Automatic battery replacement control method, device, vehicle and system for rail transit vehicles

Abstract

The present application provides a method, device, vehicle and system for controlling automatic battery replacement of rail transit vehicles. The method is applied to the automatic battery replacement system of rail transit vehicles, and the method includes: receiving a battery replacement signal, and controlling the rail transit vehicle to block the whole vehicle traction; controlling the on-board wireless communication module to communicate with the ground wireless communication module so that the battery replacement device can replace the battery for the rail transit vehicle; receiving the notification of battery replacement completion sent by the battery management system; controlling the on-board wireless communication module to disconnect from the ground wireless communication module, and releasing the whole vehicle blockade of the rail transit vehicle. The technical solution of the present application can realize real-time point-to-point communication between the vehicle and the ground battery replacement device. During the battery replacement process, the vehicle and the ground battery replacement device are in an interlocked state, which can realize rapid and automatic identification of vehicle information and matching of vehicle information to avoid errors during battery replacement.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and more specifically to a method, device, vehicle and system for automatic battery replacement control of a rail transit vehicle. Background Art

[0002] Rail transit refers to a type of transportation tool or transportation system in which operating vehicles need to travel on specific tracks. The most typical rail transit is a railway system composed of traditional trains and standard railways. With the diversified development of train and railway technology, rail transit has shown more and more types, not only covering long-distance land transportation, but also widely used in medium and short-distance urban public transportation. This type of rail transit vehicle running in urban public transportation is commonly known as "Yunba". Urban rail transit vehicles have good development prospects due to their energy saving and environmental protection. Urban rail transit is a large-capacity rapid public transportation system that uses electricity as the main power source and adopts a wheel-rail operation system. It is mainly responsible for barrier-free and short-distance passenger transportation, usually with light EMUs or trams as the transportation carrier, effectively alleviating the traffic pressure of dense passenger flow within the city.

[0003] Please refer to Figure 1 , Figure 1 The figure is a schematic diagram of the traditional rail transit vehicle battery replacement control method. In the traditional battery replacement control method, first, the rail transit vehicle includes a train control and management system (TCMS) and a battery management system (BMS). When the vehicle needs to replace the battery, the TCMS sends a battery replacement request to the BMS, and the BMS sends the battery replacement request to the battery replacement device. Then the driver operates the vehicle control system to put the vehicle into a ready state and receives a ready signal sent by the vehicle; the BMS sends the vehicle information to the battery replacement device; after the battery replacement device enters the ready state, the operator issues a battery replacement control command according to the intelligent control strategy recommended by the battery replacement monitoring system, and the battery replacement robot performs the battery replacement action after receiving the battery replacement control command until the battery replacement is completed.

[0004] The traditional battery swapping system uses a battery swapping device to automatically swap batteries. During the battery swapping process, manual selection of vehicle information, battery information, etc. is required on site. When there are many vehicles or batteries to be swapped, there are certain safety hazards. For example, when swapping batteries for multiple groups of vehicles or multiple carriages of a vehicle at the same time, it is easy to cause confusion in vehicle information or battery information, resulting in battery swapping errors. Summary of the invention

[0005] The present application is proposed to solve the above problems. According to one aspect of the present application, a method for controlling automatic battery replacement of a rail transit vehicle is provided, which is applied to an automatic battery replacement system of a rail transit vehicle, wherein the automatic battery replacement system of a rail transit vehicle includes a ground battery replacement device and a rail transit vehicle, wherein the ground battery replacement device includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module, and the rail transit vehicle includes a train control and management system, at least one battery management system, and at least one on-board wireless communication module, and the method includes:

[0006] Receiving a power replacement signal and controlling the rail transit vehicle to block the whole vehicle traction;

[0007] According to the first matching code of the on-board wireless communication module and the second matching code of the ground wireless communication module, controlling the on-board wireless communication module to communicate with the ground wireless communication module so that the battery replacement device replaces the battery for the rail transit vehicle;

[0008] Receiving a notification of battery replacement completion sent by the battery management system;

[0009] The vehicle-mounted wireless communication module is controlled to be disconnected from the ground wireless communication module, and the whole vehicle blockade of the rail transit vehicle is released.

[0010] In one embodiment of the present application, the vehicle-mounted wireless communication module is connected to the battery management system, the ground wireless communication module is connected to the battery exchange server, and the battery management system communicates with the battery exchange server through the vehicle-mounted wireless communication module and the ground wireless communication module.

[0011] In one embodiment of the present application, after controlling the on-board wireless communication module to communicate with the ground wireless communication module so that the battery replacement device performs battery replacement for the rail transit vehicle, the method further includes:

[0012] Receive a notification from the battery management system that a battery replacement is in progress.

[0013] In one embodiment of the present application, the battery replacement signal includes a signal sent when the battery replacement knob of the rail transit vehicle is valid.

[0014] In one embodiment of the present application, the ground wireless communication module and the vehicle-mounted wireless communication module are both CAN-wifi conversion modules, and the CAN-wifi conversion module is used to realize the conversion between CAN signals and WiFi signals.

[0015] According to another aspect of the present application, a rail transit vehicle automatic battery replacement control method is provided, which is applied to a rail transit vehicle automatic battery replacement system, wherein the rail transit vehicle automatic battery replacement system includes a ground battery replacement device and a rail transit vehicle, wherein the ground battery replacement device includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module, and the rail transit vehicle includes a train control and management system, at least one battery management system, and at least one vehicle-mounted wireless communication module, and the method includes:

[0016] receiving a battery replacement request sent by the train control and management system, and forwarding the battery replacement request to a battery replacement server, so that the battery replacement server controls the battery replacement device to replace the battery for the rail transit vehicle; wherein the battery replacement request is sent by the train control and management system to the battery management system after the on-board wireless communication module is connected to the ground wireless communication module for communication;

[0017] Sending a notification of battery replacement completion to the battery replacement server, so that the server controls the ground wireless communication module to disconnect from the vehicle-mounted wireless communication module;

[0018] A notification of battery replacement completion is sent to the train control and management system so that the train control and management system controls the on-board wireless communication module to disconnect from the ground wireless communication module and releases the whole vehicle blockade of the rail transit vehicle.

