Variable structure self-energy electric self-balancing wheel quick changing system and control method thereof

Abstract

The application discloses a variable-structure self-energy-storing electric self-balancing scooter quick battery replacement system, which comprises a power module, a motor module, a network communication module, a sensor module, an external device, a comprehensive self-checking device, a central controller and a memory, wherein the motor module, the network communication module, the sensor module, the external device, the comprehensive self-checking device, the central controller and the memory are connected with the power module, the motor module and the external device are connected with the network communication module, the network communication module communicates with a client or a server, and the central processing unit is connected with multiple subsystems in the vehicle, the network communication module, the sensor module and the comprehensive self-checking device. The application further discloses a control method of the variable-structure self-energy-storing electric self-balancing scooter quick battery replacement system, and has the characteristics of realizing quick battery replacement and intelligent management and improving charging efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of intelligent electric vehicle control, in particular to a variable-structure self-energy-storage electric self-balancing wheel quick replacement system and a control method thereof. BACKGROUND

[0002] Based on the insight into consumer demand, the Chinese automobile industry is rapidly developing towards electrification, intelligence and networking (referred to as "three changes"). As the intersection of the two tracks of intelligence and electrification and the key basic technology supporting the realization of intelligent electric vehicle auxiliary driving and automatic driving, the drive-by-wire chassis technology converts control information into electrical signals through sensors and finally transmits them to the actuator through the circuit, improving the dynamic execution efficiency of the entire vehicle body after obtaining the control decision. It has the advantages of safety, fast response, low maintenance cost, simple and fast installation and testing. The drive-by-wire chassis controls the vehicle through the controller, power line, signal line and motor electrical components. Once the power is insufficient or the electrical components fail, the entire drive-by-wire system will lose control and serious safety hazards will occur.

[0003] The self-balancing wheel system is the core part of the chassis drive, and its modular development is particularly important. Modular design not only improves the flexibility and maintainability of the system, but also promotes the collaborative work between different functional modules, so that the overall vehicle performance is comprehensively improved. In addition, modular design also helps to reduce production costs and shorten development cycles, thus meeting the market demand for rapid listing of new vehicle models. SUMMARY

[0004] The purpose of the application is to design and develop a variable-structure self-energy-storage electric self-balancing wheel quick replacement system, which adopts modular design to realize the quick replacement or upgrade of each component, improve the maintainability and expandability of the system, and realize remote monitoring and control.

[0005] The application also designs and develops a control method for the variable-structure self-energy-storage electric self-balancing wheel quick replacement system, which adopts an automatic energy storage management strategy to improve the energy recovery capability, and combines the battery replacement management function to improve the battery replacement efficiency.

[0006] The technical scheme provided by the application is as follows:

[0007] A variable-structure self-energy-storage electric self-balancing wheel quick replacement system, comprising:

[0008] a power source, the input end of which is connected with an external power source; and

[0009] a network communication module, which is arranged in the electric self-balancing wheel system and communicates with a client or a server for data exchange and transmission;

[0010] a sensor module distributed in the electric self-balancing scooter system for monitoring the state of the electric self-balancing scooter system;

[0011] an external device arranged on the electric self-balancing scooter system and a vehicle, and the external device is connected with the network communication module for the electric self-balancing scooter system and the vehicle to be selectively engaged or disengaged;

[0012] a comprehensive self-checking device arranged in the electric self-balancing scooter system for monitoring the working state of the power source, the network communication module, the sensor module and the external device;

[0013] a central processing unit arranged in the electric self-balancing scooter system, and the central processing unit is connected with a plurality of subsystems in the vehicle, the network communication module, the sensor module and the comprehensive self-checking device for receiving data and issuing commands;

[0014] a memory connected with the central processing unit for data and program storage and reading operation;

[0015] The network communication module, the sensor module, the external device, the comprehensive self-checking device, the central processing unit and the memory are connected with the output end of the power source, and the power source is connected with the network communication module.

[0016] Preferably, the power source comprises:

[0017] a charging interface selectively connected with an external power source;

[0018] a power module having an input end connected with the charging interface and an output end connected with the network communication module, the sensor module, the external device, the comprehensive self-checking device, the central processing unit and the memory;

[0019] a motor module having an input end connected with the power module and an output end connected with a tire, and the motor module is connected with the network communication module for driving the electric self-balancing scooter system to walk or turn.

[0020] Preferably, the power module comprises:

[0021] a battery pack having an input end connected with the charging interface;

[0022] a DC-DC converter having an input end connected with the output end of the battery pack and an output end connected with the network communication module, the sensor module, the external device, the comprehensive self-checking device, the central processing unit and the memory;

[0023] The motor module comprises:

[0024] a drive motor disposed within the electrically motorized wheeled system and having an output coupled to the tire for selectively driving the electrically motorized wheeled system to travel or brake;

[0025] a steering motor disposed within the electrically motorized wheeled system and having an output coupled to the steering arm for steering the electrically motorized wheeled system;

[0026] a motor controller coupled to the network communication module, the drive motor and the steering motor for regulating the drive motor and the steering motor;

[0027] a temperature sensor disposed within the drive motor and coupled to the motor controller;

[0028] a rotational speed sensor disposed at the output of the drive motor and coupled to the motor controller;

[0029] wherein the drive motor, the steering motor, the motor controller, the temperature sensor and the rotational speed sensor are coupled to an output of a DC-DC converter.

[0030] Preferably, the sensor module comprises:

[0031] a position sensor disposed on the electrically motorized wheeled system for monitoring a real-time position of the electrically motorized wheeled system;

[0032] a speed sensor disposed on the wheeled axle for monitoring a real-time speed of the electrically motorized wheeled system;

[0033] an image sensor disposed on the electrically motorized wheeled system for obstacle detection;

[0034] an accelerator pedal position sensor disposed below or within an accelerator pedal in the vehicle for detecting an inclination angle or displacement of the accelerator pedal;

[0035] a brake pedal position sensor disposed below or within a brake pedal in the vehicle for detecting an inclination angle or displacement of the brake pedal;

[0036] an ultrasonic radar disposed on the electrically motorized wheeled system for assisting obstacle detection; a sensor signal processing controller coupled to the position sensor, the speed sensor, the image sensor, the accelerator pedal position sensor, the brake pedal position sensor and the ultrasonic radar, and coupled to the central processing unit;

[0037] The position sensor, the speed sensor, the image sensor, the accelerator pedal position sensor, the brake pedal position sensor, the ultrasonic radar and the sensor signal processing controller are connected with the output end of the DC-DC converter.

[0038] Preferably, the external device comprises:

[0039] A positioning hole arranged on the vehicle body;

[0040] A traction rod arranged on the electric self-balancing scooter system corresponding to the positioning hole, and the traction rod is connected with the output end of the DC-DC converter, and is used for selectively engaging or disengaging with the positioning hole;

[0041] A traction rod controller connected with the traction rod, and used for the extension or retraction of the traction rod;

[0042] A proximity sensor arranged in the positioning hole, and the proximity sensor is connected with the traction rod controller, and is used for detecting the engagement degree between the traction rod and the positioning hole;

[0043] The traction rod, the traction rod controller and the proximity sensor are connected with the output end of the DC-DC converter.

[0044] A control method of a variable structure self-energy storage electric self-balancing scooter quick replacement system, using the variable structure self-energy storage electric self-balancing scooter quick replacement system, comprising the following steps:

[0045] Step one, if the client issues a replacement instruction or the comprehensive self-checking device detects that the electric self-balancing scooter system has no power or a fault warning, the server sends a command to the network communication module to start the inbound program;

[0046] Step two, real-time monitoring of road obstacle information and position information of the electric self-balancing scooter system, if there is no abnormality, start the replacement program;

[0047] Step three, after the replacement is completed, start the off-site program;

[0048] Step four, after the vehicle drives away from the battery replacement station, the central processing unit controls the motion state of the electric self-balancing scooter system according to the driver's requirements, if the central processing unit receives a collision warning, the central processor immediately executes safety measures, self-checking and reporting to the client.

[0049] Preferably, the inbound program comprises the following steps:

[0050] Step 1, when the driver starts the inbound instruction, the central processing unit sends the position information to the server through the network communication module, the server sends a signal to the nearest battery swap station, the battery swap station checks whether there is a vacancy, if not, the server continues to find the next nearest battery swap station; if there is, the server feedbacks to the client and provides the route to the battery swap station for the electric scooter system, and the vehicle goes to the battery swap station;

[0051] Step 2, when the vehicle enters the battery swap station, the corresponding lane occupation prompt is turned on, the vehicle turns on the parking indicator, and the server marks the lane occupation;

[0052] Step 3, the position sensor detects whether the vehicle is in position, if it is in position, the lane occupation is cancelled and the vehicle parking indicator is turned off;

[0053] Step 4, lock the vehicle position and state, perform vehicle comprehensive self-checking through the comprehensive self-checking device, compare the self-checking information in the central processing unit with the safety range, if the self-checking information is within the safety range, send it to the client and server, and wait for the user to further operate, select to start the replacement program or off-site program.

