Battery replacement control method and device, electronic equipment, medium, product and battery replacement equipment

Abstract

The application relates to a battery replacement control method and device, electronic equipment, medium, product and battery replacement equipment. The method comprises the following steps: after the locking and unlocking gun head of the battery replacement equipment completes the unlocking and cap recognition, a first real-time rotating torque of the locking and unlocking gun head when rotating in the locking direction is obtained; a first position of the locking and unlocking gun head when the first real-time rotating torque reaches a pre-locking torque threshold value is recorded; the locking and unlocking gun head is controlled to continuously rotate for a first preset time length according to the pre-locking torque threshold value, and a second position of the locking and unlocking gun head is recorded; and in the case that the locking and unlocking gun head meets the pre-locking condition according to the first offset between the first position and the second position, the locking and unlocking gun head is controlled to rotate in the unlocking direction to be unlocked. The method can reduce the overshoot probability of the locking and unlocking device and improve the battery replacement efficiency of the battery replacement equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile battery replacement, in particular to a battery replacement control method and device, an electronic device, a storage medium, a computer program product and a battery replacement equipment. BACKGROUND

[0002] With the rapid development of the new energy automobile industry, the battery replacement mode has become an electric vehicle energy supply method with broad application prospects. Through the management of battery packs by a battery replacement station, the electric energy supply of the automobile can be realized in a short time, and the vehicle's range can be quickly restored.

[0003] The battery replacement technology is to lock and unlock the battery pack locking member (such as the locking bolt of the quick lock) through the locking and unlocking device arranged on the battery replacement equipment, so as to realize the installation and disassembly of the battery pack.

[0004] At present, when the battery pack is locked and unlocked, it is usually determined whether the locking and unlocking is successful according to the number of rotations of the gun head during the locking and unlocking process. However, during the unlocking operation, the high-speed rotation of the gun head during the unlocking process can easily cause the locking and unlocking device to overshoot, resulting in damage to the lock body, which not only affects the battery replacement efficiency, but also increases the operation cost of the battery replacement station. SUMMARY

[0005] Therefore, it is necessary to provide a battery replacement control method and device, an electronic device, a computer readable storage medium, a computer program product and a battery replacement equipment capable of reducing the overshoot probability of the locking and unlocking device and improving the battery replacement efficiency of the battery replacement equipment.

[0006] In a first aspect, the present application provides a battery replacement control method, which comprises:

[0007] After the locking and unlocking gun head of the battery replacement equipment completes the unlocking and recognizes the cap, a first real-time rotation torque of the locking and unlocking gun head when rotating in the locking direction is obtained;

[0008] A first position of the locking and unlocking gun head when the first real-time rotation torque reaches a pre-locking torque threshold is recorded;

[0009] The locking and unlocking gun head is controlled to rotate continuously for a first preset time period according to the pre-locking torque threshold, and a second position of the locking and unlocking gun head is recorded;

[0010] In a case where the locking and unlocking gun head meets the pre-locking condition according to a first offset between the first position and the second position, the locking and unlocking gun head is controlled to rotate in the unlocking direction to unlock.

[0011] In the above embodiments, after the unlocking and cap recognizing of the locking and unlocking gun head of the battery replacement equipment is completed, the first real-time rotating torque of the locking and unlocking gun head when rotating in the locking direction is obtained. The first real-time rotating torque can reflect the rotating condition of the locking and unlocking gun head in the unlocking process. The first position of the locking and unlocking gun head when the first real-time rotating torque reaches the pre-locking torque threshold is recorded. Then, the locking and unlocking gun head is controlled to rotate continuously for a first preset time period according to the pre-locking torque threshold. The second position of the locking and unlocking gun head is recorded. The first offset between the first position and the second position can represent the rotating amount of the locking and unlocking gun head under the action of the pre-locking torque threshold. In the case where the locking and unlocking gun head meets the pre-locking condition according to the first offset, the locking and unlocking gun head is controlled to rotate in the unlocking direction to unlock. Through the pre-locking process of the locking and unlocking gun head in the unlocking process, the probability of unlocking overshoot caused by high-speed unlocking rotation or looseness of the locking member itself can be effectively reduced, and the battery replacement efficiency of the battery replacement equipment is improved.

[0012] In some embodiments, the pre-locking torque threshold is the unlocking torque threshold of the locking member; and the method further comprises:

[0013] In the case where the locking and unlocking gun head does not meet the pre-locking condition, generating a fault prompt information according to the position of the locking member corresponding to the locking and unlocking gun head;

[0014] Sending the fault prompt information to the control system in the battery replacement station, the fault prompt information being used to prompt that the locking member at the position of the locking member has a risk of loosening.

[0015] In the above embodiments, in the case where the locking member corresponding to the locking and unlocking gun head does not meet the pre-locking condition, the generation of the fault prompt information can prompt the operation and maintenance personnel to investigate the risk of the locking member that may have a risk of loosening, effectively improving the installation stability of the battery pack during vehicle operation, and further improving the safety and stability of vehicle operation.

