Wheelbase adjustment method, system, electronic device and storage medium for battery-swap vehicle

Abstract

The present invention discloses a wheelbase adjustment method, system, electronic device and storage medium for a battery-swap vehicle. The method includes: obtaining wheelbase parameters; obtaining a target distance between a mobile frame body and a main frame body; controlling a first position and a second position to move in a first operating state to obtain a movement difference; judging whether the movement difference is less than a first limit difference, if not, controlling the mobile frame body to move in a second operating state, until the movement difference is less than or equal to an appropriate difference, controlling the mobile frame body to move in a third operating state; judging whether the difference between the first distance and the target distance of the mobile frame body is within a second limit difference, if so, controlling the mobile frame body to stop moving. The present invention can adjust the wheelbase of a lifting device, control the movement difference of the two positions to be less than the first limit difference, prevent mechanical stagnation and tension of the structures at the two positions, and protect mechanical equipment. Ultimately, the mobile frame is adjusted into place in the wheelbase, facilitating the smooth progress of the battery-swap process.

Description

Technical Field

[0001] The present invention relates to the field of vehicle battery replacement, and in particular to a wheelbase adjustment method, system, electronic equipment and storage medium for a battery replacement vehicle. Background Art

[0002] Electric vehicles are becoming increasingly popular among consumers. Electric vehicles primarily use electricity as their energy source, and when they run out of power, they need to be recharged. Due to limitations in current battery and charging technologies, fully charging an electric vehicle takes a long time, making it less convenient and quicker than refueling a gasoline vehicle. Therefore, to reduce user wait time, replacing the battery when the electric vehicle's power is nearly depleted is an effective method. To facilitate battery replacement and meet this demand, battery swapping stations are needed. These stations allow electric vehicles to drive into and swap their batteries when their batteries are depleted.

[0003] The battery swap station is equipped with a battery swap lifting platform that can lift the electric vehicle. The battery swap cart of the battery swap station performs the battery swap operation under the electric vehicle. Because the electric vehicle may deviate when driving onto the battery swap lifting platform, the position of the battery swap lifting platform used to park the electric vehicle will be adjusted. Specifically, different drive mechanisms are used to drive the two sides of the battery swap lifting platform (i.e., the two sides in the width direction of the electric vehicle) to move in the length direction of the electric vehicle to adjust the wheelbase. This method may cause the adjustment of the two sides to be out of sync, which may cause the two sides to get stuck and damage the mechanical equipment on both sides. Summary of the Invention

[0004] The present invention aims to solve the technical problem in the prior art that when the two sides of the battery-swap lifting platform are adjusted separately through different driving mechanisms, both sides are prone to getting stuck and thus damaging the mechanical equipment on both sides. The present invention provides a wheelbase adjustment method, system, electronic device and storage medium for a battery-swap vehicle that can prevent both sides from getting stuck when the two sides of the battery-swap lifting platform are adjusted separately through different driving mechanisms.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] The present invention provides a method for adjusting the wheelbase of a battery-swap vehicle, comprising the following steps:

[0007] Get the wheelbase parameters corresponding to the target vehicle;

[0008] Obtaining a target distance between a mobile frame body and a main frame body of the lifting device according to the wheelbase parameter, wherein the mobile frame body includes a first position and a second position, and the first position and the second position are different positions in a width direction of the mobile frame body;

[0009] controlling the first position and the second position to move in a first operating state along a first direction, and obtaining in real time a movement difference between the first position and the second position, the movement difference representing a difference in movement distance between the first position and the second position relative to the main frame, wherein the first direction is a length direction of the target vehicle;

[0010] determining whether the movement difference is less than a first limit difference; if not, controlling the mobile frame to move in the second operating state along the first direction until the movement difference is less than or equal to an appropriate difference, and then controlling the mobile frame to move in a third operating state;

[0011] It is determined whether the absolute value of the difference between the first distance between the mobile frame body and the main frame body and the target distance is within a second limit difference. If so, the mobile frame body is controlled to stop moving.

[0012] In the present invention, the target distance between the mobile frame body and the main frame body that needs to be adjusted for the lifting device to adapt to the wheelbase of the battery-swap vehicle can be obtained based on the wheelbase parameters. According to the target distance, the first position and the second position can be controlled along the first direction, that is, the length direction of the target vehicle, to achieve synchronous movement. By using this method to adjust the wheelbase of the lifting device, the movement of the mobile frame can be accurately and stably controlled, and when moving between the first position and the second position, the movement difference between the two can be controlled in real time to be less than the first limit difference, thereby preventing the structures at the first position and the second position from mechanically getting stuck and struggling, and protecting the mechanical equipment. Finally, the distance between the mobile frame body and the main frame body in the first direction can be adjusted to within the second limit difference, so that the mobile frame can be adjusted into place in the wheelbase, meeting the wheelbase requirements of the target battery-swap vehicle, and facilitating the smooth progress of the subsequent battery-swap process.