[0054] Preferably, the replacement program comprises:

[0055] Step I, the client transmits the replacement instruction to the server, the server feedbacks the instruction to the central processing unit through the network communication module, the central processing unit calls the vehicle information in the data storage and plans the path of the vehicle, and the central processing unit monitors the state of the electric scooter system in real time and updates the information of the client and server;

[0056] Wherein, the network communication module verifies the validity of the replacement instruction, and the central processing unit evaluates the safety factors of the electric scooter system;

[0057] Step II, the comprehensive self-checking device monitors the health status of the electric scooter system in real time and feedbacks to the central processing unit, if the self-checking information is within the safety range, the traction rod controller disconnects the connection between the traction rod and the vehicle body, and the central control unit navigates the electric scooter system to the destination battery swap station;

[0058] Wherein, the central control unit optimizes the navigation path in combination with the battery capacity;

[0059] Step III, the central processing unit calls the program storage and runs the fault diagnosis program, the battery management program, the communication and data exchange program and the sensor data acquisition and processing program, and feedbacks the data of the replaced electric scooter system in real time;

[0060] Step IV, the position sensor and image sensor update the position information and road obstacle information in real time, and the central processing unit adjusts the motion state of the electric scooter system to reach the destination battery swap station for charging according to the position information and road obstacle information, and the new electric scooter goes to the vehicle parking place according to the navigation path, and the drawbar controller controls the new electric scooter to dock with the vehicle body after reaching the position;

[0061] Step V, the replaced electric scooter system starts the comprehensive self-checking device to detect itself and the vehicle body, and if there is no abnormality, the replacement program is completed.

[0062] Preferably, the off-site program comprises the following steps:

[0063] Step a, after the vehicle replacement is completed, the wheels are unlocked, and the vehicle returns to the drivable state;

[0064] Step b, the off-site light of the battery swap station is turned on, the user application receives the off-site prompt of the battery swap station, and the driver drives the vehicle out of the battery swap station;

[0065] Step c, the lane occupation is released, the occupied lane enters the idle state, and waits for the next vehicle to enter.

[0066] Preferably, the central processing unit controls the motion state of the electric scooter system according to the driver's requirements in step four, specifically comprising:

[0067] First, the driver manipulates the brake pedal, the accelerator pedal and / or the steering wheel, the network communication module connects the central control unit, the vehicle control system obtains the acceleration pedal inclination angle and the brake pedal inclination angle signals through the acceleration pedal position sensor and the brake pedal position sensor, sends instructions, and transmits instructions to the central processing unit;

[0068] Second, the central processing unit judges braking, standby or acceleration according to the acceleration pedal inclination angle and the brake pedal inclination angle:

[0069] When the brake pedal generates an inclination angle, the vehicle is in a braking state, and the central processing unit reduces or cuts off the power output;

[0070] When the brake pedal or the accelerator pedal is in the released position, the vehicle is in a standby state, the central processing unit maintains the engine idle speed, enters the energy recovery mode or closes the power system;

[0071] When the brake pedal does not generate an inclination angle and the accelerator pedal generates an inclination angle, the vehicle is in an acceleration state, and the central processing unit increases the fuel supply of the engine or increases the power output of the drive motor;

[0072] The vehicle keeps the drawbar connected to the vehicle body stable during driving; all sensors continuously feedback data of the electric self-propelled wheel system, the comprehensive self-checking device keeps the starting state, if all data are normal, the log is recorded, the electric self-propelled wheel driving mileage, the power condition and the health condition data are updated; if the abnormality, the network communication module uploads the abnormal information to the client and the server, waits for the user to manually stop the vehicle for abnormal treatment, if the user does not make treatment or cannot handle within fifteen minutes, the vehicle is planned, and the emergency stop or other emergency measures are taken.

[0073] The beneficial effects of the application are as follows:

[0074] (1) The variable structure self-energy storage electric self-propelled wheel quick replacement system designed and developed by the application adopts modular design, so that the system can quickly replace damaged parts or upgrade the system, improving the maintainability and expandability of the system; the system communicates with the client or the server through the network communication module, realizing remote monitoring and control function.

[0075] (2) The control method of the variable structure self-energy storage electric self-propelled wheel quick replacement system designed and developed by the application can adjust the structure configuration and energy management strategy according to the actual demand in combination with the variable structure design and self-energy storage technology, realize the efficient use of energy, and improve the energy recovery ability, have the intelligent power exchange management function, can monitor the battery state in real time, when the state is not good, the system will automatically send the power exchange request, and guide the user to complete the power exchange operation, improve the power exchange efficiency and user experience, realize the quick power exchange and intelligent management, improve the charging convenience and charging efficiency of the intelligent electric vehicle, adopt more reasonable electric control technology, can effectively solve the problems of long charging time and few charging parking spaces existing in the existing charging mode, provide strong support for the development of intelligent electric vehicles; in combination with the map data and sensor data, realize the intelligent path planning and navigation function. BRIEF DESCRIPTION OF DRAWINGS

[0076] Figure 1 The structure diagram of the variable structure self-energy storage electric self-propelled wheel system based on quick replacement.

[0077] Figure 2 The structure diagram of the variable structure self-energy storage electric self-propelled wheel quick replacement system.

[0078] Figure 3 The flowchart of the control method of the variable structure self-energy storage electric self-propelled wheel quick replacement system.

[0079] Figure 4 The flowchart of the inbound program.

[0080] Figure 5Flowchart of the flowchart of the off-line program of the present application.

[0081] Figure 6 Flowchart of the flowchart of the off-line program of the present application.

[0082] Figure 7 Flowchart of the flowchart of the off-line program of the present application.

[0083] Figure 8 Flowchart of the flowchart of the off-line program of the present application.

[0084] Figure 9 Flowchart of the flowchart of the off-line program of the present application.

[0085] Figure 10 Flowchart of the flowchart of the off-line program of the present application. DETAILED DESCRIPTION

[0086] The present application will be further described in detail below, so that those skilled in the art can implement it according to the description.

[0087] As shown in Figure 1 , the variable structure self-energy electric scooter system 120 can be selectively engaged in the four corners of the vehicle body 110, used to replace the original four wheels of the vehicle, the structure of the variable structure self-energy electric scooter system is referred to patent 202410566236.5.

[0088] As shown in Figure 2 , the present application provides a variable structure self-energy electric scooter quick replacement system, including: power source, network communication module, sensor module, external device, comprehensive self-checking device, central processing unit and memory.

[0089] The power source includes a power module and a motor module, the input end of the power source is connected with an external power source through a charging interface, and the output end is connected with a network communication module, a sensor module, an external device, a comprehensive self-checking device, a central processing unit and a memory, and is used for providing power supply; the network communication module is arranged in the electric self-balancing scooter system, the network communication module communicates with a client or a server, and the network communication module is connected with the central processing unit, and is used for data exchange and transmission; the sensor module is distributed in the electric self-balancing scooter system, and is used for monitoring the state of the electric self-balancing scooter system; the external device is arranged on the electric self-balancing scooter system and a vehicle, and the external device is connected with the central processing unit through the network communication module, and is used for the electric self-balancing scooter system and the vehicle to be selectively clamped or separated; the comprehensive self-checking device is arranged in the electric self-balancing scooter system, and is used for monitoring the working state of the power source, the network communication module, the sensor module and the external device, and can work independently of other modules and report diagnosis results; the central processing unit is arranged in the electric self-balancing scooter system, and the central processing unit is connected with the network communication module, the sensor module and the comprehensive self-checking device, and the central processing unit is connected with a plurality of subsystems in the vehicle, and is equivalent to replace an automobile electronic control unit, and is used for receiving, processing and issuing commands of vehicle data; the memory is connected with the central processing unit, and is used for data and program storage and reading operation;

[0090] The power module is a battery system, specifically including a battery pack and a DC-DC converter, the input end of the battery pack is connected with the charging interface, used for receiving an external power source, transmitting the power provided by the power source of the charging pile or the power swap station to the input end of the battery pack, realizing charging of the battery pack, and in the charging process, the charging pile can interact with the charging state and the power and the like; the input end of the DC-DC converter is connected with the output end of the battery pack, used for converting the battery pack into a power supply of different voltage levels; the output end is connected with the network communication module, the sensor module, the external device, the comprehensive self-checking device, the central processing unit and the memory, used for supplying power to each module needing low-voltage power supply.