[0019] In one embodiment of the present application, after sending a battery swap request to the battery swap server so that the battery swap server controls the battery swap device to perform battery swap for the rail transit vehicle, the method further includes:

[0020] Sending a notification that a power replacement is in progress to the train control and management system;

[0021] Receive the notification of battery replacement progress sent by the battery replacement server, and forward the notification of battery replacement progress to the train control and management system.

[0022] In one embodiment of the present application, the ground wireless communication module and the vehicle-mounted wireless communication module are both CAN-wifi conversion modules, and the CAN-wifi conversion module is used to realize the conversion between CAN signals and WiFi signals.

[0023] According to another aspect of the present application, a rail transit vehicle automatic battery replacement control method is provided, which is applied to a rail transit vehicle automatic battery replacement system, wherein the rail transit vehicle automatic battery replacement system includes a ground battery replacement device and a rail transit vehicle, wherein the ground battery replacement device includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module, and the rail transit vehicle includes a train control and management system, at least one battery management system, and at least one vehicle-mounted wireless communication module, and the method includes:

[0024] Acquire a first matching code of the vehicle-mounted wireless communication module, and configure a second matching code of the ground wireless communication module according to the first matching code;

[0025] According to the first matching code and the second matching code, controlling the ground wireless communication module to communicate with the vehicle-mounted wireless communication module;

[0026] Receiving a battery replacement request sent by the battery management system, and controlling the battery replacement device to replace the battery for the rail transit vehicle according to the battery replacement request;

[0027] Receiving a battery replacement completion signal sent by the battery management system, and responding to the battery replacement completion signal sent by the battery management system;

[0028] Control the battery swapping device to stop battery swapping.

[0029] In one embodiment of the present application, controlling the battery replacement device to replace the battery for the rail transit vehicle according to the battery replacement request includes:

[0030] Sending a notification that a battery replacement is in progress to the battery management system;

[0031] Controlling the battery swapping device to start a battery swapping action;

[0032] Monitor the battery replacement progress of the rail transit vehicle and forward the battery replacement progress to the battery management system.

[0033] In one embodiment of the present application, after controlling the battery swapping device to stop battery swapping, the method further includes:

[0034] Control the vehicle-mounted wireless communication module to disconnect from the ground wireless communication module.

[0035] The ground power exchange equipment further includes a radio frequency reading module, and the rail transit vehicle further includes a vehicle radio frequency tag;

[0036] Before controlling the ground wireless communication module to establish a communication connection with the vehicle-mounted wireless communication module, the method further includes:

[0037] Control the radio frequency reading module to read the vehicle radio frequency tag information to obtain the vehicle number of the rail transit vehicle

[0038] Querying a local database to obtain the first matching code of the vehicle-mounted wireless communication module corresponding to the vehicle number;

[0039] The ground wireless communication module is configured according to the first matching code.

[0040] The ground power exchange equipment further includes a radio frequency reading module, and the rail transit vehicle further includes a vehicle radio frequency tag;

[0041] Before controlling the ground wireless communication module to establish a communication connection with the vehicle-mounted wireless communication module, the method further includes:

[0042] Controlling the radio frequency reading module to read the vehicle radio frequency tag information to obtain the number of the rail transit vehicle and the first matching code;

[0043] and storing the rail transit vehicle number and the first matching code in a database of the battery exchange server;

[0044] A second matching code of the ground wireless communication module is configured according to the first matching code.

[0045] In one embodiment of the present application, according to the first matching code and the second matching code, controlling the ground wireless communication module to communicate with the vehicle-mounted wireless communication module includes:

[0046] Verifying whether the first matching code and the second matching code are consistent;

[0047] If they are consistent, the vehicle-mounted wireless communication module is paired and connected with the ground wireless communication module.

[0048] According to another aspect of the present application, there is provided a ground power exchange device, the ground power exchange device comprising a power exchange server, at least one power exchange device and at least one ground wireless communication module;

[0049] Among them, the battery replacement server is used to obtain the first matching code of the on-board wireless communication module, and configure the second matching code of the ground wireless communication module according to the first matching code; control the ground wireless communication module to communicate with the on-board wireless communication module according to the first matching code and the second matching code; receive the battery replacement request sent by the battery management system, and control the battery replacement device to replace the battery for the rail transit vehicle according to the battery replacement request; receive the battery replacement completion signal sent by the battery management system, and respond to the battery replacement completion signal sent by the battery management system; control the battery replacement device to stop battery replacement;

[0050] The battery replacement device is used to perform a battery replacement action;

[0051] The ground wireless communication module is used to connect with the vehicle-mounted wireless communication module so that the battery exchange device can exchange battery for the road-breaking traffic vehicle.

[0052] According to another aspect of the present application, there is provided a rail transit vehicle, the rail transit vehicle comprising a battery replacement knob, a train control and management system, at least one battery management system and at least one on-board wireless communication module;

[0053] Wherein, the battery-changing knob is used to send a battery-changing signal to the train control and management system when the battery-changing knob is rotated to become a valid state;

[0054] The train control and management system is used to receive a battery replacement signal and control the rail transit vehicle to block the whole vehicle traction; according to the first matching code of the on-board wireless communication module and the second matching code of the ground wireless communication module, control the on-board wireless communication module to communicate with the ground wireless communication module so that the battery replacement device can replace the battery for the rail transit vehicle; receive the notification of battery replacement completion sent by the battery management system; control the on-board wireless communication module to disconnect from the ground wireless communication module, and release the whole vehicle blockade of the rail transit vehicle;

[0055] The battery management system is used to receive a battery replacement request sent by the train control and management system, and forward the battery replacement request to the battery replacement server, so that the battery replacement server controls the battery replacement device to replace the battery for the rail transit vehicle; wherein the battery replacement request is sent by the train control and management system to the battery management system after the on-board wireless communication module is communicatively connected to the ground wireless communication module; a notification of battery replacement completion is sent to the battery replacement server, so that the server controls the ground wireless communication module to disconnect from the on-board wireless communication module; and a notification of battery replacement completion is sent to the train control and management system, so that the train control and management system controls the on-board wireless communication module to disconnect from the ground wireless communication module, and releases the whole vehicle blockade of the rail transit vehicle;

[0056] The on-board wireless communication module is used to establish a communication connection with the ground wireless communication module so that the battery exchange device can exchange battery for the rail transit vehicle.