[0013] Preferably, obtaining the wheelbase parameter corresponding to the target vehicle includes the following steps:

[0014] Obtaining the vehicle identifier of the target vehicle;

[0015] The wheelbase parameter corresponding to the target vehicle is obtained according to the vehicle identifier.

[0016] In the present invention, the wheelbase parameters of the target vehicle can be automatically matched by obtaining the vehicle identifier of the target vehicle. On the one hand, the intelligence of wheelbase parameter acquisition is improved. On the other hand, the vehicle identifier and the wheelbase parameter correspond one-to-one, which is not easy to make mistakes.

[0017] Preferably, controlling the mobile frame to move in the second operating state comprises the following steps:

[0018] The first target position is controlled to stop or decelerate along the first direction, wherein the first target position is a position having a larger movement distance relative to the main frame body between the first position and the second position.

[0019] In the present invention, the movement distances of the first position and the second position can be balanced by controlling the position with the larger movement distance to stop or slow down, and then the first position and the second position can be moved in the third operating state, effectively preventing the mechanical structure between the first position and the second position from getting stuck.

[0020] Preferably, controlling the mobile frame to move in the second operating state comprises the following steps:

[0021] The second target position is controlled to accelerate along the first direction, and the second target position is a position with a smaller moving distance relative to the main frame body between the first position and the second position.

[0022] In the present invention, the movement distances of the first position and the second position can be balanced by controlling the acceleration of the position with the smaller movement distance, and then the first position and the second position can be moved in the third operating state, effectively preventing the mechanical structure between the first position and the second position from getting stuck.

[0023] Preferably, the first limit difference is 2-4 mm.

[0024] In the present invention, the first limit difference is set within the range of 2 to 4 mm according to the size and specifications of the mobile frame body, so that the first limit difference matches the structure related to the wheelbase adjustment on the lifting device, thereby avoiding damage to the structure related to the wheelbase adjustment on the lifting device.

[0025] Preferably, controlling the first position and the second position to move along the first direction in the first operating state includes: controlling the first position and the second position to move along the first direction at a target speed;

[0026] The controlling the mobile frame body to move in the third operating state along the first direction includes: controlling the mobile frame body to return to the target speed along the first direction.

[0027] In the present invention, when the movements of the first position and the second position are not synchronized, the movable frame body can be controlled to move in the second motion state along the first direction, thereby adjusting the movement of the first position and the second position. After the two positions are adjusted to be balanced, the first position and the second position are controlled to return to the target speed before adjustment, thereby maintaining the stability of the movement.

[0028] Preferably, after controlling the movable frame to stop moving, the method further comprises the following steps:

[0029] Control the entrance gate to lift up;

[0030] Detecting the parking state of the target vehicle, and if the target vehicle is parked in place at the battery swapping station, obtaining a second distance between the mobile frame body and the main frame body;

[0031] Determine whether the absolute value of the difference between the second distance and the target distance is within the second limit difference; if not, control the mobile frame body to move along the first direction until the absolute value of the difference between the second distance and the target distance is within the second limit difference.

[0032] In the present invention, a total of two wheelbase adjustments are performed. During the first wheelbase adjustment, the target vehicle has not entered the battery swap station. During the second adjustment, the target vehicle has been parked in place at the battery swap station. Since the target vehicle driving into the lifting device will have a certain impact on the mobile frame body of the lifting device in the first direction, resulting in a relative displacement between the mobile frame body and the main frame body, and then causing the distance between the mobile frame body and the main frame body to no longer be the target distance. Therefore, the second distance between the mobile frame body and the main frame at this time is obtained. If the second distance is not within the second limit difference, the wheelbase adjustment is performed again, thereby further ensuring the smooth progress of the subsequent battery swap process.

[0033] Preferably, before controlling the first position and the second position to move along the first direction in the first operating state, the method further includes:

[0034] Control the movable frame body to move to an initial position.

[0035] In the present invention, since the battery swapping station can provide batteries for different vehicles at different times, different vehicles may correspond to different target positions for wheelbase adjustment. Therefore, before adjusting the wheelbase of the target vehicle, it is possible to reset it first, adjust the movable frame to the initial position, control the starting point of the adjustment, and facilitate the subsequent adjustment process.