[0091] The network communication module includes a communication signal processor and a 5G communication device, used for receiving a communication signal from a client or a server, processing the communication signal through the signal processor of the network communication module to obtain communication data, and transmitting the communication data to the central processing unit, so as to realize remote control of the electric self-balancing scooter system, and the network communication module transmits various real-time data and fault warning information of the electric self-balancing scooter system to the server or the client, so as to analyze and process the data, and help users to discover and handle faults in time; the 5G communication device provides 5G wireless communication technology, can establish remote communication connection with the client and the server, and the technology can be applied to remote data transmission of the electric self-balancing scooter outside the power swap station and short-distance data transmission of the electric self-balancing scooter in the power swap station.

[0092] The real-time data of the electric self-balancing wheel system includes battery state data and motor state data; the fault early warning information includes fault time, fault sending place and fault information.

[0093] The battery state includes state of charge, state of health, state of power, state of function, battery charging and discharging current and battery temperature. The state of charge measures the remaining use time or driving distance of the battery. The state of health reflects the performance degradation of the battery relative to the brand-new state, including capacity attenuation and internal resistance increase. The state of power describes the instantaneous maximum power that the battery can provide, which is affected by the battery temperature, SOC and SOH. The state of function comprehensively considers the SOC, SOH and SOP of the battery to determine whether the battery can meet the normal use requirements of the vehicle. In addition, the battery temperature that is too high or too low will affect the efficiency and service life of the battery. The charging and discharging current of the battery is monitored in real time to avoid overcharging or overdischarging.

[0094] The motor state includes speed, torque, current consumption, voltage state, temperature state, motor position, motor health state and fault detection. These state information are collected and processed by the battery management system (BMS) and the motor controller (MCU) respectively, and then stored in the data storage for analysis by the central processing unit. At the same time, they can also be uploaded to the server end for remote monitoring and data analysis.

[0095] The motor module is controlled by the central processing unit through the communication signal processor and receives the feedback signal provided by the sensor module to adjust the speed and direction of the motor, providing power for the electric self-balancing wheel system, responsible for converting electrical energy into mechanical energy to drive the self-balancing wheel to drive the vehicle or brake to slow down and stop the vehicle. The motor module includes a drive motor, a steering motor, a motor controller (MCU), a temperature sensor and a speed sensor. The drive motor is arranged in the electric self-balancing wheel system, and the output end of the drive motor is connected with the tire for selectively driving the electric self-balancing wheel system to travel or brake. The steering motor is arranged in the electric self-balancing wheel system, and the output end of the steering motor is connected with the steering arm for driving the electric self-balancing wheel system to steer. The motor controller is connected with the network communication module, the drive motor and the steering motor for receiving the signals of the central processing unit and feeding back the real-time data to the central processing unit, adjusting the input voltage of the drive motor and the steering motor, and monitoring the current consumption, speed and temperature of the motor to determine whether the motor is overloaded or overheated. The built-in Hall effect sensor detects the motor position and speed to ensure smooth operation of the motor. The temperature sensor is arranged in the drive motor and connected with the motor controller. The speed sensor is arranged at the output end of the drive motor and connected with the motor controller. The drive motor, the steering motor, the motor controller, the temperature sensor and the speed sensor are all connected with the output end of the DC-DC converter.

[0096] The sensor module comprises a position sensor, a speed sensor, an image sensor, an ultrasonic radar, an accelerator pedal position sensor, a brake pedal position sensor and a sensor signal processing controller. The position sensor, the speed sensor, the image sensor, the ultrasonic radar and the sensor signal processing controller are arranged on the electric self-balancing scooter system. The position sensor comprises a GPS receiver and an electromagnetic inductor. The GPS receiver is connected to the central processing unit through the sensor signal processor and transmits global position information. The GPS receiver can be connected to the server end through the network communication module and upload the position information for remote tracking and navigation. The electromagnetic inductor is connected to the central processing unit through the sensor signal processing controller and transmits the position information on the road in real time. The electromagnetic inductor is fused with the GPS data to provide more accurate position information. The image sensor comprises a camera and an infrared sensor. The camera is connected to the central processing unit through the sensor signal processing controller and transmits the captured image data in real time. The camera can be connected to the server end through the network communication module and upload the video stream data for remote monitoring and analysis. The infrared sensor is connected to the central processing unit through the sensor signal processing controller and transmits the detected obstacle information in real time. The infrared sensor is fused with the camera data for more accurate environmental perception and obstacle avoidance. The position sensor and the image sensor can respond to physical signals and electrical signals. The position sensor and the image sensor can monitor the position information and the road obstacle information of the electric self-balancing scooter system in real time, including the position, direction and inclination angle of the self-balancing scooter, and feed back the monitored position information and road obstacle information to the central processing unit and the server end, so that the system can be adjusted and optimized according to the real-time position data. The speed sensor is located on the self-balancing scooter wheel shaft and calculates the vehicle speed by sensing the rotation of the wheel. The speed sensor transmits the real-time speed data to the sensor signal processing controller. The accelerator pedal position sensor is arranged below or inside the accelerator pedal in the vehicle and is used to detect the inclination angle or displacement of the accelerator pedal. The brake pedal position sensor is arranged below or inside the brake pedal in the vehicle and is used to detect the inclination angle or displacement of the brake pedal. The accelerator pedal position sensor and the brake pedal position sensor can generate corresponding voltage or pulse signals according to the movement of the pedal, accurately reflecting the demand of the driver for acceleration or deceleration. The ultrasonic radar is arranged on the electric self-balancing scooter system and is used to assist in obstacle detection. The sensor signal processing controller is connected to the position sensor, the speed sensor, the image sensor, the accelerator pedal position sensor, the brake pedal position sensor and the ultrasonic radar. The sensor signal processing controller is connected to the central processing unit. The position sensor, the speed sensor, the image sensor, the accelerator pedal position sensor, the brake pedal position sensor, the ultrasonic radar and the sensor signal processing controller are connected to the output end of the DC-DC converter.

[0097] The external device comprises a positioning hole, a traction rod, a traction rod controller and a proximity sensor, the positioning hole is arranged on the vehicle body; the traction rod is arranged on the electric self-propelled wheel system corresponding to the positioning hole, and the traction rod is connected with the output end of the DC-DC converter, for selectively engaging or disengaging with the positioning hole; the traction rod controller is connected with the traction rod, for controlling the extension or retraction of the traction rod, and the traction rod controller is connected with the central processing unit through the network communication module, for transmitting data to the central processing unit; the proximity sensor is connected with the traction rod controller, for detecting whether the traction rod and the positioning hole are tightly engaged with each other; the traction rod controller and the proximity sensor are both connected with the output end of the DC-DC converter, to realize the connection between the self-propelled wheel and the vehicle body; the use of the external device improves the motion stability of the self-propelled wheel, allows the user to complete the replacement of the self-propelled wheel in a short time, thereby improving the use efficiency and convenience of the electric self-propelled wheel system, and at the same time has compatibility and safety, so that the electric self-propelled wheel can be matched with different vehicle bodies and the mutual connection is also very stable.

[0098] The comprehensive self-checking device specifically comprises: a vibration sensor, a pressure sensor and a battery management system (BMS), the vibration sensor is installed in the battery pack; the pressure sensor is installed in the brake system and continuously collects data reflecting the working state of the components; the battery management system (BMS) monitors the health state of the battery, through the built-in voltage, current and temperature sensors, the BMS can evaluate the SOC, SOH of each battery cell, and the overall working temperature and consistency of the battery pack, to ensure that the battery operates within a safe range; the comprehensive self-checking device can also receive data of temperature sensors, position sensors, current and voltage sensors, all controllers in the control system and the central processing unit, which are distributed in the motor, battery pack, brake system, transmission shaft and external device interface; the comprehensive self-checking device performs automatic system health check before the electric self-propelled wheel is separated from the vehicle body and becomes a connected state, it detects whether each component in the control system (including the motor, battery, sensor, communication device, external device) is working normally, whether there is a fault or abnormality; after replacing the self-propelled wheel, the comprehensive self-checking device strictly checks the stability and safety of the connection between the self-propelled wheel system and the vehicle body, so as to timely perform preventive maintenance, which helps to prolong the service life of the system, improve the reliability and stability of the system, and protect the life and property safety of the user.