[0057] According to other aspects of the present application, there is also provided an automatic battery replacement system for rail transit vehicles, the automatic battery replacement system for rail transit vehicles comprising the ground battery replacement equipment and rail transit vehicles as described above.

[0058] According to the rail transit vehicle automatic battery replacement control method, equipment, vehicle and system of the present application, the vehicle-mounted wireless communication module is communicated with the ground wireless communication module through the communication connection, so that the battery management system sends the battery replacement request to the battery replacement server, and the battery replacement server controls the battery replacement device to replace the battery for the rail transit vehicle. This technical solution can realize real-time point-to-point communication between the vehicle and the ground battery replacement device. During the battery replacement process, the vehicle and the ground battery replacement device are in an interlocked state, which can realize rapid and automatic identification of vehicle information and matching of vehicle information to avoid errors during battery replacement; moreover, the technical solution of the present application can also avoid safety hazards caused by abnormal connection parts when the vehicle and the battery replacement device are physically connected, greatly reducing repair costs and maintenance costs.

[0059] In addition, the rail transit vehicle automatic battery replacement control method, device and system of the present application can also realize real-time display and feedback of the battery replacement progress. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0061] Figure 1 A schematic diagram showing a conventional rail transit vehicle battery replacement control method;

[0062] Figure 2 A schematic flow chart showing a method for controlling automatic battery replacement of a rail transit vehicle according to an embodiment of the present application;

[0063] Figure 3 A schematic flow chart showing a method for controlling automatic battery replacement of a rail transit vehicle according to an embodiment of the present application;

[0064] Figure 4 A schematic flow chart showing a method for controlling automatic battery replacement of a rail transit vehicle according to an embodiment of the present application;

[0065] Figure 5 A schematic block diagram of a ground power exchange device according to an embodiment of the present application is shown;

[0066] Figure 6 A schematic block diagram of a rail transit vehicle according to an embodiment of the present application is shown;

[0067] Figure 7 A schematic block diagram of an automatic battery replacement control system for a rail transit vehicle according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0069] Based on the aforementioned technical problems, the present application provides a method for controlling automatic battery replacement for rail transit vehicles, which is applied to an automatic battery replacement system for rail transit vehicles, wherein the automatic battery replacement system for rail transit vehicles includes ground battery replacement equipment and rail transit vehicles, wherein the ground battery replacement equipment includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module, and the rail transit vehicle includes a train control and management system, at least one battery management system and at least one on-board wireless communication module, and the method includes: receiving a battery replacement signal, and controlling the rail transit vehicle to block the whole vehicle traction; controlling the on-board wireless communication module to communicate with the ground wireless communication module so that the battery replacement device performs battery replacement for the rail transit vehicle; receiving a notification of battery replacement completion sent by the battery management system; controlling the on-board wireless communication module to disconnect from the ground wireless communication module, and releasing the whole vehicle blockade of the rail transit vehicle. Since the vehicle and the ground battery exchange device are in an interlocked state during the battery exchange process, the vehicle information can be quickly and automatically identified and matched, so as to realize real-time point-to-point communication between the vehicle and the ground battery exchange device; moreover, the technical solution of the present application can also avoid the safety hazards caused by abnormal connection parts when the vehicle and the battery exchange device are physically connected, greatly reducing the repair and maintenance costs. In addition, the rail transit vehicle automatic battery exchange control method, device and system of the present application can also realize real-time display and feedback of the battery exchange progress.

[0070] The following is a detailed description of the scheme of the rail transit vehicle automatic battery replacement control method according to the embodiment of the present application in conjunction with the accompanying drawings. The features of the various embodiments of the present application can be combined with each other without conflict.

[0071] Figure 2 FIG. 1 is a schematic flow chart showing a method for controlling automatic battery replacement of a rail transit vehicle according to an embodiment of the present application. Figure 2As shown, the rail transit vehicle automatic battery replacement control method of the embodiment of the present application is applied to the rail transit vehicle automatic battery replacement system, and the rail transit vehicle automatic battery replacement system includes ground battery replacement equipment and rail transit vehicles, wherein the ground battery replacement equipment includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module, and the rail transit vehicle includes a train control and management system, at least one battery management system, and at least one on-board wireless communication module. The rail transit vehicle automatic battery replacement control method 200 according to the embodiment of the present application may include the following steps S201, step S202, step 203, and step 204.

[0072] In step S201, a power replacement signal is received, and the rail transit vehicle is controlled to block the whole vehicle traction.

[0073] The main body of the embodiment is TCMS. The main functions of TCMS are to realize locomotive characteristic control, logic control, fault monitoring and self-diagnosis, and transmit information to the microcomputer display screen on the control console, so that the user can intuitively understand the real-time status of the locomotive.

[0074] Traction blocking is a vehicle protection function. When a rail transit vehicle is changing batteries, braking the vehicle may cause the battery change to fail, or even damage some equipment. To avoid this, a traction output blocking protection function is set on the rail transit vehicle. When changing batteries, blocking the traction of the entire vehicle can effectively prevent the failure of the battery change during the vehicle battery change process and avoid damage to the equipment.

[0075] In one example, the battery replacement signal includes a signal sent when the battery replacement knob of the rail transit vehicle is valid. For example, when the battery needs to be replaced, the user can manually rotate the battery replacement knob to a valid position. Here, when the battery replacement knob is in a valid state, a battery replacement signal will be generated and sent to TCMS. In other embodiments, the battery replacement signal can also be collected by the BMS and sent to the TCMS.

[0076] In a specific example, the battery-changing knobs can be set in the cabs at both ends of the rail transit vehicle. When TCMS detects that any battery-changing knob is valid, it can send a battery-changing request to the BMS, and then the BMS controls the battery-changing.

[0077] In step 202, according to the first matching code of the on-board wireless communication module and the second matching code of the ground wireless communication module, the on-board wireless communication module is controlled to communicate with the ground wireless communication module so that the battery exchange device exchanges battery for the rail transit vehicle.