[0036] The present invention also provides a wheelbase adjustment system for a battery-swap vehicle, the wheelbase adjustment system comprising a measurement module, a first adjustment mechanism, a second adjustment mechanism, a distance matching module, a control module, a calculation module, a first judgment module, and a second judgment module;

[0037] The distance matching module obtains a wheelbase parameter of the target vehicle and obtains a target distance between a mobile frame body and a main frame body of the lifting device according to the wheelbase parameter, wherein the mobile frame body includes a first position and a second position, and the first position and the second position are different positions in a width direction of the mobile frame body;

[0038] The control module sends a first motion state instruction to the first adjustment mechanism and the second adjustment mechanism respectively, controls the first adjustment mechanism to drive the first position and controls the second adjustment mechanism to drive the second position to move in a first operating state along a first direction, where the first direction is the length direction of the target vehicle;

[0039] The measuring module measures the movement distances of the first position and the second position respectively, and transmits the movement distances of the first position and the second position to the calculating module, the calculating module calculates the movement difference between the first position and the second position and sends the movement difference to the first judging module, the movement difference representing the difference between the movement distances of the first position and the second position relative to the main frame;

[0040] The first judgment module judges whether the movement difference is less than a first limit difference, and if not, sends an asynchronous information to the control module. After receiving the asynchronous information, the control module sends a second motion state instruction to the first adjustment mechanism and the second adjustment mechanism respectively, controlling the mobile frame body to move in the second operating state along the first direction. Until the first judgment module judges that the movement difference is less than or equal to the appropriate difference, the first judgment module sends a synchronous information to the control module. After receiving the synchronous information, the control module sends a third motion state instruction to the first adjustment mechanism and the second adjustment mechanism respectively, controlling the mobile frame body to move in the third operating state.

[0041] The second judgment module determines whether the absolute value of the difference between the first distance between the mobile frame body and the main frame body and the target distance is within a second limit difference. If so, the wheelbase adjustment information is sent to the control module. After receiving the wheelbase adjustment information, the control module sends a stop command to the first adjustment mechanism and the second adjustment mechanism respectively to control the mobile frame body to stop moving.

[0042] In the present invention, the target distance between the mobile frame body and the main frame body can be obtained based on the wheelbase parameters of the target vehicle obtained by the distance matching module, and the control module can control the first position and the second position along the first direction, that is, the length direction of the target vehicle, according to the target distance to achieve synchronous movement. The wheelbase adjustment of the lifting device using this system can accurately and stably control the movement of the mobile frame, and when moving between the first position and the second position, the movement difference between the two is controlled in real time to be less than the first limit difference, thereby preventing the structures at the first position and the second position from mechanically getting stuck and struggling, and protecting the mechanical equipment. Finally, the distance between the mobile frame body and the main frame body can be adjusted within the second limit difference, so that the wheelbase of the mobile frame can be adjusted into place, meeting the wheelbase requirements of the target battery-swap vehicle, and facilitating the smooth progress of the subsequent battery-swap process.

[0043] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the computer program, the wheelbase adjustment method for the battery-swap vehicle as described above is implemented.

[0044] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the wheelbase adjustment method of the battery-swap vehicle as described above is implemented.

[0045] The positive progressive effect of the present invention is that: according to the wheelbase parameter, the target distance between the mobile frame body and the main frame body of the lifting device that needs to be adjusted to adapt to the wheelbase of the battery-swap vehicle is obtained. According to the target distance, the first position and the second position can be controlled to move synchronously along the first direction of the target vehicle. Specifically, the position with a large moving distance can be controlled to stop or decelerate, or the position with a small moving distance can be controlled to accelerate, so that the moving distance of the first position and the second position is balanced. When controlling the movement of the first position and the second position, the movement difference of the two positions can be controlled at the same time to be less than the first limit difference, so as to prevent mechanical jamming and competition on both sides, thereby protecting mechanical equipment.

[0046] And the wheelbase adjustment process can be set flexibly. For example, the wheelbase can be adjusted for the first time before the target vehicle enters the battery swap station, and the wheelbase can be adjusted for the second time after the target vehicle enters the battery swap station. This method can avoid the situation where the target vehicle driving into the lifting device will generate a certain impact force on the mobile frame body of the lifting device in the first direction, resulting in relative displacement between the mobile frame body and the main frame body, and then causing the distance between the mobile frame body and the main frame body to no longer be the target distance. Moreover, since the target vehicle has performed the first wheelbase adjustment before entering the lifting device, the time for the second wheelbase adjustment can be reduced, thereby saving the overall battery swap time of the target vehicle at the battery swap station. For another example, only one wheelbase adjustment can be performed, that is, the wheelbase adjustment is performed after the target vehicle enters the battery swap station, which can reduce the overall wheelbase adjustment time.

[0047] Finally, the distance between the mobile frame body and the main frame body in the first direction can be adjusted within the second limit difference, so that the mobile frame can be accurately adjusted into place on the wheelbase, facilitating the smooth progress of the subsequent battery replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Schematic diagram of the structure of the lifting device in an embodiment of the present invention.

[0049] Figure 2 2 is a top view of the frame body in an embodiment of the present invention.

[0050] Figure 3 It is a top view of the structure below the frame body in an embodiment of the present invention.

[0051] Figure 4 This is a flow chart of the first wheelbase adjustment method for a battery-swap vehicle in Example 1 of the present invention.

[0052] Figure 5 This is a flowchart of the implementation method of step 101 in embodiment 1 of the present invention.