[0099] The memory includes program memory and data memory, the program memory is used for storing control programs and algorithms of controlling various modules, including but not limited to motor control programs, fault diagnosis programs, battery management programs, communication and data exchange programs, sensor data acquisition and processing programs and the like; the data memory is used for storing various data of the electric self-balancing scooter system, including but not limited to vehicle state information such as recording battery state, position information, motor state, acceleration and brake pedal position, self-checking result and the like; driving data such as distance, driving time, driving route, energy consumption record and the like; light setting, user account information, lock car setting and the like user settings and the like.

[0100] The application discloses a variable-structure self-energy-storing electric self-balancing scooter quick replacement system.

[0101] As shown in Figure 3 The application further provides a control method of the variable-structure self-energy-storing electric self-balancing scooter quick replacement system, and specifically includes the following steps:

[0102] Step one: if the client issues a replacement instruction (such as considering that the power is not enough or needing to replace the electric wheel suitable for the next section) or the comprehensive self-checking device detects that the electric self-balancing scooter system is out of power or has a fault warning, the server issues a command to the network communication module, and starts an inbound program;

[0103] The driver drives into the battery replacement station, the network communication module receives communication signals such as charging request information, identity verification information, payment information, vehicle state information, reservation information and the like from the client or the server end through a wireless local area network, obtains communication data through a communication signal processor, and transmits the communication data to a central processing unit; the central processing unit calls a data storage unit, receives data of the electric self-balancing scooter system, and feeds back to the network communication module;

[0104] Step two: the position sensor and the image sensor monitor road obstacle information and position information of the electric self-balancing scooter system, and feed back the monitored road obstacle information and position information to the central processing unit and the server end; the central processing unit processes the received information, if there is no abnormality, the server end calls programs and algorithms in the program storage according to user demand, such as the driving mode, route preference, energy consumption management, vehicle type, vehicle state and maintenance given by the user end to match corresponding self-balancing scooters for the user, starts a replacement program, and disconnects the external device from the connection between the electric self-balancing scooter and the vehicle body; if matching abnormality occurs in the replacement process, the self-balancing scooter is immediately paused or the abnormality is reported to the server for processing;

[0105] The driving mode includes an economic mode, a performance mode, and an automatic balance mode, wherein the economic mode is mainly targeted at economy and energy saving, the self-propelled wheel with lower energy consumption is selected, the performance mode is mainly targeted at power, the self-propelled wheel with higher engine output is selected, and the automatic balance mode is between the economic mode and the performance mode, and balance between power and energy economy is pursued; the user can freely decide the energy consumption and speed bias; the route preference includes an urban route, a suburban route, a mountainous route, and a custom route; and the vehicle type includes freight bias and passenger transport bias.

[0106] The vehicle state and maintenance include continuously monitoring the voltage, current, temperature, SOC and SOH of the battery, evaluating the state of charge and overall performance of the battery, predicting the remaining life, and whether there is a risk of overheating, overcharging or over-discharging. The temperature, vibration, current consumption of the motor are monitored, and the lubrication condition and wear degree of the transmission system are monitored to ensure the stability and efficiency of the power system, and potential mechanical failures are found and prevented in time. Through the tire pressure sensor and the suspension sensor, it is checked whether the tire pressure is within the safe range and whether the suspension system is working normally to avoid unstable driving due to tire problems or suspension failure. The wear of the brake disc and brake pad is evaluated, and the pressure and level of the brake fluid are evaluated to ensure that the response speed and braking force of the braking system meet the safety standards. Ensure that all electronic devices are operating normally without software errors or hardware failures. Analyze the energy consumption pattern of the vehicle, identify energy consumption abnormalities, and provide energy saving suggestions, including optimizing driving habits, adjusting air conditioning use, etc., to extend the driving range.

[0107] The central processing unit controls the driving motor and / or steering motor to provide power; the speed sensor feeds back real-time speed information, the ultrasonic radar is used for obstacle detection and obstacle avoidance algorithm, the electric automatic wheel goes to the charging interface, the vehicle body is located in the waiting area to wait for the installation of the new electric self-propelled wheel, the position sensor and image sensor feed back road obstacle information and position information to the central processing unit in real time, and the system adjusts and optimizes the position data of the self-propelled wheel according to the road obstacle information and position information of the self-propelled wheel; the comprehensive self-checking device monitors the health status of the self-propelled wheel during movement, if there is no abnormality, the movement state remains unchanged, if there is an abnormality, the central processing unit terminates the replacement program and feeds back to the server end, the electric self-propelled wheel immediately stops and sends an alarm to the server end, triggers the safety mechanism, mobilizes the standby path or rescue service, and at the same time notifies the operator to intervene in processing, to ensure safety and smooth flow;

[0108] The abnormality includes collision, road blockage and / or electric energy depletion.

[0109] The electric self-propelled wheel charging interface is connected to an external power source to start charging; the feedback updates the electric self-propelled wheel data in the memory;

[0110] Step three: After the battery replacement is completed, the central processing unit receives instructions from the server and initiates the off-site program; controls the driving motor and / or steering motor to change the motion state, and the position sensor, image sensor and comprehensive self-checking device provide real-time feedback information. If there is no abnormality, the motion state remains unchanged; if abnormal data appears, the program is terminated and feedback is provided to the server side;

[0111] The electric self-balancing wheel external device is connected to the vehicle body and feeds back information to the network communication module, and then to the central processing unit, which prompts the user to drive the vehicle according to the predetermined lane to leave the battery replacement station. If the user needs to change temporarily during the off-site process, the central processing unit will immediately report the abnormality through the network communication module for abnormality processing.

[0112] Among them, the abnormality processing includes that the central processing unit will immediately record the abnormal event, and transmit the abnormal information to the battery replacement station management system and the background server in real time through the network communication module; the abnormal information is also sent to the background customer service center or technical support team, and the staff will respond quickly according to the abnormal type. They may remotely diagnose the problem, provide navigation suggestions, adjust the resource allocation of the battery replacement station, or send on-site service personnel.

[0113] Step four: During normal driving, the electric self-balancing wheel system is operated by the central control unit, which identifies the user's requirements through the acceleration pedal and brake pedal sensors, and changes the motor speed and direction state according to the user's requirements, so as to further change the motion state of the vehicle acceleration, braking and standby according to the user's instructions. If the self-balancing wheel state is abnormal during normal driving or the central processing unit receives a collision warning from the image sensor, self-checking and abnormality processing of the client will be performed immediately. Once the system detects an abnormality or receives a collision warning, it will first immediately execute the preset safety measures, such as automatic deceleration, enabling the emergency braking system, switching to a safe mode or locking the driving system, to prevent potential accidents or injuries and ensure the safety of the occupants. After receiving the abnormal information, the client will provide the user with preliminary response suggestions according to the preset processing logic or algorithm, which may include recommending safe parking, restarting the system, manually performing specific operations (such as turning off non-critical systems to save energy) or directly contacting customer service or road rescue services. Manufacturers or service providers can perform more in-depth diagnosis on the vehicle through remote connection and try to remotely repair the problem, such as reconfiguring system parameters, software updates or unlocking locked system functions. If remote processing cannot solve the problem or the abnormality is serious, the system will automatically or according to the user's request contact customer service. The service personnel will guide the user to take the next step according to the reported abnormal information, including arranging a tow truck service, sending on-site technicians or providing maintenance station navigation information.

[0114] For example, Figure 4As shown, the start of the inbound procedure detailed steps as follows:

[0115] Step 1: When the driver starts the inbound instruction, get the location information through the client, automatically plan the route navigation to the nearby battery swap station, and check whether there is a vacancy in the battery swap station. If not, feedback to the client to find the next closest battery swap station; if so, continue to enter the battery swap station.

[0116] Step 2: During the process of entering the battery swap station, turn on the lane occupation prompt, and the vehicle turns on the parking indicator light. At the same time, the server side marks the occupation of the lane.

[0117] Step 3: Detect whether the vehicle is in place through the position sensor. If not, continue to enter the vehicle parking area of the battery swap station; if so, cancel the lane occupation and turn off the vehicle parking indicator light.

[0118] Step 4: Lock the vehicle position and state, perform vehicle comprehensive self-check, compare the self-check information in the central processing unit with the safety range, if the self-check information is within the safety range, send it to the client and server, wait for the user to further operate, select to start the replacement program or off-site program.