[0078] By connecting the on-board wireless communication module of the rail transit vehicle with the ground wireless communication module of the battery swapping device, a point-to-point communication connection between the rail transit vehicle and the battery swapping device can be achieved. During the battery swapping process, due to the point-to-point communication connection between the rail transit vehicle and the battery swapping device, and the vehicle has been blocked for traction, the vehicle cannot brake. At this time, the vehicle and the ground battery swapping device are in an interlocked state to avoid errors during battery swapping.

[0079] In some application scenarios, the rail transit vehicle can be driven to a preset battery swapping position, and then the entire vehicle is towed and blocked, and the ground wireless communication module is moved to the battery swapping position by lifting and lowering, and communicated with the on-board wireless communication module. In other application scenarios, the battery swapping device and the ground wireless communication module can be kept stationary at the battery swapping position, and then the rail transit vehicle can be lifted and lowered to enable the on-board wireless communication module to communicate with the ground wireless communication module, thereby achieving battery swapping.

[0080] In one example, the ground wireless communication module and the vehicle-mounted wireless communication module are both CAN-wifi conversion modules, and the CAN-wifi conversion module is used to realize the conversion between CAN signals and WiFi signals. When the rail transit vehicle of the embodiment of the present invention communicates with the battery swap server, the CAN data can be converted into wifi data through the vehicle-mounted wireless communication module, and the wifi data can be sent to the ground wireless communication module. The ground wireless communication module converts the wifi data into CAN data and sends it to the battery swap server. The CAN-wifi conversion module can realize wireless communication between the rail transit vehicle and the battery swap server, avoiding safety hazards caused by abnormal connection parts when the vehicle and the battery swap device are physically connected, greatly reducing repair and maintenance costs.

[0081] Furthermore, when the ground wireless communication module is connected to the vehicle-mounted wireless communication module, the connection can be made through a matching code. The matching code corresponding to the vehicle-mounted wireless communication module is a first matching code, and the matching code corresponding to the ground wireless communication module is a second matching code. The matching code can be in the form of an account number and a password. For example, the first matching code corresponding to the vehicle-mounted wireless communication module is: account number 1111, password 0000; the second matching code corresponding to the ground wireless communication module is: account number 1111, password 0000; the first matching code and the second matching code are paired, and when the pairing is successful, the ground wireless communication module is successfully connected to the vehicle-mounted wireless communication module.

[0082] In one example, the on-board wireless communication module is connected to the battery management system, the ground wireless communication module is connected to the battery exchange server, and the battery management system communicates with the battery exchange server through the on-board wireless communication module and the ground wireless communication module. In this embodiment, the BMS communicates with the battery exchange server, specifically, the BMS sends a battery exchange request to the battery exchange server, and then the battery exchange server responds to the battery exchange request and controls the battery exchange device to exchange the battery for the vehicle.

[0083] In another example, after controlling the on-board wireless communication module to communicate with the ground wireless communication module so that the battery replacement device replaces the battery for the rail transit vehicle, the method further includes: receiving a notification of battery replacement sent by the battery management system. In this embodiment, the BMS can send the battery replacement progress to the TCMS in real time, so that the user can understand the battery replacement progress in real time.

[0084] In step 203, a notification of battery replacement completion sent by the BMS is received.

[0085] During the battery swap period, the battery swap server sends the battery swap progress to the BMS. When the battery swap progress is 100%, the BMS will detect that there is no problem with the new battery and send a notification of battery swap completion to the server, so that the server sends a control command to the battery swap device to complete the battery swap and disconnect. At the same time, the BMS needs to send a notification of battery swap completion to the TCMS. According to the notification of battery swap completion sent by the BMS, the TCMS can perform the next action, for example, disconnect the connection between the on-board wireless communication module and the ground wireless communication module to release the vehicle traction blockade.

[0086] The battery to be replaced and the new battery in the embodiment of the present invention may be a battery pack.

[0087] In step 204, the vehicle-mounted wireless communication module is controlled to be disconnected from the ground wireless communication module, and the whole vehicle blockade of the rail transit vehicle is released.

[0088] After the battery replacement is completed, the entire rail transit vehicle can be unblocked so that the rail transit vehicle can brake and continue to run.

[0089] It is worth mentioning that rail transit vehicles can have multiple sets of vehicles. In this case, each car is equipped with a battery, a BMS and an on-board wireless communication module. Correspondingly, the rail transit vehicle automatic battery replacement system is also equipped with multiple battery replacement devices and multiple ground wireless communication modules, where the ground wireless communication modules correspond to the battery replacement devices one by one. When replacing the battery, each on-board wireless communication module is connected to a ground wireless communication module to achieve battery replacement for multiple sets of vehicles.

[0090] In the embodiment of the present application, due to the real-time point-to-point communication between a vehicle's BMS and a ground-based battery swapping device, the vehicle and the ground-based battery swapping device are in an interlocked state during the battery swapping process, which can achieve rapid and automatic identification of vehicle information and matching of vehicle information, thereby avoiding errors during battery swapping.

[0091] Figure 3 FIG. 1 is a schematic flow chart showing a method for controlling automatic battery replacement of a rail transit vehicle according to an embodiment of the present application. Figure 3 As shown, the rail transit vehicle automatic battery replacement control method of the embodiment of the present application can be applied to the rail transit vehicle automatic battery replacement system, and the rail transit vehicle automatic battery replacement system includes ground battery replacement equipment and rail transit vehicles, wherein the ground battery replacement equipment includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module, and the rail transit vehicle includes a train control and management system, at least one battery management system, and at least one on-board wireless communication module. The rail transit vehicle automatic battery replacement control method 300 according to the embodiment of the present application may include the following steps S301, S302, and S303.

[0092] In step 301, a battery replacement request sent by the train control and management system is received, and the battery replacement request is forwarded to the battery replacement server, so that the battery replacement server controls the battery replacement device to perform battery replacement for the rail transit vehicle.

[0093] The execution subject of the embodiment of the present invention is a BMS.

[0094] In one example, the battery replacement request is sent by the train control and management system to the battery management system after the on-board wireless communication module is communicatively connected with the ground wireless communication module.