[0053] Figure 6 This is a flow chart of the second wheelbase adjustment method for a battery-swap vehicle in Example 2 of the present invention.

[0054] Figure 7 This is a module schematic diagram of the wheelbase adjustment system of the battery-swap vehicle in Example 3 of the present invention.

[0055] Figure 8 This is a module diagram of an electronic device in Example 4 of the present invention. DETAILED DESCRIPTION

[0056] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0057] It should be understood that the present invention uses specific terms to describe the embodiments of this application. The use of terms such as "first" and "second" to define technical features is merely for the purpose of distinguishing the corresponding technical features. Unless otherwise stated, the above terms have no special meaning and therefore should not be understood as limiting the scope of protection of the present invention. In addition, certain features, structures, or characteristics in one or more embodiments of the present invention may be appropriately combined.

[0058] In order to better understand the embodiment, the structures appearing in the embodiment are first described below:

[0059] The battery swap station has a battery swap room, a charging room, and battery swap equipment. The battery swap room can be used to replace battery packs for battery swap vehicles, and the charging room can store batteries and provide space for charging the batteries. The battery swap equipment can move back and forth between the battery swap room and the charging room. The battery swap equipment is used to replace batteries in battery swap vehicles. When a battery swap vehicle needs to be replaced and is positioned on a lifting device, the battery swap equipment drives under the battery swap vehicle to remove the battery and return the removed battery to the charging room. When installing the battery, the battery swap equipment obtains a fully charged battery from the charging room and drives from the charging room into the battery swap room to replace the battery of the battery swap vehicle.

[0060] like Figure 1 As shown, this embodiment provides a lifting device, which is installed in the battery swap room of the battery swap station and is used to lift and lower the electric vehicle located in the battery swap room. The lifting device includes a frame body 100, a base 300 and a lifting mechanism 200. The lifting mechanism 200 is located between the frame body 100 and the base 300 and drives the frame body 100 to rise and fall in the height direction. The lifting mechanism 200 is used to lift and lower the battery swap vehicle located on the frame body 100 in the height direction so that there is enough space below the battery swap vehicle for the battery swap trolley to swap the battery of the battery swap vehicle.

[0061] Specifically, such as Figure 2 As shown, the frame body 100 includes a mobile frame body 120 and a main frame body 130. When the wheelbase is adjusted, the main frame body 130 is fixed and the mobile frame body 120 is controlled relative to the main frame body 130 in the length direction of the battery-swap vehicle (i.e. Figure 2 Specifically, an adjustment mechanism is provided below the frame body 100, which drives the mobile frame body 120 to move in the length direction of the battery-swap vehicle. A measuring module is also provided below the frame body 100, which detects the distance between the mobile frame body 120 and the main frame body.

[0062] In this embodiment, the measuring module is implemented as an electronic ruler, and the adjusting mechanism is implemented as a hydraulic cylinder. It should be understood that in other embodiments, the measuring module and the adjusting mechanism may also be implemented in other ways, which will not be described in detail here.

[0063] like Figure 3 As shown, a first adjustment mechanism 702 and a first measurement module 701 are provided on the first side of the frame body 100, and a second adjustment mechanism 802 and a second measurement module 801 are provided on the second side of the frame body 100. The first adjustment mechanism 702 drives the first side 121 of the mobile frame body to move, and the first measurement module 701 measures the movement distance of the first side 121 of the mobile frame body relative to the main frame body 130. The second adjustment mechanism 802 drives the second side 122 of the mobile frame body to move, and the second measurement module 801 measures the movement distance of the second side 122 of the mobile frame body relative to the main frame body 130. Figure 2 As shown, the first side 121 of the mobile frame body is connected to the second side 122 of the mobile frame body by a connecting body 123 arranged in the middle. The first side 121 of the mobile frame body is used to support the wheels on the first side of the battery-swapping vehicle, and the second side 122 of the mobile frame body is used to support the wheels on the second side of the battery-swapping vehicle. It should be understood that the aforementioned first side and second side respectively correspond to different sides of the battery-swapping vehicle in the width direction.

[0064] [Example 1]

[0065] This embodiment provides a specific implementation method of the wheelbase adjustment method of a battery-swap vehicle, such as Figure 4 As shown, the following steps are included:

[0066] Step 101: Obtain the wheelbase parameters corresponding to the target vehicle.

[0067] In this embodiment, Figure 5 As shown, step 101 can specifically obtain the wheelbase parameters through the following steps:

[0068] Step 1011: Obtain the vehicle identifier of the target vehicle.

[0069] The vehicle identifier may be a license plate number. Specifically, a camera may be used to take a photo of the license plate and identify the target vehicle's license plate number based on the photo. In other embodiments, the vehicle number may also be obtained by other means, such as manually identifying the license plate number on the target vehicle's license plate, or the target vehicle actively sending the vehicle identifier to the battery swap station.