[0119] When the central processing unit analyzes the vehicle comprehensive self-check information and judges whether it is within the safety range, it will follow a series of logical steps and algorithm processing: first, the central processing unit receives the original self-check data from the vehicle's various sensors and electronic control units. These data are decoded and parsed, and converted into processable digital signals. According to the received data, the key system status of the vehicle is evaluated item by item, including checking whether the engine parameters are within the normal working range, evaluating the battery status reported by the battery management system, verifying whether there are abnormal signals in the braking system, steering system and suspension system, checking the information provided by the tire pressure monitoring system and vehicle positioning system, confirming the rationality of the vehicle position and travel trajectory, and confirming whether the vehicle safety system such as ABS and ESP is in standby state. A series of safety ranges are preset in the central processing unit, and the self-check information is compared with these safety ranges one by one to judge whether there is any abnormality beyond the safety range. If any parameter deviates from the safety range, the central processing unit will classify and prioritize the abnormality, distinguishing between a minor warning and a serious fault that needs to be handled immediately. According to the self-check result, the central processing unit decides the next action. If all self-check information is within the safety range, it will generate an information containing "vehicle state good" and prepare to send it to the client and server. The central processing unit will arrange the self-check summary information, including the vehicle state good or any warning and fault code, encrypt and package, send it to the client and remote server through the network communication module for user to view and decision. After that, the central processing unit enters the waiting mode, ready to receive the next operation instruction sent by the user through the client, such as starting the replacement program or off-site program.

[0120] The safety range includes: when the battery temperature exceeds the threshold of 60℃, the thermal management system should take cooling measures; when the temperature is below the minimum working temperature of 0℃, the battery needs to be preheated to ensure normal operation, and the preheating temperature is 15℃; the brake master cylinder pressure is 100-200kPa, the front tire pressure in cold state is 220-250kPa, the rear tire pressure in cold state is 200-220kPa, the battery voltage DC is 300-450V, the charging system is fault-free, the engine coolant temperature is not higher than 110℃, there is no oil and liquid leakage, the functions of ABS, ESP, etc. are normal, the GPS positioning accuracy is within 5 meters, the vehicle roll angle is not more than 3 degrees, and the pitch angle is not more than 5 degrees.

[0121] The central processing unit determines the priority of each waiting service vehicle according to a series of preset rules, and the emergency service vehicle is given the highest priority; the vehicle with very low battery remaining capacity (SOC) is given higher priority to prevent the vehicle from breaking down on the road due to low battery; the vehicle that has made an advance reservation for the service is given a corresponding priority according to the reservation time; the vehicle that encounters a fault and cannot drive itself can also obtain priority service considering safety and efficiency. When planning the path of the vehicle to the charging or battery replacement location, the central processing unit calculates the minimum safety distance between vehicles and between the vehicle and the charging device to ensure safety during vehicle movement and avoid collision risks; based on the current vehicle distribution in the battery replacement station, available resources, and sudden situations such as new vehicles and device failures, the central processing unit dynamically adjusts the driving path and arrival time of each vehicle, optimizes the overall service process, and reduces waiting time and resource idling; during the service process, resources such as charging piles and battery packs are reasonably allocated based on battery status and charging progress information to ensure efficient use, and fast charging piles are preferentially allocated to vehicles in urgent need of rapid energy replenishment, or the most suitable battery replacement resources are matched according to the battery model; for device failures or emergencies, the central processing unit quickly adjusts the service plan, reallocates tasks to other available devices, or temporarily adjusts the order of waiting vehicles, while ensuring that information is timely communicated to the driver and the server side. All adjustments and service details are updated in real time to the server side through the network communication module and pushed to the client side, and the driver can clearly understand their service queue position, estimated waiting time, and service process, enhancing user experience.

[0122] As shown in Figure 5 , the starting battery replacement program in step two includes the following steps:

[0123] Step I: The client side transmits the battery replacement instruction to the server side, the network communication module receives the client side battery replacement instruction, feeds back the client side information to the central processing unit, and retrieves the data storage to comprehensively process and analyze the information.

[0124] Wherein, after the network communication module receives the re-equipping instruction sent by the client, it first verifies the validity of the instruction, confirms the legality of the instruction source and the integrity of the instruction content, the central processing unit extracts key parameters from the information received by the network communication module, including vehicle ID, current location, required service type (charging or battery replacement), expected charging amount or battery replacement demand, driver identity verification information, etc., the central processing unit queries the information about the vehicle in the data storage, including battery model, historical charging record, current battery status, and whether there is a reservation service before, etc., to ensure that the upcoming operation is compatible with the vehicle, and to check whether there is a suitable charging device or spare battery available in the battery replacement station, according to the current location of the vehicle, combined with the real-time layout and charging position situation in the battery replacement station, the central processing unit plans the path, guides the vehicle to the most suitable charging or battery replacement position, and at the same time, reserves or allocates the charging socket.

[0125] In the information processing process, the central processing unit also evaluates safety factors, such as the distance between the vehicle and the charging device, whether there is an emergency vehicle that needs priority service, etc., and adjusts the service order and path planning according to the pre-set service rules and safety standards. Based on the above analysis, the central processing unit generates a detailed re-equipping execution plan, including vehicle guidance instructions, estimated waiting time, service process details, etc., which is fed back to the server side through the network communication module, and at the same time, the service details are displayed to the driver through the client, such as the charging position number to go to, the estimated start time of the service, etc.

[0126] During execution, the central processing unit continuously monitors the battery replacement process, including battery status, charging progress or the progress of battery replacement operation, dynamically adjusts the plan according to actual conditions such as equipment failure, new vehicle request, etc., and timely updates the information of the client and server side through the network communication module, feeds back the information to the server side through the network communication module, and the server side judges whether there is an exception and issues a battery replacement instruction through the network communication module. The server side instruction first reaches the network communication module of the battery swap station through wired or wireless network, which is responsible for receiving and preliminary processing of these instructions, including encryption and decryption, data verification, etc., to ensure the integrity and security of the instructions. The network communication module forwards the received battery replacement instruction to the central processing unit, which analyzes the instruction and understands the specific operation requirements, such as charging or battery replacement, and related parameters such as target SOC, battery model, etc. The central processing unit schedules tasks according to the parsed instruction content, including allocating charging piles or battery replacement robots in the battery swap station, preparing corresponding battery packs, arranging vehicles to designated positions, etc. The central processing unit will query the real-time resource status in the data storage to ensure the feasibility of task allocation. The central processing unit issues specific execution instructions to the control units of each charging station. The charging pile controller is responsible for managing the operation of the charging pile, receiving the instruction of the central processing unit, activating or adjusting the working state of the charging pile to ensure the safety and efficiency of the charging process. The battery replacement robot controller is responsible for receiving the battery replacement instruction, controlling the movement of the robot, grabbing the old battery, installing the new battery, etc. At the same time, it monitors the state of the robot itself, such as battery power, running state, mechanical arm working condition, etc. to ensure the accuracy and safety of the battery replacement process. The battery management system (BMS) interface interacts with the central processing unit through the communication protocol to provide real-time state information of the battery pack, including battery power, health status, temperature, etc. to ensure that the battery used in the battery replacement process meets the safety standards, and it is also an important basis for charging strategy formulation. The vehicle interface module (VIM) is responsible for communication between the vehicle and the charging station control system, transmitting the charging demand of the vehicle, battery information, and receiving the charging instruction to ensure that the charging or battery replacement operation matches the actual demand of the vehicle. The monitoring and safety control system monitors the safety of the battery replacement operation, responds to abnormal situations, triggers safety measures, and ensures the safety of personnel and equipment. The data storage and processing unit is responsible for storing historical data, real-time state information during the battery replacement process, and recording the execution of the instructions issued by the central processing unit, providing a basis for fault diagnosis, data analysis and optimization strategy. After receiving the instruction, the charging pile controller activates the charging pile, adjusts the charging power according to the instruction parameters, connects with the charging interface of the vehicle, and starts the charging process. During the entire battery replacement process, each execution unit continuously monitors the operation state, including charging progress, battery temperature, mechanical arm working condition, etc. and feeds back these real-time data to the central processing unit through the network communication module. The central processing unit further summarizes and uploads to the server side.Once the refueling operation is completed, the central processing unit receives the completion signal from the field control unit, then reports the task completion to the server side through the network communication module, and finally notifies the driver through the client that the refueling is successful and the current state of the vehicle. Through this series of steps, the refueling instruction is issued from the server side, passes through the network communication module, the central processing unit and the field control unit, and is finally executed by the physical device, forming a closed-loop control system to ensure the smooth progress of the refueling service.