[0095] In one example, the ground wireless communication module and the vehicle-mounted wireless communication module are both CAN-wifi conversion modules, and the CAN-wifi conversion module is used to realize the conversion between CAN signals and WiFi signals. When the rail transit vehicle of the embodiment of the present invention communicates with the battery swap server, the CAN data can be converted into wifi data through the vehicle-mounted wireless communication module, and the wifi data can be sent to the ground wireless communication module. The ground wireless communication module converts the wifi data into CAN data and sends it to the battery swap server. The CAN-wifi conversion module can realize wireless communication between the rail transit vehicle and the battery swap server, avoiding safety hazards caused by abnormal connection parts when the vehicle and the battery swap device are physically connected, greatly reducing repair and maintenance costs.

[0096] In step 302, a notification of battery replacement completion is sent to the battery replacement server so that the server controls the ground wireless communication module to disconnect from the vehicle-mounted wireless communication module.

[0097] In a specific example, after sending a battery swap request to the battery swap server so that the battery swap server controls the battery swap device to swap batteries for rail transit vehicles, the method also includes: A1, sending a notification of battery swapping to the train control and management system; A2, receiving a notification of battery swapping progress sent by the battery swap server, and forwarding the notification of battery swapping progress to the train control and management system.

[0098] In step 303, a notification of completion of power replacement is sent to the train control and management system, so that the train control and management system controls the on-board wireless communication module to disconnect from the ground wireless communication module and releases the whole vehicle blockade of the rail transit vehicle.

[0099] In one example, the TCMS can control the vehicle-mounted wireless communication module to be disconnected from the ground wireless communication module. In addition, when the battery replacement is completed, the TCMS can pre-release the vehicle's vehicle traction blockade so that the vehicle can be re-braked.

[0100] In the embodiment of the present application, due to the real-time point-to-point communication between the vehicle and the ground battery swapping device, the vehicle and the ground battery swapping device are in an interlocked state during the battery swapping process, which can achieve rapid and automatic identification of vehicle information and matching of vehicle information, thereby avoiding errors during battery swapping.

[0101] Figure 4 FIG. 1 is a schematic flow chart showing a method for controlling automatic battery replacement of a rail transit vehicle according to an embodiment of the present application. Figure 4 As shown, the rail transit vehicle automatic battery replacement control method of the embodiment of the present application is applied to the rail transit vehicle automatic battery replacement system, and the rail transit vehicle automatic battery replacement system includes ground battery replacement equipment and rail transit vehicles, wherein the ground battery replacement equipment includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module, and the rail transit vehicle includes a train control and management system, at least one battery management system, and at least one on-board wireless communication module. The rail transit vehicle automatic battery replacement control method 400 according to the embodiment of the present application may include the following steps S401, step S402, step S403, step S404, and step S405:

[0102] In step S401, a first matching code of the vehicle-mounted wireless communication module is acquired, and a second matching code of the ground wireless communication module is configured according to the first matching code.

[0103] The executor of the embodiment of the present application is a battery replacement server.

[0104] In one example, the ground power exchange device further includes a radio frequency reading module, and the rail transit vehicle further includes a vehicle radio frequency tag;

[0105] Before controlling the ground wireless communication module to communicate with the on-board wireless communication module, the method also includes: B1, controlling the radio frequency reading module to read the vehicle radio frequency tag information to obtain the vehicle number of the rail transit vehicle; B2, querying the local database to obtain the first matching code of the on-board wireless communication module corresponding to the vehicle number; B3, configuring the ground wireless communication module according to the first matching code. In this embodiment, the vehicle radio frequency tag information represents the number of the rail transit vehicle. In the local database of the battery exchange server, the number of the rail transit vehicle and the first matching code of the corresponding on-board wireless communication module are stored. After the battery exchange server queries the first matching code in the local database, the second matching code of the ground wireless communication module is configured according to the first matching code.

[0106] In one example, the ground battery exchange equipment also includes a radio frequency reading module, and the rail transit vehicle also includes a vehicle radio frequency tag. Accordingly, before controlling the ground wireless communication module to communicate with the on-board wireless communication module, the method also includes: C1, controlling the radio frequency reading module to read the vehicle radio frequency tag information to obtain the number of the rail transit vehicle and the first matching code; C2, and storing the number of the rail transit vehicle and the first matching code in the database of the battery exchange server; C3, configuring the second matching code of the ground wireless communication module according to the first matching code. In this embodiment, the vehicle radio frequency tag information represents the number and first matching code of the rail transit vehicle. After the battery exchange server reads the vehicle number and the first matching code, the vehicle number and the first matching code are stored in the local database for future query when a fault occurs. The battery exchange server then configures the second matching code of the ground wireless communication module according to the first matching code.

[0107] In step S402, the ground wireless communication module is controlled to establish a communication connection with the vehicle-mounted wireless communication module according to the first matching code and the second matching code.

[0108] Correspondingly, according to the first matching code and the second matching code, the ground wireless communication module is controlled to communicate with the vehicle-mounted wireless communication module, including: D1, verifying whether the first matching code and the second matching code are consistent; D2, if they are consistent, the vehicle-mounted wireless communication module is paired with the ground wireless communication module. Specifically, the vehicle radio frequency tag information includes the vehicle number and the first matching code of the vehicle-mounted wireless communication module. The battery exchange server sends the first matching code of the vehicle-mounted wireless communication module to the ground wireless communication module, and configures the ground wireless communication module so that the second matching code of the ground wireless communication module is consistent with the first matching code of the vehicle-mounted wireless communication module. The first matching code and the second matching code can be in the form of an account number and a password. For example, the first matching code of the vehicle-mounted wireless communication module is: account number 1111, password 0000; when the battery exchange server reads the vehicle radio frequency tag information, the vehicle number and the first matching code of the vehicle-mounted wireless communication module are obtained, and then the battery exchange server configures the ground wireless communication module so that the second matching code of the ground wireless communication module is: account number 1111, password 0000. Then the vehicle-mounted wireless communication module is matched with the ground wireless communication module.