[0070] Step 1012: Obtain the wheelbase parameters corresponding to the target vehicle according to the vehicle identifier.

[0071] Among them, the storage server corresponding to the battery swap station or the battery swap system stores the wheelbase parameters corresponding to the vehicle identifier in advance, and the corresponding wheelbase parameters can be obtained according to the vehicle identifier.

[0072] In this embodiment, the wheelbase parameters of the target vehicle can be automatically matched by obtaining the vehicle identifier of the target vehicle. On the one hand, the intelligence of wheelbase parameter acquisition is improved. On the other hand, the vehicle identifier and the wheelbase parameter correspond one-to-one, which is not prone to errors.

[0073] Of course, step 101 can also be completed by manually obtaining the wheelbase parameters corresponding to the target vehicle, which will not be discussed here.

[0074] Step 102: Obtain a target distance between the mobile frame and the main frame of the lifting device according to the wheelbase parameter.

[0075] The mobile frame 120 includes a first position and a second position, which are different positions in the width direction of the mobile frame. The first position is specifically a preset position on the first side 121 of the mobile frame, and the second position is specifically a preset position on the second side 122 of the mobile frame. The first position and the second position are the positions of the mobile frame for supporting the two wheels of the target vehicle.

[0076] Step 103: Control the first position and the second position to move along the first direction in a first operating state, and obtain the movement difference between the first position and the second position in real time.

[0077] Specifically, controlling the first position and the second position to move along the first direction in the first operating state in step 103 specifically includes: controlling the first position and the second position to move along the first direction at a target speed.

[0078] The movement difference represents the difference in movement distance between the first position and the second position relative to the main frame. The first direction is the length of the target vehicle. The distance of the first position and the distance of the second position can be measured separately by the measurement module. The movement distance of the first position is the distance of the first position relative to the corresponding position of the main frame along the first direction. Similarly, the movement distance of the second position is the distance of the second position relative to the corresponding position of the main frame along the first direction. The movement difference can be calculated based on the two measured distances.

[0079] Step 104 , determining whether the movement difference is less than the first limit difference; if not, controlling the mobile frame to move in the second operating state along the first direction until the movement difference is less than or equal to the appropriate difference, and then controlling the mobile frame to move in the third operating state.

[0080] If the result of determining whether the movement difference is less than the first limit difference is yes, the moving frame is controlled to maintain the first movement state, and the movement difference is continuously monitored to determine whether it is less than the first limit difference.

[0081] In this embodiment, the first limit difference is a preset value to prevent the mechanical structure at the first position and the second position from getting stuck, and varies according to the different structures related to the wheelbase adjustment. In this embodiment, the first limit difference can be any value between 2 and 4 mm, preferably 3 mm.

[0082] According to the size and specifications of the mobile frame body, the first limit difference is set within the range of 2 to 4 mm, so that the first limit difference matches the structure related to the wheelbase adjustment on the lifting device, avoiding damage to the structure related to the wheelbase adjustment on the lifting device, while allowing the first position and the second position to maintain balance.

[0083] There are multiple ways to control the mobile frame to move in the second operating state along the first direction, as follows:

[0084] Method 1: Control the first target position to stop or decelerate along the first direction.

[0085] The first target position is a position with a larger movement distance relative to the main frame body between the first position and the second position.

[0086] In this embodiment, the movement distances of the first position and the second position can be balanced by controlling the position with the larger movement distance to stop or decelerate, thereby effectively preventing a jam between the two positions.

[0087] Method 2: Control the second target position to accelerate along the first direction.

[0088] The second target position is a position having a smaller moving distance relative to the main frame body between the first position and the second position.

[0089] In this embodiment, the movement distances of the first position and the second position can be balanced by controlling the acceleration of the position with the smaller movement distance, thereby effectively preventing the two positions from being stuck.

[0090] Method three: controlling the first target position to stop or decelerate along the first direction, and controlling the second target position to accelerate along the first direction.

[0091] In the above-mentioned method three, combined with method one and method two, the first target position is controlled to stop or decelerate while the second target position is controlled to accelerate, which can balance the moving distances of the first position and the second position more quickly and improve the efficiency of adjustment.

[0092] The three aforementioned methods determine whether the mobile frame has transitioned from the second operating state to the third operating state by comparing the real-time acquired movement difference with a preset optimal difference. If the difference is less than the optimal difference, the mobile frame transitions to the third operating state. The optimal difference also varies depending on the structure associated with wheelbase adjustment and is selected based on actual conditions. The optimal difference is less than the first limit difference.

[0093] In step 104 of this embodiment, controlling the mobile frame body to move in the first direction in the third operating state specifically includes: controlling the mobile frame body to return to moving at the target speed along the first direction.

[0094] Specifically, the first position and the second position are controlled to move synchronously along the first direction at a target speed in step 104. In this embodiment, both the first operating state and the third operating state move at the target speed to maintain the stability of the movement of the mobile frame.

