on the vehicle body 2, which facilitates the monitoring of the loading status of battery 4 on the vehicle body 2, making the overall safety higher. At the same time, it is convenient to control the action of the locking device 5 according to the loading information on the vehicle body 2, so as to make the locking operation of battery 4 more convenient.

[0080] The specific type of the loading detection component 7 can be set according to actual needs and is not limited thereto. For example, such as... Figure 3 and Figure 4 As shown, the loading detection component 7 includes a weighing sensor 701 and / or a photoelectric sensor 702. The base 3 is slidably mounted on the vehicle body 2 in the vertical direction. The weighing sensor 701 is mounted on the vehicle body 2, and the detection end of the weighing sensor 701 is connected to the base 3.

[0081] The transmitter of the photoelectric sensor 702 is located at one end of the base 3, and the receiver of the photoelectric sensor 702 is located at the other end of the base 3. The transmitter of the photoelectric sensor 702 is directly opposite the receiver of the photoelectric sensor 702, and the battery 4 is located between the transmitter and receiver of the photoelectric sensor 702.

[0082] It is understandable that, such as Figure 3 As shown, when the loading detection component 7 only includes the weighing sensor 701, since the base 3 can slide vertically on the vehicle body 2, when the battery 4 is loaded onto the base 3, the detection end of the weighing sensor 701 can move with the base 3. Thus, the total weight of the base 3 and the battery 4 can be detected based on the moving distance of the detection end of the weighing sensor 701. Since the weight of the base 3 and the battery 4 is fixed, the loading information on the vehicle body 2 can be accurately collected, ensuring overall safety and ease of use. At the same time, this setting method is not easily interfered with by other objects, making the detection stability of the loading detection component 7 higher.

[0083] like Figure 4 As shown, when the loading detection component 7 only includes the photoelectric sensor 702, since the battery 4 is located between the transmitting end and the receiving end of the photoelectric sensor 702, when the battery 4 is loaded onto the base 3, the signal from the transmitting end of the photoelectric sensor 702 is blocked by the battery 4, so the receiving end of the photoelectric sensor 702 cannot receive the signal. Thus, the loading information on the vehicle body 2 is collected based on whether the signal of the photoelectric sensor 702 is output, ensuring overall safety and ease of use. At the same time, this setting method allows the base 3 to be directly mounted on the vehicle body 2, resulting in higher structural strength and ensuring the stable mounting of the battery 4 on the vehicle body 2.

[0084] When the loading detection component 7 includes both a weighing sensor 701 and a photoelectric sensor 702, the loading information on the vehicle body 2 can be collected more accurately and stably through the two detection methods, thereby improving overall safety and making it more convenient to use.

[0085] When the loading detection component 7 includes the weighing sensor 701, the sliding structure of the base 3 on the vehicle body 2 can be configured according to actual needs, for example, such as... Figure 3 As shown, the vehicle body 2 is provided with multiple vertical sliding rods, and the base 3 is provided with sliding sleeves corresponding to the sliding rods. The sliding sleeves are slidably fitted onto the sliding rods. This enables the base 3 to slide on the vehicle body 2. At the same time, a nut can be provided at the end of the sliding rod away from the vehicle body 2 to limit the base 3 and facilitate the disassembly and assembly of the base 3.

[0086] The specific type of the load cell 701 can be set according to actual needs, and there are no restrictions on it.

[0087] When the detection component 7, including the photoelectric sensor 702, is installed, the mounting method of the base 3 on the vehicle body 2 can be configured according to actual needs. For example, as shown below... Figure 4 As shown, the base 3 is fixed on the vehicle body 2 by means of bolts, welding, clips, etc.

[0088] The specific type of photoelectric sensor 702 can be set according to actual needs, and there are no restrictions on it.

[0089] In addition to the weighing sensor 701 and the photoelectric sensor 702, other types of sensors can also be used, which will not be listed one by one.