[0109] It is worth noting that the rail transit vehicle can be a multi-unit vehicle, including multiple carriages, and each carriage is provided with an on-board wireless communication module. Accordingly, the ground power exchange equipment includes multiple ground wireless communication modules to perform one-to-one communication connection with multiple on-board wireless communication modules. During the communication connection, each carriage has a carriage code, and the carriage code can correspond to an on-board wireless communication module and its first matching code. After the power exchange server configures the ground wireless communication module, the ground wireless communication module can be communicatively connected with the on-board wireless communication module of each carriage. Therefore, the embodiment of the present invention can perform power exchange operations on multiple carriages at the same time. Moreover, the on-board wireless communication modules of different carriages have different first matching codes, so that the on-board wireless communication module is connected one-to-one with the ground wireless communication module, which can avoid confusion during power exchange.

[0110] In the embodiment of the present application, since the vehicle's on-board wireless communication module and the wireless communication module of the ground battery replacement device are in real-time point-to-point communication, the vehicle and the ground battery replacement device are in an interlocked state during the battery replacement process, which can achieve rapid and automatic identification of vehicle information and matching of vehicle information to avoid errors during battery replacement.

[0111] In step S403, a battery replacement request sent by the battery management system is received, and the battery replacement device is controlled to perform battery replacement for the rail transit vehicle according to the battery replacement request.

[0112] In one example, the battery replacement device is controlled to perform battery replacement for the rail transit vehicle according to the battery replacement request, including: C, sending a notification of battery replacement to the battery management system; D, controlling the battery replacement device to start the battery replacement action; E, monitoring the battery replacement progress of the rail transit vehicle, and forwarding the battery replacement progress to the battery management system. The embodiment of the present invention can send the battery replacement progress to the BMS in real time, and the BMS sends it to the TCMS, so that the user can understand the battery replacement progress in real time and improve the user experience.

[0113] In step S404, the battery replacement completion signal sent by the battery management system is received, and a response is made to the battery replacement completion signal sent by the battery management system.

[0114] In some application scenarios, during the battery swapping process, the rail transit vehicle can be driven to the preset battery swapping position, and then the entire vehicle can be towed and blocked, and then the ground wireless communication module can be moved to the battery swapping position by lifting, so that the ground wireless communication module can communicate and connect with the on-board wireless communication module. In other application scenarios, the battery swapping device and its ground wireless communication module can be kept at the battery swapping position, and then the on-board wireless communication module can be communicated and connected with the ground wireless communication module by lifting the rail transit vehicle, so that the battery swapping can be realized.

[0115] In step S405, the battery swapping device is controlled to stop battery swapping.

[0116] In one example, after controlling the battery exchange device to stop battery exchange, the method further includes: controlling the vehicle-mounted wireless communication module to disconnect from the ground wireless communication module.

[0117] It is worth mentioning that rail transit vehicles can have multiple sets of vehicles. In this case, each car is equipped with a battery, a BMS and an on-board wireless communication module. Correspondingly, the rail transit vehicle automatic battery replacement system is also equipped with multiple battery replacement devices and multiple ground wireless communication modules, where the ground wireless communication modules correspond to the battery replacement devices one by one. When replacing the battery, each on-board wireless communication module is connected to a ground wireless communication module to achieve battery replacement for multiple sets of vehicles.

[0118] In the embodiment of the present application, due to the real-time point-to-point communication between the vehicle and the ground battery swapping device, the vehicle and the ground battery swapping device are in an interlocked state during the battery swapping process, which can achieve rapid and automatic identification of vehicle information and matching of vehicle information, thereby avoiding errors during battery swapping.

[0119] Combine the following Figure 5 The ground power exchange equipment of the present application is described, wherein: Figure 5 A schematic block diagram of a ground power exchange device 500 according to an embodiment of the present application is shown.

[0120] The ground battery exchange equipment 500 includes a battery exchange server 501 , at least one battery exchange device 502 , at least one ground wireless communication module 503 and a radio frequency reading module 504 .

[0121] Among them, the battery replacement server 501 is used to obtain the first matching code of the on-board wireless communication module, and configure the second matching code of the ground wireless communication module according to the first matching code; control the ground wireless communication module 503 to communicate with the on-board wireless communication module according to the first matching code and the second matching code; receive the battery replacement request sent by the battery management system, and control the battery replacement device 502 to replace the battery for the rail transit vehicle according to the battery replacement request; receive the battery replacement completion signal sent by the battery management system, and respond to the battery replacement completion signal sent by the battery management system; control the battery replacement device 502 to stop battery replacement.

[0122] The battery replacement device 502 is used to perform battery replacement operations.

[0123] The ground wireless communication module 503 is used to connect with the vehicle-mounted wireless communication module so that the battery replacement device can replace the battery for the rail transit vehicle.

[0124] When the rail transit vehicle is a multi-unit vehicle, each car is provided with a battery, a BMS and an on-board wireless communication module. Correspondingly, the automatic battery replacement system of the ground battery replacement equipment is also provided with multiple battery replacement devices 502 and multiple ground wireless communication modules 503, wherein the on-board wireless communication module is connected one-to-one with the ground wireless communication module 503, and the corresponding BMS of each car and the battery replacement device 502 are also replaced one-to-one. Since each on-board wireless communication module is communicated with a ground wireless communication module during battery replacement, point-to-point matching can be achieved, thereby realizing battery replacement for multi-unit vehicles.

[0125] The radio frequency reading module 504 is used to read the information of the vehicle radio frequency tag and send the read information to the battery replacement server 501.

[0126] Next, continue to combine Figure 6 The rail transit vehicle of the present application is described, wherein: Figure 6 A schematic block diagram of a rail transit vehicle 600 according to an embodiment of the present application is shown.

[0127] The rail transit vehicle of the embodiment of the present invention includes a battery replacement knob 601, a train control and management system 602, at least one battery management system 603, at least one vehicle-mounted wireless communication module 604 and a vehicle radio frequency tag 605.

[0128] Among them, the battery-changing knob 601 is used to send a battery-changing signal to the TCMS 602 when the battery-changing knob 601 is rotated to become a valid state.