[0095] Step 105 : Determine whether the absolute value of the difference between the first distance between the mobile frame body and the main frame body and the target distance is within a second limit difference; if so, control the mobile frame body to stop moving.

[0096] In step 105, the first distance is the average of the distances at the first position and the distances at the second position detected by the measurement module. The first distance is compared with the target distance. When the first distance is less than a preset second limit difference, the movable frame of the lift is considered to have been adjusted into position. The second limit difference is determined based on actual conditions and may or may not be equal to the first limit difference, and is not a limitation herein.

[0097] [Example 2]

[0098] This embodiment provides a specific implementation of the wheelbase adjustment method for a battery-swap vehicle. This embodiment is based on Example 1. On the basis of Example 1, as shown in FIG. Figure 6 As shown, after step 105, the following steps may also be included:

[0099] Step 106: Control the entrance gate to lift up.

[0100] After the entrance gate is raised, the vehicle can enter the battery replacement station.

[0101] Step 107: Detect the parking status of the target vehicle. If the target vehicle is parked in place at the battery swapping station, obtain the second distance between the mobile frame body and the main frame body.

[0102] Among them, the battery replacement station is the position of the two coaxial wheels of the target vehicle corresponding to the first side 121 of the mobile frame body and the second side 122 of the mobile frame body. An in-place detection device is provided at any of the above locations to detect whether the wheels of the target vehicle are parked in place. After the in-place detection device detects that the target vehicle is parked in place, the second distance between the mobile frame body and the main frame body can be obtained.

[0103] Step 108: Determine whether the absolute value of the difference between the second distance and the target distance is within a second limit difference; if not, control the mobile frame to move along the first direction until the absolute value of the difference between the second distance and the target distance is within the second limit difference.

[0104] Among them, the method of controlling the movement of the mobile frame body can refer to the control method in steps 103-105, and will not be repeated here.

[0105] In this embodiment, there are two wheelbase adjustment methods. The first method can refer to Figure 6 In this way, a total of two wheelbase adjustments are performed. During the first wheelbase adjustment, the target vehicle has not entered the battery swap station. During the second adjustment, the target vehicle has been parked in place at the battery swap station. Since the target vehicle drives onto the lifting device, it will generate a certain impact force on the mobile frame body of the lifting device in the first direction, resulting in a relative displacement between the mobile frame body and the main frame body, and then causing the distance between the mobile frame body and the main frame body to no longer be the target distance. Therefore, the second distance between the mobile frame body and the main frame at this time is obtained. If the second distance is not within the second limit difference, the wheelbase adjustment is performed again, thereby further ensuring the smooth progress of the subsequent battery swap process.

[0106] The second method can refer to Figure 4 This method performs a one-time wheelbase adjustment, that is, the wheelbase is adjusted after the target vehicle is parked in place at the battery swap station. This one-time wheelbase adjustment method can save wheelbase adjustment time and improve battery swap efficiency.

[0107] Furthermore, in order to save the time for adjusting the wheelbase of the next target vehicle, the step 103 can be further included before: controlling the mobile frame body to move to the initial position, and the initial position is that the mobile frame body is located in the middle position of the main frame body. Of course, in the actual operation process, other positions can also be used as the initial position of the mobile frame body, which is not limited here.

[0108] Furthermore, before controlling the movement of the mobile frame to the initial position, it can also include determining whether the wheelbase parameters of the target vehicle are the same as the wheelbase parameters of the previous battery-swap vehicle. If not, the step of controlling the movement of the mobile frame to the initial position is executed. If so, the current position of the mobile frame is maintained. In this way, for the same battery-swap station, if the wheelbase parameters of the two battery-swap vehicles before and after are the same, repeated adjustment of the mobile frame can be avoided, further improving the battery-swap efficiency.

[0109] [Example 3]

[0110] This embodiment provides a specific implementation of the wheelbase adjustment system for a battery-swap vehicle, such as Figure 7 As shown, the wheelbase adjustment system includes a measuring module 201 , a first adjustment mechanism 702 , a second adjustment mechanism 802 , a distance matching module 204 , a control module 205 , a calculation module 206 , a first judgment module 207 and a second judgment module 208 .

[0111] The distance matching module 204 obtains a wheelbase parameter of the target vehicle and obtains a target distance between the mobile frame and the main frame of the lifting device based on the wheelbase parameter, wherein the mobile frame includes a first position and a second position, and the first position and the second position are different positions in the width direction of the mobile frame;

[0112] The control module 205 sends a first motion state instruction to the first adjustment mechanism 702 and the second adjustment mechanism 802, respectively, to control the first adjustment mechanism 702 to drive the first position and the second adjustment mechanism 802 to drive the second position to move in the first operating state along the first direction, where the first direction is the length direction of the target vehicle;

[0113] The measuring module 201 measures the movement distances of the first position and the second position respectively, and transmits the movement distances of the first position and the second position to the calculating module 206. The calculating module 206 calculates the movement difference between the first position and the second position and sends the movement difference to the first judging module 207. The movement difference represents the difference in the movement distances of the first position and the second position relative to the main frame.