[0090] The specific value of the loading threshold can be set according to actual needs and is not restricted. When the load sensor 701 is used to collect the loading information of the vehicle body 2, the loading information can be represented by weight, and the loading threshold is the weight value. When the photoelectric sensor 702 is used to collect the loading information of the vehicle body 2, the loading information can be represented by an electrical signal, and the loading threshold is the electrical signal level. When the battery 4 is placed on the base 3, the photoelectric sensor 702 outputs a signal, and the loading information is at a high level. When the battery 4 is not placed on the base 3, the photoelectric sensor 702 does not output a signal, and the loading information is at a low level. The loading threshold is a level value between the high and low levels.

[0091] In some embodiments, in S1, controlling the movement of multiple support devices 6 around the vehicle body 2 to ensure that the first levelness of the vehicle body 2 is not greater than a level threshold includes:

[0092] S104: Collect the first level of accuracy;

[0093] S105: Establish the action sequence of multiple support devices 6 according to the arrangement order;

[0094] S106: Using a support device 6 as a reference point, control the actions of multiple support devices 6 sequentially according to the action sequence and the comparison result between the first level and the level threshold, so that the first level is not greater than the level threshold.

[0095] It is understandable that by using a support device 6 as a reference point and controlling the actions of multiple support devices 6 sequentially based on the comparison results of the first levelness and the level threshold, the orderly control avoids the first levelness of the vehicle body 2 from being difficult to meet the requirements due to the chaotic actions of multiple support devices 6, thereby effectively improving the overall balance efficiency and safety of the vehicle body 2.

[0096] It should be noted that when the first support device 6 is activated, other support devices 6 should have a certain height adjustment margin to avoid all support devices 6 needing to be activated again due to the limitation of their own extension and retraction distance.

[0097] In some embodiments, after controlling the movement of multiple support devices 6 around the vehicle body 2 to ensure that a first levelness of the vehicle body 2 is not greater than a level threshold, the balancing method further includes:

[0098] S107: Control the movement of the vehicle's saddle 10 to separate the vehicle's front end 1 from the body 2.

[0099] Understandably, by separating the front of the vehicle from the body after the body 2 is balanced, the front of the vehicle can be released and used to tow other vehicles, thereby reducing the cost of transporting the battery 4.

[0100] It should be noted that the detachable structure between the front of the vehicle 1 and the body 2 can be configured according to actual needs, and there are no restrictions on this. For example, such as... Figure 5 As shown, a saddle 10 is provided on the front of the vehicle 1, and a towing pin 11 is provided on the body 2. The towing pin 11 is detachably connected to the saddle 10. It can be understood that by setting up the saddle 10 and the towing pin 11, the stable connection between the body 2 and the front of the vehicle 1 is ensured, while the separation of the front of the vehicle 1 and the body 2 is facilitated. Thus, after the body 2 is positioned, the front of the vehicle 1 can be used to tow other vehicles, effectively reducing the overall operating cost.

[0101] The connection structure between the saddle 10 and the traction pin 11 can be configured according to actual needs and is not limited thereto. For example, the saddle 10 is provided with a locking hook. When the locking hook is hooked on the traction pin 11, the front of the vehicle 1 is connected to the body 2. When the locking hook is disengaged from the traction pin 11, the front of the vehicle 1 is separated from the body 2. The locking hook can be driven by electricity.

[0102] In some embodiments, in S2, collecting and storing the vehicle's location information and the support information of the multiple support devices 6 includes:

[0103] S201: Collect the extension and retraction distance of the support device 6 as support information;

[0104] S202: Store location information and multiple scaling distances corresponding to the location information.

[0105] It is understandable that by using the extension and retraction distance of the support device 6 as support information, the whole can control the movement of the support device 6 according to the extension and retraction distance, making the movement of the support device 6 more precise and ensuring the efficient and stable balance of the whole on the vehicle body 2.