[0127] Step II: The self-checking device monitors the health status of the electric self-propelled wheel, including whether the electric motor is damaged, whether the controller is malfunctioning, whether the sensor is too low in sensitivity or malfunctioning, and whether the power supply circuit is faulty. The feedback information is fed back to the central processing unit, which processes and analyzes the information. If the motor module, power module, etc. of the self-propelled wheel meet the normal value range, i.e. no abnormalities, the traction rod controller controls the traction rod to disconnect the electric self-propelled wheel from the vehicle body. If there is an abnormality, the central processing unit uploads the abnormal information to the server side and the client side through the communication module, and waits for the next instruction. The server side sends the destination charging information and other data to the self-propelled wheel network communication module, while the self-propelled wheel system sensor signal processing controller continuously feeds back the road obstacle information and position information of the electric self-propelled wheel. The central processing unit calls the program and algorithm in the program memory, and plans the charging route according to the server information and the road obstacle information and position information collected by the current sensor.

[0128] First, the central processing unit receives the accurate position information of the destination charging station and the working status of the battery swap station sent by the server side, such as whether it is available, the queuing situation, the optimal path suggestion, etc. The sensors on the self-propelled wheel continuously monitor the surrounding environment, providing real-time road obstacle position, road surface condition and self-position information to the sensor signal processing controller, which then transmits it to the central processing unit. Using the received data, an environmental model is built and analyzed, and a local environmental model is constructed or updated in the central processing unit, including obstacle distribution, passable area, approximate distance and direction between the current position and the target charging point. A algorithm, Dijkstra algorithm or more advanced heuristic search algorithm is used to ensure that the planned path is not only the shortest but also safe, effectively avoiding all known obstacles. In the planning process, factors such as distance, estimated time consumption and energy consumption are considered to select the path with the lowest total cost. The central processing unit sends instructions to the drive system and steering system according to the calculated optimal path, controlling the self-propelled wheel to travel according to the planned path. During the travel process, the sensor data is continuously monitored. Once new obstacles are found or the original path is not feasible, the path is quickly re-planned and the travel direction is adjusted.

[0129] Especially considering the situation to go to charging, the central processing unit also needs to combine the current battery power to manage and optimize energy, optimize the path to reduce unnecessary energy consumption, and ensure enough power to safely reach the charging point. CPU based on current battery power, historical energy consumption data and current load, using algorithm model to predict the remaining driving distance supported by the remaining power. At the same time, considering the influence of battery health status and temperature on the endurance, more accurate power estimation is carried out. Combined with GPS positioning and map data, CPU dynamically calculates multiple paths to the nearest charging point, and selects a route with the lowest predicted energy consumption according to real-time traffic conditions, terrain slope and other factors. According to the prediction results and path planning, CPU guides the vehicle to adjust the driving strategy. The central processing unit needs to have environmental perception ability and adjust the driving strategy according to these information. In the whole driving process, the deviation between actual energy consumption and prediction model is continuously monitored, and the driving strategy is adjusted in time. CPU informs the driver or remote monitoring center through the user interface about the current power status, the estimated time to reach the charging point and any adjustment suggestions, ensuring transparent communication and allowing users to make decisions based on actual conditions. The whole process is highly dynamic and interactive, requiring the central processing unit to have efficient data processing capability and flexible decision-making mechanism to ensure that the self-propelled wheel can safely and efficiently reach the charging destination in a complex and variable environment.

[0130] Step III: The central processing unit calls the program memory to control the motor to change the motion state, runs the fault diagnosis program, battery management program, communication and data exchange program, sensor data acquisition and processing program, etc. Real-time feedback updates the electric self-propelled wheel data, analyzes and processes the data, if the data is normal, continue to run the replacement program; if the data is abnormal, terminate the program and feedback the information processing result to the server end, wait for the next instruction.

[0131] The fault diagnosis program performs self-checking on the vehicle and collects user feedback, monitors the tire, reads the record and analyzes the vehicle fault: if the electric wheel motor is damaged, the controller is invalid, the sensor sensitivity is too low or invalid, and the power supply line is faulty, the faulty equipment is moved to the repair place through the mechanical device in the battery replacement station.

[0132] The battery management program monitors the voltage, current, and temperature of each battery cell in real-time, ensuring that all data is within a safe range, i.e., the voltage, current, and temperature are within the battery's maximum limit. The safe operating voltage range of a single battery cell is approximately 2.5V to 4.2V. The charge cutoff voltage is generally not more than 4.2V to prevent overcharging, and the discharge protection voltage is not less than 2.5V to 3.0V to avoid deep discharge damage to the battery. The current should be controlled below the maximum charging current recommended by the battery manufacturer, generally between 1C and 2C of the battery capacity. When the battery temperature exceeds the 60℃ threshold, the thermal management system should take cooling measures. When the temperature is below the minimum operating temperature of 0℃, the battery needs to be preheated to ensure normal operation, with a preheating temperature of 15℃.

[0133] The battery pack is managed for thermal management and charging / discharging control, and the overall state of the battery pack is monitored, including state of charge (SOC), state of health (SOH), and balance state. The state of charge is calculated using a comprehensive model prediction method. The state of health (SOH) is calculated using a capacity degradation model-based prediction method. The balance state is managed and evaluated using active balancing combined with real-time monitoring. When the voltage or capacity of each battery cell in the battery pack is inconsistent due to manufacturing differences, aging levels, etc., the BMS reduces this inconsistency through active balancing strategies, extending the life of the battery pack.

[0134] The active balancing strategy transfers energy directly from high SOC batteries to low SOC batteries by first detecting voltage and SOC differences in the battery cells. The BMS continuously monitors the voltage of each battery cell and identifies cells with higher average voltage. When inconsistencies are found, the BMS uses electronic switches, inductors, or capacitors to transfer energy from high SOC batteries to low SOC batteries.

[0135] In the communication and data exchange program, the CAN bus is the main communication method for connecting various electronic control units such as the battery management system BMS, motor controller, vehicle body controller, etc. It allows real-time and reliable exchange of control information and state data between these units. Wireless communication technology is used for vehicle and smartphone applications, remote monitoring systems, or V2X communication, enabling remote control, software updates, fleet management, and autonomous driving functions.

[0136] Sensor data acquisition and processing program usually involves hardware layer design, software design, data processing and analysis, data storage and transmission, security and encryption several key steps and components. Hardware layer design according to the demand of choosing the right sensor type, and reasonable arrangement in the target monitoring point, ensure that can accurately capture the required information. Design signal conditioning circuit for sensor output weak analog signal amplification, filtering and conversion, make it adapt to the subsequent digital processing. Analog-to-digital converter converts analog signal to digital signal, convenient for computer processing. Microcontroller is used to control the sensor reading, execute preliminary data processing and decision logic, and communicate with external devices. Software design to write driver program, make hardware device and operating system effective communication. Data acquisition program development software regularly or continuously read sensor data, may include sampling rate setting, error handling mechanism, etc. According to the application requirement design and implementation of data processing algorithm, such as filtering, feature extraction, data analysis, etc. Data processing and analysis include preprocessing, feature extraction and data analysis. Preprocessing includes data cleaning, formatting, etc., to ensure data quality. Feature extraction from raw data to extract meaningful information or features for subsequent analysis or decision. Data analysis uses statistical, machine learning and other methods to analyze data in depth, find trends, anomalies or patterns. Data storage and transmission storage scheme determines the way and location of data storage. Database design according to the data structure design database, ensure efficient query and management. Data transmission protocol defines how data is transmitted securely and efficiently in the network. In the security and encryption, data encryption is used to encrypt sensitive data to prevent data from being stolen or tampered during transmission. Access control implements user permission management to ensure that only authorized users can access the data. Network security uses firewall, SSL / TLS protocol and other means to protect data transmission channel and prevent network attacks.

[0137] Step IV: the central processing unit processes the road obstacle information and position information fed back by the position sensor and image sensor, controls the motor to change the motion state of the electric self-propelled wheel, the speed sensor feeds back the real-time speed, the ultrasonic radar is used for obstacle detection and obstacle avoidance algorithm, the old electric self-propelled wheel is connected with the charging interface for charging; at the same time, the new electric self-propelled wheel goes to the vehicle parking place according to the navigation path, and the lock block controller controls the new electric wheel lock block to be connected with the vehicle body after reaching the position.

[0138] Step V: start the comprehensive self-checking device to confirm whether the new self-propelled wheel and the vehicle body are normal, if normal, feed back the electric self-propelled wheel data in the update data storage, terminate the replacement program, and the driver drives away from the battery replacement station; if the self-propelled wheel and the vehicle body are abnormal, feed back the information processing result to the server end and the client end, and wait for the next instruction.

[0139] As shown in Figure 6 , the off-site program detailed steps are as follows:

[0140] Step a: After the vehicle finishes the battery replacement procedure, the wheels are unlocked, and the vehicle resumes drivable state.