[0114] The first judgment module 207 judges whether the movement difference is less than the first limit difference. If not, the control module 205 sends an asynchronous information. After receiving the asynchronous information, the control module 205 sends a second motion state instruction to the first adjustment mechanism 702 and the second adjustment mechanism 802 respectively, controlling the mobile frame body to move in the second operating state along the first direction until the first judgment module 207 judges that the movement difference is less than or equal to the appropriate difference. The first judgment module 207 sends a synchronous information to the control module 205. After receiving the synchronous information, the control module 205 sends a third motion state instruction to the first adjustment mechanism 702 and the second adjustment mechanism 802 respectively, controlling the mobile frame body to move in the third operating state.

[0115] The second judgment module 208 determines whether the absolute value of the difference between the first distance between the mobile frame body and the main frame body and the target distance is within the second limit difference. If so, the control module 205 sends the wheelbase adjustment information to the control module 205. After receiving the wheelbase adjustment information, the control module 205 sends a stop command to the first adjustment mechanism 702 and the second adjustment mechanism 802 respectively to control the mobile frame body to stop moving.

[0116] Specifically, the specific implementation methods of the above modules can refer to the specific methods in Example 1 or 2, and will not be repeated here.

[0117] In this embodiment, the target distance between the mobile frame body and the main frame body that needs to be adjusted for the lifting device to adapt to the wheelbase of the battery-swap vehicle can be obtained based on the wheelbase parameters of the target vehicle obtained by the distance matching module. The control module can control the first position and the second position along the first direction, that is, the length direction of the target vehicle, according to the target distance to achieve synchronous movement. By using this system to adjust the wheelbase of the lifting device, the movement of the mobile frame can be accurately and stably controlled, and when moving between the first position and the second position, the movement difference between the two can be controlled to be less than the first limit difference, thereby preventing the structures at the first position and the second position from mechanically getting stuck and struggling, and protecting the mechanical equipment. Finally, the distance between the mobile frame body and the main frame body can be adjusted to within the second limit difference, so that the wheelbase of the mobile frame is adjusted into place, meeting the wheelbase requirements of the target battery-swap vehicle, and facilitating the smooth progress of the subsequent battery-swap process.

[0118] [Example 4]

[0119] This embodiment provides a specific implementation of an electronic device, which can be expressed in the form of a computing device (for example, a server device), including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the wheelbase adjustment method for the battery-swap vehicle shown in Embodiment 1 or 2 can be implemented.

[0120] Figure 8 The hardware structure diagram of this embodiment is shown in FIG. Figure 8 As shown, the electronic device 9 specifically includes:

[0121] At least one processor 91, at least one memory 92, and a bus 93 for connecting different system components (including the processor 91 and the memory 92), wherein:

[0122] The bus 93 includes a data bus, an address bus, and a control bus.

[0123] The memory 92 includes a volatile memory, such as a random access memory (RAM) 921 and / or a cache memory 922 , and may further include a read-only memory (ROM) 923 .

[0124] The memory 92 also includes a program tool 925 having a set (at least one) of program modules 924, such program modules 924 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0125] The processor 91 executes various functional applications and data processing by running computer programs stored in the memory 92, such as the wheelbase adjustment method of the battery-swap vehicle in Example 1 or 2 of the present invention.

[0126] The electronic device 9 can further communicate with one or more external devices 94 (e.g., a keyboard, pointing device, etc.). Such communication can be performed via an input / output (I / O) interface 95. Furthermore, the electronic device 9 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 96. The network adapter 96 communicates with other modules of the electronic device 9 via a bus 93. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 9, including but not limited to microcode, device drivers, redundant processors, external disk drive arrays, RAID (RAID) systems, tape drives, and data backup storage systems.

[0127] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, depending on the embodiment of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0128] [Example 5]

[0129] This embodiment provides a specific implementation of a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the wheelbase adjustment method of the battery-swap vehicle in Example 1 or 2 is implemented.

[0130] The readable storage medium may include, but is not limited to, a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0131] In a possible embodiment, the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the wheelbase adjustment method of the battery-swap vehicle in Example 1 or 2.

[0132] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or entirely on the remote device.

[0133] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A method for adjusting the wheelbase of a battery-swap vehicle, characterized in that: The steps include: Get the wheelbase parameters corresponding to the target vehicle; Obtaining a target distance between a mobile frame body and a main frame body of the lifting device according to the wheelbase parameter, wherein the mobile frame body includes a first position and a second position, and the first position and the second position are different positions in a width direction of the mobile frame body; controlling the first position and the second position to move in a first operating state along a first direction, and obtaining a movement difference between the first position and the second position in real time, the movement difference representing a difference in movement distance between the first position and the second position relative to the main frame, wherein the first direction is a length direction of the target vehicle; determining whether the movement difference is less than a first limit difference; if not, controlling the mobile frame to move in the second operating state along the first direction until the movement difference is less than or equal to an appropriate difference, and then controlling the mobile frame to move in a third operating state; It is determined whether the absolute value of the difference between the first distance between the mobile frame body and the main frame body and the target distance is within a second limit difference. If so, the mobile frame body is controlled to stop moving.