[0106] It should be noted that the method for collecting the telemetry distance can be set according to actual needs, and there are no restrictions on it. For example, Figure 5 As shown, a distance sensor 8 is installed at the bottom of the vehicle body 2 near the support device 6. The detection end of the distance sensor 8 is vertically downward. It can be understood that by setting the distance sensor 8, the overall system can more accurately determine the extension distance of the support device 6 and facilitate the monitoring of the support status of the support device 6.

[0107] Since the distance measuring sensor 8 is located close to the support device 6, the number of distance measuring sensors 8 should not be less than the number of support devices 6. The specific number of distance measuring sensors 8 can be set according to actual needs and is not limited. For example, six, eight, or nine distance measuring sensors 8 can be set.

[0108] The specific type of the ranging sensor 8 can be set according to actual needs, and there are no restrictions on it.

[0109] In some embodiments, in S2, collecting and storing the vehicle's location information and the support information of the multiple support devices 6 includes:

[0110] S203: Store the location information and multiple supporting information corresponding to the location information in the first storage unit;

[0111] S204: Calculate the number of repetitions of the location information and the multiple supporting information corresponding to the location information in the first storage unit;

[0112] S205: Compare the number of repetitions with the repetition threshold;

[0113] S206: If the number of repetitions is not less than the repetition threshold, then store the location information and multiple supporting information corresponding to the location information in the second storage unit.

[0114] It is understandable that if the number of repetitions of location information and its corresponding supporting information is greater than or equal to the repetition threshold, then the location information and its corresponding supporting information are considered frequently used information. If the number of repetitions of location information and its corresponding supporting information is less than the repetition threshold, then the location information and its corresponding supporting information are considered infrequently used information. Frequently used information is stored in the second storage unit, and infrequently used information is stored in the first storage unit. This classification of information facilitates not only overall monitoring but also information retrieval.

[0115] It should be noted that if the number of repetitions is less than the repetition threshold, the location information and the multiple supporting information corresponding to the location information will continue to be stored in the first storage unit.

[0116] The specific value of the repetition threshold can be set according to actual needs, and there are no restrictions on it. For example, the repetition threshold can be two, three, five, etc.

[0117] In some embodiments, the balancing method further includes:

[0118] S5: Verify the second levelness of vehicle body 2 to ensure that the second levelness is not greater than the level threshold.

[0119] Understandably, by verifying the second levelness of the vehicle body 2, we can avoid the situation where changes in the external environment cause multiple support information corresponding to the position information to fail to meet the balance requirements of the vehicle body 2. This further ensures the overall stable and efficient balance of the vehicle body 2.

[0120] In some embodiments, S5, checking the levelness of the vehicle body 2 includes:

[0121] S501: Collect second level reading;

[0122] S502: Compare the second level with the level threshold;

[0123] S503: If the second level is greater than the level threshold, control the operation of multiple support devices 6 to ensure that the second level is not greater than the level threshold.

[0124] S504: Update multiple supporting information corresponding to the location information.

[0125] Understandably, after controlling the support device 6 to operate according to the support information corresponding to the position information to ensure that the first levelness of the vehicle body 2 is not greater than the level threshold, the levelness of the vehicle body 2 is reconfirmed by collecting the second levelness and comparing the second levelness with the level threshold, so as to ensure that the vehicle body 2 is finally in a balanced state. In this case, after multiple support devices 6 operate again, multiple support information is updated to ensure that the vehicle can quickly enter a balanced state after reaching the predetermined position again, thereby improving the overall balancing efficiency of the vehicle body 2.

[0126] It should be noted that the detection method for the second level can be set according to actual needs, and there are no restrictions on it. For example, a second level is installed on the vehicle body 2, and the second level is used to detect the second level.

[0127] Updating multiple supporting information corresponding to location information can either directly overwrite the original supporting information, or it can store the original supporting information, then store the updated supporting information, and re-establish the correspondence between the supporting information and the location information.