[0129] The TCMS602 is used to receive the battery replacement signal and control the rail transit vehicle 600 to block the whole vehicle traction; according to the first matching code of the on-board wireless communication module 604 and the second matching code of the ground wireless communication module, control the on-board wireless communication module 604 to communicate with the ground wireless communication module so that the battery replacement device can replace the battery for the rail transit vehicle; receive the notification of battery replacement completion sent by the battery management system 603; and control the on-board wireless communication module 604 to disconnect from the ground wireless communication module and release the whole vehicle blockade of the rail transit vehicle.

[0130] The BMS603 is used to receive the battery replacement request sent by TCMS602, and forward the battery replacement request to the battery replacement server, so that the battery replacement server controls the battery replacement device to replace the battery for the rail transit vehicle; wherein the battery replacement request is sent by the train control and management system to the battery management system after the on-board wireless communication module 604 is communicated with the ground wireless communication module; a notification of battery replacement completion is sent to the battery replacement server, so that the server controls the ground wireless communication module to disconnect from the on-board wireless communication module 604; and a notification of battery replacement completion is sent to the train control and management system 602, so that the train control and management system 602 controls the on-board wireless communication module to disconnect from the ground wireless communication module, and releases the vehicle blockade of the rail transit vehicle.

[0131] The on-board wireless communication module 604 is used to establish a communication connection with the ground wireless communication module so that the battery exchange device can exchange battery for the rail transit vehicle.

[0132] The vehicle radio frequency tag 605 is used to generate a radio frequency signal, and when the radio frequency reading module reads the radio frequency signal, the vehicle information can be obtained.

[0133] When the rail transit vehicle is a multi-unit vehicle, each car is provided with a battery, a BMS and an on-board wireless communication module. Correspondingly, the rail transit vehicle automatic battery replacement system is also provided with multiple battery replacement devices and multiple ground wireless communication modules, wherein the ground wireless communication modules are connected one-to-one with the ground wireless communication modules, and the corresponding BMS and battery replacement devices of each car are also replaced one-to-one. Since each on-board wireless communication module is communicated and connected with a ground wireless communication module during battery replacement, point-to-point matching can be achieved, thereby realizing battery replacement for multi-unit vehicles.

[0134] Next, continue to combine Figure 7 The automatic battery replacement system for rail transit vehicles of the present application is described, wherein: Figure 7 A schematic block diagram of an automatic battery replacement system 700 for a rail transit vehicle according to an embodiment of the present application is shown.

[0135] The rail transit vehicle automatic battery replacement system 700 of the embodiment of the present application includes a rail transit vehicle 600, and the rail transit vehicle 600 includes a battery replacement knob 601, a TCMS 602, at least one BMS 603, and at least one on-board wireless communication module 604. The rail transit vehicle can be a multi-unit vehicle, that is, including multiple carriages, each of which includes a BMS 603, a battery, and an on-board wireless communication module 604.

[0136] Accordingly, the ground power exchange equipment includes a power exchange server 501, at least one power exchange device 502 and at least one ground wireless communication module 503. When the rail transit vehicle is a multi-unit vehicle, the ground power exchange equipment 500 may correspondingly include multiple ground wireless communication modules 503 and multiple power exchange devices 502, and one ground wireless communication module corresponds to one power exchange device.

[0137] When the battery is replaced, the battery replacement server 501 controls the vehicle-mounted wireless communication module 604 to connect to the ground wireless communication module 503. When the rail transit vehicle 600 is a multi-unit vehicle, such as Figure 7 As shown, each vehicle-mounted wireless communication module 604 communicates wirelessly with a ground wireless communication module 503. Specifically, vehicle-mounted wireless communication module 1 is connected to ground wireless communication module 1, vehicle-mounted wireless communication module 2 is connected to ground wireless communication module 2... vehicle-mounted wireless communication module n is connected to ground wireless communication module n. When each vehicle-mounted wireless communication module is connected to the ground wireless communication module, each battery is matched with each battery replacement device to avoid errors during battery replacement.

[0138] The automatic battery replacement device and system for rail transit vehicles of the embodiments of the present application have the same advantages as the aforementioned battery replacement method because they can implement the aforementioned battery replacement method.

[0139] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0140] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0142] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0143] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0144] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0145] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0146] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0147] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0148] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A rail transit vehicle automatic battery replacement control method, applied to a rail transit vehicle automatic battery replacement system, the rail transit vehicle automatic battery replacement system comprising ground battery replacement equipment and a rail transit vehicle, wherein: The ground battery replacement equipment includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module. The rail transit vehicle includes a train control and management system, at least one battery management system, and at least one on-board wireless communication module. It is characterized in that the rail transit vehicle automatic battery replacement control method is applied to the train control and management system, and the method includes: Receiving a power replacement signal and controlling the rail transit vehicle to block the whole vehicle traction; According to the first matching code of the on-board wireless communication module and the second matching code of the ground wireless communication module, the on-board wireless communication module is controlled to communicate with the ground wireless communication module, and then a battery replacement request is sent to the battery management system to realize a point-to-point communication connection between the rail transit vehicle and the battery replacement device, and the battery replacement device performs battery replacement for the rail transit vehicle; Receiving a notification of battery replacement completion sent by the battery management system; The vehicle-mounted wireless communication module is controlled to be disconnected from the ground wireless communication module, and the whole vehicle blockade of the rail transit vehicle is released.

2. The control method according to claim 1, characterized in that: After controlling the vehicle-mounted wireless communication module to communicate with the ground wireless communication module so that the battery replacement device performs battery replacement for the rail transit vehicle, the method further includes: Receive a notification from the battery management system that a battery replacement is in progress.

3. The control method according to claim 1, characterized in that: in, The battery replacement signal includes a signal sent when the battery replacement knob of the rail transit vehicle is valid.

4. The control method according to any one of claims 1 to 3, characterized in that: The ground wireless communication module and the vehicle-mounted wireless communication module are both CAN-wifi conversion modules, and the CAN-wifi conversion module is used to realize the conversion between CAN signals and WiFi signals.