[0141] Step b: The battery swap station displays the exit light, and the user application receives a prompt to leave the station. The driver drives the vehicle out of the battery swap station.

[0142] Step c: The lane is released, and the occupied lane becomes idle, waiting for the next vehicle to enter.

[0143] As shown in the figure, the normal driving state on the road is as follows: Figure 7

[0144] Step 1: The driver operates the brake pedal and accelerator pedal, and the network communication module connects to the central control unit. The vehicle control system receives signals from the accelerator pedal position sensor and brake pedal position sensor, such as the accelerator pedal angle and brake pedal angle, and sends instructions to the central processing unit. The driver operates the steering wheel in the same way.

[0145] Step 2: The central processing unit calls the program and judges braking, standby, or acceleration: When the brake pedal position sensor shows that the pedal is depressed, even if the accelerator pedal has a signal, the brake signal has higher priority. At this time, the vehicle is considered to be in a braking state, and the central processing unit will reduce or cut off power output and may activate auxiliary systems such as ABS and ESP to ensure safe braking. If neither pedal is depressed, or the readings of the accelerator pedal position sensor and brake pedal position sensor are both in the predefined "release" position, i.e., the sensor measures a specific signal value representing a completely relaxed state when the pedal is not depressed, this position is the extreme point of the pedal travel, indicating that the vehicle is in standby or coasting state. At this time, the engine may maintain idle speed, enter energy recovery mode, or shut down the power system to save energy. When the accelerator pedal position sensor detects a non-zero angle or displacement of the pedal, and there is no brake pedal signal, the vehicle control system can determine that the vehicle is in an accelerating state, and the central processing unit will increase the engine's fuel supply or adjust the power output of the motor accordingly.

[0146] ​The motor controller controls the speed, torque and direction of the motor to change the motion state. If an abnormality or fault is found through the operation fault diagnosis program, the central processing unit will immediately start the fault handling mechanism, such as issuing an alarm, emergency stop or taking other emergency measures. The battery management program monitors the current, voltage, temperature and other parameters of the battery to ensure that the battery works within a safe range. The communication and data exchange program receives instructions and data from the client and server, and adjusts the vehicle's operating state according to this information. The sensor data acquisition and processing program processes real-time information and obtains various real-time data of the vehicle through sensors, such as speed, position, temperature, humidity, etc. According to the processed data, the current vehicle operating conditions are fed back to the customer.

[0147] During driving, the state is maintained as follows: the external device is connected to the vehicle body stably; the sensor continuously feeds back the self-propelled wheel data, the comprehensive self-checking device is started, the health status of the electric self-propelled wheel is detected, the feedback is fed back to the central processing unit, the data is analyzed and processed, if normal, the log is recorded, the electric self-propelled wheel driving mileage, power condition, health condition and other data are updated; if abnormal, the network communication module immediately uploads the abnormal information to the client and server, waits for the user to manually stop the vehicle for abnormal treatment, if the user does not handle or cannot handle within fifteen minutes, the vehicle is planned, and emergency stop or other emergency measures are taken.

[0148] As shown in Figure 8 , the operation mode based on the variable structure self-energy storage electric self-propelled wheel system that can be quickly replaced includes a terminal, a cloud platform and an application program. The terminal, cloud platform and application program communicate with each other to complete the assignment, use, supervision and maintenance of the wheel charging module, and the collection and management of the wheel charging module data and user data in the region. The terminal includes a wheel charging module and a detection module applied to a new electric vehicle. The detection module is used to detect the normal use of the wheel charging module. The wheel charging module includes a battery module, a communication module and a motion module itself. The cloud platform includes a database and a server. The database includes user information, wheel battery information and use information. The server stores processing programs that return corresponding responses to different request information for different requesters.

[0149] The application program includes a user application program and a manager application program.

[0150] The user application program includes a search module, a user interaction module and a user mall module. The manager application program includes a positioning and planning module, a maintenance and deployment module, a user management module and a manager information module.

[0151] As shown in Figure 9 , the user uses the terminal through the user application program, including the following use process:

[0152] Process 1: The user inputs their estimated trip duration into the user application. The program calculates the approximate electricity consumption and provides feedback to the user, suggesting whether to use in-wheel power or add a chassis power supply. The user selects the search module to view the nearest available wheel charging modules or chassis battery swapping modules in the current area, and the system automatically plans a route to the nearest hybrid battery swapping station.

[0153] Process 2: The user scans the QR code hanging in any of the hybrid battery swapping stations through the user interaction module of the user application, selects the appropriate wheel charging module or chassis battery swapping module, and transmits the user information and the wheel charging module or chassis battery swapping module information to the cloud platform. The cloud platform then calculates the user's tariff bill.

[0154] Step 3: After receiving the service start signal from the cloud platform, the wheel charging module or chassis battery swapping module executes the replacement procedure, proceeding to the designated area. Upon arrival, the hybrid battery swapping station assembles the module with the vehicle. The removed wheel charging module or chassis battery swapping module undergoes testing and charging within the hybrid battery swapping station. If no abnormalities are found, the wheel charging module autonomously tracks to the charging area, and the chassis battery swapping module is disassembled and transported to the charging area. If abnormalities are found, the modules are transported to the repair area for maintenance. Simultaneously, the battery swapping station autonomously tracks idle wheel charging modules to the vehicle's location for installation. If the user needs to replace the chassis module, the battery swapping station will transport an idle chassis module to the vehicle's location for installation.

[0155] Step 4: After installation, the user settles the bill using the user mall module of the user application, and the hybrid power station starts the departure process.

[0156] like Figure 10 As shown, the administrator's use of the terminal through the administrator application includes the following usage flow:

[0157] Step 1: The administrator selects administrator information on the administrator application to create an administrator identification code and obtain usage permissions.

[0158] Step 2: The manager inputs the identification code for each wheel charging module or chassis battery swapping module, and through data analysis by the positioning and coordination module, plans the area with the greatest benefit for deployment, and uses the maintenance and deployment module to contact the hybrid battery swapping station to deploy the module to that station.

[0159] Process three: after the database server receives the user information, it judges whether there is a violation behavior, such as attempting to crack or bypassing the system security mechanism, intentionally damaging or changing the hardware or software components of the self-balancing scooter system, providing false information or impersonating others to obtain system access, if there is a violation behavior, the abnormal information is fed back to the manager application through the network and the service to the user is stopped, if it is in line with the regulations, the user application enters the next use step according to the user application.

[0160] Process four: when the database server receives the user complaint that the charging module or the bottom plate battery module is abnormal, the information is fed back to the manager application through the network, the manager uses the user management module in the manager application to feed back the information to the user application, and corresponding processing measures are taken.

[0161] The control method of the variable-structure self-energy storage electric scooter fast replacement system provided by the application realizes fast battery replacement and intelligent management, and improves the charging convenience and charging efficiency of the intelligent electric vehicle.

[0162] Although the embodiments of the application have been disclosed as above, they are not limited to the application listed in the specification and the embodiments, and can be fully applied to various fields suitable for the application, and other modifications can be easily realized by those skilled in the art, therefore, the application is not limited to specific details and the embodiments shown and described herein, and the general concept defined by the claims and the equivalent scope.

Claims

1. A rapid-change system for self-storing electric self-propelled wheels with variable structure, characterized in that, include: The power source has its input terminal connected to an external power source; as well as A network communication module is installed within the electric self-propelled wheel system, and the network communication module communicates with the client or server for data exchange and transmission; A sensor module, distributed within the electric self-propelled wheel system, is used to monitor the status of the electric self-propelled wheel system; An external device is installed on the electric self-propelled wheel system and the vehicle, and the external device is connected to a network communication module for selectively engaging or disengaging the electric self-propelled wheel system from the vehicle. An integrated self-testing device is installed within the electric self-propelled wheel system to monitor the working status of the power source, network communication module, sensor module, and external devices. The central processing unit is located within the electric self-propelled wheel system and is connected to multiple subsystems, network communication modules, sensor modules, and integrated self-testing devices within the vehicle. It is used for receiving data and issuing commands. A memory, connected to the central processing unit, is used for storing and retrieving data and programs; The external device includes: Positioning holes are located on the vehicle body; A tow bar is provided on the electric self-propelled wheel system corresponding to the positioning hole, and the tow bar is connected to the output end of the DC-DC converter for selective engagement or disengagement with the positioning hole; A traction rod controller, which is connected to the traction rod, is used for extending or retracting the traction rod; A proximity sensor is disposed in the positioning hole and is connected to the traction rod controller for detecting the engagement degree between the traction rod and the positioning hole; The network communication module, sensor module, external device, integrated self-testing device, central processing unit and memory are all connected to the output terminal of the power source. The power source is connected to the network communication module. The traction rod, traction rod controller and proximity sensor are all connected to the output terminal of the DC-DC converter.