[0128] In some embodiments, the balancing method further includes:

[0129] S6: Upload the location information and multiple supporting information corresponding to the location information to the sharing center so that multiple vehicles can download and use the location information and multiple supporting information corresponding to the location information from the sharing center.

[0130] It is understandable that by storing and forwarding location information and multiple supporting information corresponding to the location information through the shared center, multiple identical vehicles can directly use the multiple supporting information corresponding to the location information after entering the predetermined location, avoiding the need to continuously control the actions of each supporting device 6 to balance the vehicle body 2, thereby improving work efficiency and effectively reducing the transportation cost of the battery 4.

[0131] It should be noted that the specific type of sharing center can be set according to actual needs, and there are no restrictions on it. For example, the sharing center can be a computer built in the control center, with a wireless transmission module installed on the vehicle, and data transmission between the computer and the vehicle is carried out through the wireless transmission module.

[0132] This disclosure also proposes a balancing system for a battery transport vehicle, including multiple support devices 6, a data acquisition module, a storage module, a matching module, and a control module. The multiple support devices 6 are arranged around the vehicle body 2 and are used to support the vehicle body 2 so that a first levelness of the vehicle body 2 does not exceed a level threshold. The data acquisition module is used to acquire the vehicle's position information and the support information of the multiple support devices 6. The storage module is used to store the position information and the multiple support information in the data acquisition module. The matching module is used to establish a correspondence between the position information in the storage module and the multiple support information. The control module is used to control the operation of the support devices 6 after the vehicle reaches a predetermined position, and after the vehicle reaches the predetermined position again, it retrieves the multiple support information corresponding to the position information in the storage module according to the input position information, and controls the operation of the support devices 6 according to the support information.

[0133] Understandably, after the vehicle first arrives at the predetermined position, multiple support devices 6 are controlled to keep the vehicle body 2 within the allowable level, thereby achieving the balance of the vehicle body 2. At the same time, after the vehicle arrives at the predetermined position again, multiple stored support information is retrieved and the support devices 6 are controlled to achieve the rapid balance of the vehicle body 2, effectively reducing the difficulty of balancing the vehicle body 2 and ensuring that the battery swapping station can replace the battery 4 accurately, efficiently and safely.

[0134] It should be noted that the acquisition module, storage module, matching module, and control module can all be integrated into a single controller. The specific type of controller can be set according to actual needs and is not limited thereto. In actual use, the signal input terminal of the controller can be connected to the signal output terminal of the weighing sensor 701, the signal output terminal of the photoelectric sensor 702, and the signal output terminal of the distance sensor 8. The signal output terminal of the controller can be connected to the signal input terminal of the three-position four-way valve 605, the signal input terminal of the hydraulic station 9, the signal input terminal of the servo electric cylinder, and the signal input terminal of the locking hook drive to achieve automated control.

[0135] The controller can also integrate a verification module to verify the second levelness of the vehicle body 2, and a wireless transmission module to communicate with the sharing center.

[0136] The storage module may include a first storage unit and a second storage unit.

[0137] In the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0138] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0139] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0140] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A balancing method for a battery transport vehicle, characterized in that: include: S1: after the vehicle reaches a predetermined position, controlling a plurality of supporting devices around the vehicle body to move so that a first level of the vehicle body is not greater than a level threshold; S2: Collecting and storing the position information of the vehicle and the support information of the plurality of support devices; S3: establishing a correspondence between the position information and a plurality of the supporting information; S4: after the vehicle reaches the predetermined position again, retrieving a plurality of the support information corresponding to the position information according to the input position information, and controlling the action of the support device according to the support information; The step of controlling the plurality of support devices around the vehicle body to move so that the first level of the vehicle body is not greater than a level threshold comprises: S104: collecting the first level; S105: establishing an action sequence of the plurality of supporting devices according to the arrangement sequence; S106: taking one of the supporting devices as a reference point, sequentially controlling the actions of the plurality of supporting devices according to the action sequence and the comparison result between the first level and the level threshold, so that the first level is not greater than the level threshold; Wherein, the collecting and storing the position information of the vehicle and the support information of the plurality of support devices comprises: S201: Collecting the telescopic distance of the supporting device as the supporting information; S202: storing the position information and a plurality of the telescopic distances corresponding to the position information.