5. A rail transit vehicle automatic battery replacement control method, applied to a rail transit vehicle automatic battery replacement system, the rail transit vehicle automatic battery replacement system comprising ground battery replacement equipment and a rail transit vehicle, wherein: The ground battery replacement equipment includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module. The rail transit vehicle includes a train control and management system, at least one battery management system, and at least one on-board wireless communication module. It is characterized in that the rail transit vehicle automatic battery replacement control method is applied to the battery management system, and the method includes: Receive a battery replacement request sent by the train control and management system, and forward the battery replacement request to the battery replacement server, so that the battery replacement server controls the battery replacement device to replace the battery for the rail transit vehicle; wherein the battery replacement request is sent by the train control and management system to the battery management system after the on-board wireless communication module is controlled to communicate with the ground wireless communication module based on the first matching code of the on-board wireless communication module and the second matching code of the ground wireless communication module, and the rail transit vehicle is connected to the battery replacement device in point-to-point communication; Sending a notification of battery replacement completion to the battery replacement server, so that the battery replacement server controls the ground wireless communication module to disconnect from the vehicle-mounted wireless communication module; A notification of battery replacement completion is sent to the train control and management system so that the train control and management system controls the on-board wireless communication module to disconnect from the ground wireless communication module and releases the whole vehicle blockade of the rail transit vehicle.

6. The control method according to claim 5, characterized in that: After sending a battery exchange request to the battery exchange server so that the battery exchange server controls the battery exchange device to exchange the battery for the rail transit vehicle, the method further includes: Sending a notification that a power replacement is in progress to the train control and management system; Receive the notification of battery replacement progress sent by the battery replacement server, and forward the notification of battery replacement progress to the train control and management system.

7. The control method according to claim 5 or 6, characterized in that: The ground wireless communication module and the vehicle-mounted wireless communication module are both CAN-wifi conversion modules, and the CAN-wifi conversion module is used to realize the conversion between CAN signals and WiFi signals.

8. A rail transit vehicle automatic battery replacement control method, applied to a rail transit vehicle automatic battery replacement system, the rail transit vehicle automatic battery replacement system comprising ground battery replacement equipment and a rail transit vehicle, wherein: The ground battery replacement equipment includes a battery replacement server, at least one battery replacement device, and at least one ground wireless communication module. The rail transit vehicle includes a train control and management system, at least one battery management system, and at least one on-board wireless communication module. It is characterized in that the rail transit vehicle automatic battery replacement control method is applied to the battery replacement server, and the method includes: Acquire a first matching code of the vehicle-mounted wireless communication module, and configure a second matching code of the ground wireless communication module according to the first matching code; According to the first matching code and the second matching code, control the ground wireless communication module to communicate with the vehicle-mounted wireless communication module to achieve a point-to-point communication connection between the rail transit vehicle and the battery exchange device; Receiving a battery replacement request sent by the battery management system, and controlling the battery replacement device to replace the battery for the rail transit vehicle according to the battery replacement request, wherein the battery replacement request is sent by the train control and management system to the battery management system, and then the battery management system forwards it to the battery replacement server; Receiving a notification of battery replacement completion sent by the battery management system, and responding to the notification of battery replacement completion sent by the battery management system; Controlling the battery swapping device to stop battery swapping; Control the ground wireless communication module to disconnect from the vehicle-mounted wireless communication module.

9. The control method according to claim 8, characterized in that: Controlling the battery replacement device to replace the battery for the rail transit vehicle according to the battery replacement request includes: Sending a notification that a battery replacement is in progress to the battery management system; Controlling the battery swapping device to start a battery swapping action; Monitor the battery replacement progress of the rail transit vehicle and forward the battery replacement progress to the battery management system.

10. The control method according to claim 8, characterized in that: The ground power exchange equipment further includes a radio frequency reading module, and the rail transit vehicle further includes a vehicle radio frequency tag; Before controlling the ground wireless communication module to establish a communication connection with the vehicle-mounted wireless communication module, the method further includes: Control the radio frequency reading module to read the vehicle radio frequency tag information to obtain the vehicle number of the rail transit vehicle Querying a local database to obtain the first matching code of the vehicle-mounted wireless communication module corresponding to the vehicle number; The ground wireless communication module is configured according to the first matching code.

11. The control method according to claim 8, characterized in that: The ground power exchange equipment further includes a radio frequency reading module, and the rail transit vehicle further includes a vehicle radio frequency tag; Before controlling the ground wireless communication module to establish a communication connection with the vehicle-mounted wireless communication module, the method further includes: Controlling the radio frequency reading module to read the vehicle radio frequency tag information to obtain the number of the rail transit vehicle and the first matching code; and storing the rail transit vehicle number and the first matching code in a database of the battery exchange server; A second matching code of the ground wireless communication module is configured according to the first matching code.

12. The control method according to claim 10 or 11, characterized in that: According to the first matching code and the second matching code, controlling the ground wireless communication module to communicate with the vehicle-mounted wireless communication module includes: Verifying whether the first matching code and the second matching code are consistent; If they are consistent, the vehicle-mounted wireless communication module is paired and connected with the ground wireless communication module.

13. A ground power exchange device, characterized in that: The ground power exchange equipment includes a power exchange server, at least one power exchange device and at least one ground wireless communication module; Wherein, the battery replacement server is used to execute the rail transit vehicle automatic battery replacement control method according to any one of claims 8 to 12; The battery replacement device is used to perform a battery replacement action; The ground wireless communication module is used to connect with the vehicle-mounted wireless communication module so that the battery exchange device can exchange battery for the rail transit vehicle.

14. A rail transit vehicle, characterized in that: The rail transit vehicle includes a battery replacement knob, a train control and management system, at least one battery management system and at least one on-board wireless communication module; Wherein, the battery-changing knob is used to send a battery-changing signal to the train control and management system when the battery-changing knob is rotated to become a valid state; The train control and management system is used to execute the rail transit vehicle automatic battery replacement control method according to any one of claims 1 to 4; The battery management system is used to execute the rail transit vehicle automatic battery replacement control method according to any one of claims 5 to 7; The on-board wireless communication module is used to establish a communication connection with the ground wireless communication module so that the battery exchange device can exchange battery for the rail transit vehicle.

15. An automatic battery replacement system for rail transit vehicles, characterized in that: It includes the ground power exchange equipment as described in claim 13 and the rail transit vehicle as described in claim 14.

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