2. The variable structure self-storage electric self-propelled wheel quick-change system as described in claim 1, characterized in that, The power source includes: The charging port can be selectively connected to an external power source; The power module has its input end connected to the charging interface and its output end connected to the network communication module, sensor module, external devices, integrated self-testing device, central processing unit and memory. The motor module has its input end connected to the power supply module and its output end connected to the tire. The motor module is also connected to the network communication module and is used to drive the electric self-propelled wheel system to walk or steer.

3. The variable structure self-storage electric self-propelled wheel quick-change system as described in claim 2, characterized in that, The power module includes: The battery pack has its input terminal connected to the charging interface; A DC-DC converter, the input of which is connected to the output of the battery pack, and the output of which is connected to a network communication module, a sensor module, an external device, a comprehensive self-testing device, a central processing unit, and a memory; The motor module includes: A drive motor is installed within the electric self-propelled wheel system, and the output end of the drive motor is connected to the tire for selectively driving the electric self-propelled wheel system to travel or brake. A steering motor is installed within the electric self-propelled wheel system, and the output end of the steering motor is connected to the steering arm to drive the electric self-propelled wheel system to steer. A motor controller, which is connected to the network communication module, the drive motor and the steering motor, is used for adjusting the drive motor and the steering motor; A temperature sensor is disposed inside the drive motor and is connected to the motor controller; A speed sensor is disposed at the output end of the drive motor and is connected to the motor controller; The drive motor, steering motor, motor controller, temperature sensor, and speed sensor are all connected to the output terminal of the DC-DC converter.

4. The variable structure self-storage electric self-propelled wheel quick-change system as described in claim 3, characterized in that, The sensor module includes: A position sensor, which is installed on the electric self-propelled wheel system, is used to monitor the real-time position of the electric self-propelled wheel system; A speed sensor, mounted on the axle of the self-propelled wheel, is used to monitor the real-time speed of the electric self-propelled wheel system; An image sensor, mounted on the electric self-propelled wheel system, is used for obstacle detection; An accelerator pedal position sensor is located below or inside the accelerator pedal in a vehicle and is used to detect the tilt angle or displacement of the accelerator pedal. Brake pedal position sensor, which is located below or inside the brake pedal in the vehicle, is used to detect the tilt angle or displacement of the brake pedal. An ultrasonic radar, installed on the electric self-propelled wheel system, is used to assist in obstacle detection; A sensor signal processing controller is connected to the position sensor, speed sensor, image sensor, accelerator pedal position sensor, brake pedal position sensor and ultrasonic radar, and the sensor signal processing controller is connected to the central processing unit. The position sensor, speed sensor, image sensor, accelerator pedal position sensor, brake pedal position sensor, ultrasonic radar, and sensor signal processing controller are all connected to the output of the DC-DC converter.

5. A control method for a variable-structure self-storage electric self-propelled wheel quick-change system, using the variable-structure self-storage electric self-propelled wheel quick-change system as described in any one of claims 1-4, characterized in that, Includes the following steps: Step 1: If the client issues a replacement command or the integrated self-testing device detects that the electric self-propelled wheel system has no power or a fault warning, the server sends a command to the network communication module to start the inbound procedure. Step 2: Monitor the road obstacle information and location information of the electric self-propelled wheel system in real time. If there are no abnormalities, start the replacement procedure. The changing procedure includes: Step 1: The client transmits the vehicle replacement instruction to the server. The server then feeds the instruction back to the central processing unit via the network communication module. The central processing unit retrieves the vehicle information from the data storage and plans the vehicle's route. The central processing unit also monitors the status of the electric self-propelled wheel system in real time and updates the information on both the client and server. The network communication module verifies the validity of the replacement instructions, and the central processing unit evaluates the safety factors of the electric self-propelled wheel system. Step II: The integrated self-testing device monitors the health status of the electric self-propelled wheel system in real time and feeds it back to the central processing unit. If the self-testing information is within the safe range, the tow bar controller disconnects the tow bar from the vehicle body, and the central processing unit navigates the electric self-propelled wheel system to the destination battery swapping station. The central processing unit optimizes the navigation path based on the battery level. Step III: The central processing unit retrieves the program memory and runs the fault diagnosis program, battery management program, communication and data exchange program, and sensor data acquisition and processing program, and provides real-time feedback and updates of the data from the replaced electric self-propelled wheel system; Step IV: The position sensor and image sensor update the position information and road obstacle information in real time. The central processing unit adjusts the movement state of the electric self-propelled wheel system according to the position information and road obstacle information until it reaches the destination battery swapping station for charging. The new electric self-propelled wheel goes to the vehicle parking location according to the navigation path. After arriving at the location, the tow bar controller controls the new electric self-propelled wheel to dock with the vehicle body. Step V: The replaced electric self-propelled wheel system starts the comprehensive self-inspection device to inspect itself and the vehicle body. If there are no abnormalities, the replacement procedure is complete. Step 3: After changing clothes, initiate the departure procedure; Step 4: After the vehicle leaves the battery swapping station, the central processing unit controls the movement of the electric self-propelled wheel system according to the driver's requirements. If the central processing unit receives a collision warning, the central processor will immediately execute safety measures, perform self-checks, and report to the client.

6. The control method for the variable structure self-storage electric self-propelled wheel quick-change system as described in claim 5, characterized in that, The entry procedure includes the following steps: Step 1: When the driver initiates the entry command, the central processing unit sends the location information to the server through the network communication module. The server sends a signal to the nearest battery swapping station. The battery swapping station checks if there is an available slot. If not, the server continues to search for the next nearest battery swapping station. If there is, the server sends feedback to the client and provides the electric self-propelled wheel system with a route to the battery swapping station. The vehicle then proceeds to the battery swapping station. Step 2: When a vehicle enters the battery swapping station, the corresponding lane occupancy warning is activated, the vehicle's parking indicator light illuminates, and the server marks the lane as occupied. Step 3: The position sensor detects whether the vehicle is in the parking space. If it is in the parking space, the lane occupancy is canceled and the vehicle parking indicator light is turned off. Step 4: Locate the vehicle's position and status, perform a comprehensive self-check using the integrated self-check device, and compare the self-check information with the safe range in the central processing unit. If the self-check information is within the safe range, it is sent to the client and server, awaiting further user operation, such as selecting to start the replacement procedure or the departure procedure.

7. The control method for the variable structure self-storage electric self-propelled wheel quick-change system as described in claim 6, characterized in that, The departure procedure includes the following steps: Step a: After the vehicle is fitted, the wheels are unlocked and the vehicle is put back into a drivable state. Step b: The battery swapping station lights up its exit signal, the user's application receives a departure notification from the battery swapping station, and the driver drives the vehicle out of the battery swapping station. Step c: Remove lane occupancy. The occupied lane will then become vacant, waiting for the next vehicle to enter.

8. The control method for the variable structure self-storage electric self-propelled wheel quick-change system as described in claim 7, characterized in that, In step four, the central processing unit controls the motion state of the electric self-propelled wheel system according to the driver's requirements, specifically including: Step 1: The driver operates the brake pedal, accelerator pedal and / or steering wheel. The network communication module connects to the central control unit. The vehicle control system sends commands to the central processing unit through the accelerator pedal tilt angle and brake pedal tilt angle signals obtained by the accelerator pedal position sensor and brake pedal position sensor. The second step involves the central processing unit determining braking, standby, or acceleration based on the accelerator pedal tilt angle and the brake pedal tilt angle. When the brake pedal tilts, the vehicle is in a braking state, and the central processing unit reduces or cuts off power output. When both the brake pedal and accelerator pedal are in the released position, the vehicle is in standby mode, the central processing unit maintains the engine idling speed, enters energy recovery mode or shuts down the power system. When the brake pedal does not tilt and the accelerator pedal does tilt, the vehicle is in an acceleration state, and the central processing unit increases the fuel supply to the engine or increases the power output of the drive motor. During operation, the vehicle maintains a secure connection between the tow bar and the vehicle body; all sensors continuously provide data from the electric self-propelled wheel system, and the integrated self-test device remains activated. If all data is normal, a log is recorded, updating the electric self-propelled wheel's mileage, battery level, and health status data; if an anomaly is detected, the network communication module uploads the anomaly information to the client and server, awaiting the user to manually stop the vehicle for anomaly handling. If the user fails to handle the anomaly within fifteen minutes or is unable to do so, the vehicle is repositioned for emergency parking or other emergency measures.

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