2. The balancing method for a battery transport vehicle according to claim 1, characterized in that: Before controlling the plurality of supporting devices around the vehicle body to act so that the first level of the vehicle body is not greater than a level threshold, the balancing method further includes: S101: Collecting loading information on the vehicle body; S102: Compare the loading information with a loading threshold; S103: If the loading information is not less than the loading threshold, control the plurality of supporting devices to operate so that the first level is not greater than the level threshold.

3. The balancing method for a battery transport vehicle according to claim 1, characterized in that: After the plurality of supporting devices around the vehicle body are controlled to act so that the first level of the vehicle body is not greater than a level threshold, the balancing method further includes: S107: Controlling the saddle movement of the vehicle to separate the front of the vehicle from the body of the vehicle.

4. The balancing method for a battery transport vehicle according to claim 1, characterized in that: The collecting and storing the position information of the vehicle and the support information of the plurality of support devices comprises: S203: storing the position information and a plurality of the support information corresponding to the position information in a first storage unit; S204: Calculate the number of repetitions of the position information and the plurality of supporting information corresponding to the position information in the first storage unit; S205: Compare the number of repetitions with a repetition threshold; S206: If the number of repetitions is not less than the repetition threshold, storing the position information and a plurality of the supporting information corresponding to the position information in a second storage unit.

5. The balancing method for a battery transport vehicle according to claim 1, characterized in that: The balancing method further comprises: S5: Checking a second level of the vehicle body so that the second level is not greater than the level threshold.

6. The balancing method for a battery transport vehicle according to claim 5, characterized in that: The checking of the horizontality of the vehicle body comprises: S501: collecting the second level; S502: Compare the second level with the level threshold; S503: If the second level is greater than the level threshold, control the plurality of support devices to move so that the second level is not greater than the level threshold; S504: Update the plurality of support information corresponding to the position information.

7. The balancing method for a battery transport vehicle according to any one of claims 1 to 6, characterized in that: The balancing method further comprises: S6: uploading the location information and the plurality of supporting information corresponding to the location information to a sharing center, so that the plurality of vehicles download and use the location information and the plurality of supporting information corresponding to the location information from the sharing center.

8. A balancing system for a battery transport vehicle, characterized in that: include: A plurality of supporting devices, the plurality of supporting devices being arranged around a body of the vehicle, and the plurality of supporting devices being used to support the body so that a first level of the body is not greater than a level threshold; A collection module, the collection module is used to collect the position information of the vehicle and the support information of the plurality of support devices; A storage module, the storage module is used to store the position information and the plurality of support information in the acquisition module; A matching module, the matching module is used to establish a corresponding relationship between the position information in the storage module and the plurality of supporting information; a control module, the control module being used to control the action of the support device after the vehicle reaches a predetermined position, and to retrieve a plurality of support information corresponding to the position information in the storage module according to the input position information after the vehicle reaches the predetermined position again, and to control the action of the support device according to the support information; The acquisition module is also used for: collecting the telescopic distance of the supporting device as the supporting information; storing the position information and a plurality of the telescopic distances corresponding to the position information; Wherein, the device is also used for: collecting the first level; Establishing an action sequence of the plurality of supporting devices according to the arrangement sequence; With one of the supporting devices as a reference point, the actions of the plurality of supporting devices are controlled in sequence according to the action sequence and the comparison result between the first level and the level threshold, so that the first level is not greater than the level threshold.

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