2. The wheelbase adjustment method for a battery-swap vehicle according to claim 1, wherein: The step of obtaining the wheelbase parameter corresponding to the target vehicle comprises the following steps: Obtaining the vehicle identifier of the target vehicle; The wheelbase parameter corresponding to the target vehicle is obtained according to the vehicle identifier.

3. The wheelbase adjustment method for a battery-swap vehicle according to claim 1, wherein: Controlling the mobile frame to move in the second operating state comprises the following steps: A first target position is controlled to stop or decelerate along the first direction, wherein the first target position is a position having a larger movement distance relative to the main frame body between the first position and the second position.

4. The wheelbase adjustment method for a battery-swap vehicle according to claim 1, wherein: Controlling the mobile frame to move in the second operating state comprises the following steps: The second target position is controlled to accelerate along the first direction, and the second target position is a position with a smaller moving distance relative to the main frame body between the first position and the second position.

5. The wheelbase adjustment method for a battery-swap vehicle according to claim 1, wherein: The first limit difference is 2-4 mm.

6. The wheelbase adjustment method for a battery-swap vehicle according to claim 1, wherein: The controlling the first position and the second position to move along the first direction in the first operating state includes: controlling the first position and the second position to move along the first direction at a target speed; The controlling the mobile frame body to move in the third operating state along the first direction includes: controlling the mobile frame body to return to the target speed along the first direction.

7. The wheelbase adjustment method for a battery-swap vehicle according to claim 1, wherein: After controlling the mobile frame to stop moving, the following steps are also included: Control the entrance gate to lift up; Detecting the parking state of the target vehicle, and if the target vehicle is parked in place at the battery swapping station, obtaining a second distance between the mobile frame body and the main frame body; Determine whether the absolute value of the difference between the second distance and the target distance is within the second limit difference; if not, control the mobile frame body to move along the first direction until the absolute value of the difference between the second distance and the target distance is within the second limit difference.

8. The wheelbase adjustment method for a battery-swap vehicle according to claim 1, wherein: Before controlling the first position and the second position to move along the first direction in the first operating state, the method further includes: Control the movable frame body to move to an initial position.

9. A wheelbase adjustment system for a battery-swap vehicle, characterized in that: The wheelbase adjustment system includes a measuring module, a first adjustment mechanism, a second adjustment mechanism, a distance matching module, a control module, a calculation module, a first judgment module and a second judgment module; The distance matching module obtains a wheelbase parameter of the target vehicle and obtains a target distance between a mobile frame body and a main frame body of the lifting device according to the wheelbase parameter, wherein the mobile frame body includes a first position and a second position, and the first position and the second position are different positions in a width direction of the mobile frame body; The control module sends a first motion state instruction to the first adjustment mechanism and the second adjustment mechanism respectively, controls the first adjustment mechanism to drive the first position and controls the second adjustment mechanism to drive the second position to move in a first operating state along a first direction, where the first direction is the length direction of the target vehicle; The measuring module measures the movement distances of the first position and the second position respectively, and transmits the movement distances of the first position and the second position to the calculating module, the calculating module calculates the movement difference between the first position and the second position and sends the movement difference to the first judging module, the movement difference representing the difference between the movement distances of the first position and the second position relative to the main frame; The first judgment module judges whether the movement difference is less than a first limit difference, and if not, sends an asynchronous information to the control module. After receiving the asynchronous information, the control module sends a second motion state instruction to the first adjustment mechanism and the second adjustment mechanism respectively, controlling the mobile frame body to move in the second operating state along the first direction. Until the first judgment module judges that the movement difference is less than or equal to the appropriate difference, the first judgment module sends a synchronous information to the control module. After receiving the synchronous information, the control module sends a third motion state instruction to the first adjustment mechanism and the second adjustment mechanism respectively, controlling the mobile frame body to move in the third operating state. The second judgment module determines whether the absolute value of the difference between the first distance between the mobile frame body and the main frame body and the target distance is within a second limit difference. If so, the wheelbase adjustment information is sent to the control module. After receiving the wheelbase adjustment information, the control module sends a stop command to the first adjustment mechanism and the second adjustment mechanism respectively to control the mobile frame body to stop moving.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the wheelbase adjustment method for the battery-swap vehicle according to any one of claims 1 to 8 is implemented.

11. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the wheelbase adjustment method for a battery-swap vehicle according to any one of claims 1 to 8 is implemented.

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