[0016] In some embodiments, after the unlocking and cap recognizing of the locking and unlocking gun head of the battery replacement equipment is completed, the first real-time rotating torque of the locking and unlocking gun head when rotating in the locking direction is obtained, comprising:

[0017] After the unlocking and cap recognizing of the locking and unlocking gun head of the battery replacement equipment is completed, a first preset power growth rate of the locking and unlocking gun head in a pre-locking determination program is obtained;

[0018] Controlling the locking and unlocking gun head to rotate in the locking direction based on the first preset power growth rate, and obtaining the first real-time rotating torque of the locking and unlocking gun head in the rotating process.

[0019] In the above embodiment, by setting the first preset power growth rate and controlling the locking and unlocking gun head to rotate in the locking direction based on the first preset power growth rate, the locking and unlocking gun head can gradually increase the rotation power during rotation, improve the stability of the gun head rotation, and reduce the risk of excessive locking of the locking member due to excessive rotation speed or excessive rotation power.

[0020] In some embodiments, the method further includes:

[0021] In response to the unlocking instruction for the battery pack to be replaced, the battery replacement device is controlled to lift at a preset lifting speed in the direction of the battery pack to be replaced;

[0022] In the case where the bearing plane of the battery replacement device contacts the bottom of the battery pack to be replaced, the battery replacement device is controlled to continue lifting in the direction of the battery pack to be replaced at the preset lifting speed;

[0023] Obtain lifting operation information of the battery replacement device during lifting;

[0024] In the case where it is determined based on the lifting operation information that the battery replacement device reaches the jacking state, the locking and unlocking gun head of the battery replacement device is controlled to unlock the cap.

[0025] In the above embodiment, by controlling the battery replacement device to jack up the battery pack to be replaced, part of the reverse stress generated by the spring in the unlocking process can be offset, and the unlocking difficulty can be reduced.

[0026] In some embodiments, the control of the locking and unlocking gun head to rotate in the unlocking direction includes:

[0027] The locking and unlocking gun head is controlled to rotate in the unlocking direction at a second preset power growth rate, and unlocking rotation information of the locking and unlocking gun head rotating in the unlocking direction is obtained, the unlocking rotation information including a real-time unlocking rotation position of the locking and unlocking gun head;

[0028] In the case where it is determined based on the real-time unlocking rotation position that the locking and unlocking gun head meets the initial unlocking condition, the locking and unlocking gun head is controlled to perform a forward and reverse rotation operation according to preset forward and reverse rotation control parameters;

[0029] A third position of the locking and unlocking gun head after the completion of the forward and reverse rotation operation is recorded;

[0030] In the case where it is determined based on the third position that the locking and unlocking gun head meets the unlocking end condition, it is determined that the locking and unlocking gun head is unlocked.

[0031] In the above embodiment, forward and reverse operations are performed on the locking and unlocking gun head that meets the initial unlocking conditions. The stress between the locking and unlocking gun head and the locking part can be released by rapid shaking, preventing the locking and unlocking gun head from being stuck by the locking part when the battery swapping equipment descends after the unlocking is completed, effectively improving the unlocking success rate of the battery swapping equipment, and thereby improving the battery swapping efficiency.

[0032] In some embodiments, the unlocking rotation information further includes a second real-time rotational torque of the locking and unlocking gun head during the unlocking rotation process; the method further includes:

[0033] Determining a real-time rotation angle of the locking and unlocking gun head during the unlocking rotation process based on the unlocking real-time rotation position and the second position;

[0034] When the real-time rotation angle reaches a loose angle threshold and the second real-time rotation torque does not exceed an unlocking torque threshold, determining that the locking member corresponding to the locking and unlocking gun head meets a loosening condition;

[0035] The locking and unlocking gun head is controlled to rotate along the unlocking direction according to a preset loosening rotation speed, and the preset loosening rotation speed is greater than the rotation speed of the locking and unlocking gun head when it rotates at the second preset power growth rate.

[0036] In the above embodiment, when it is determined that the locking part corresponding to the locking and unlocking gun head meets the loosening condition, the controller can control the locking and unlocking gun head to rotate rapidly according to the preset loosening rotation speed, which can not only reduce the risk of unlocking failure due to jamming, but also improve the battery replacement efficiency.

[0037] In some embodiments, the method further comprises:

[0038] In response to a locking instruction for the battery pack to be used, controlling the battery swapping device to be lifted in the direction of the battery pack to be used at a preset lifting speed;

[0039] When the carrying surface of the battery swapping device touches the bottom of the battery pack to be used, the locking and unlocking gun head is controlled to lock and identify the cap;

[0040] When the locking and unlocking gun head completes the locking and recognizing of the cap, the battery swapping device is controlled to continue to be lifted in the direction of the battery pack to be used;

[0041] When it is determined that the battery exchange device has reached the jacking state based on the lifting operation information of the battery exchange device during the lifting process, the locking and unlocking gun head is controlled to rotate along the locking direction for locking.

[0042] In the above embodiment, by controlling the battery swapping equipment to lift the to-be-used battery pack during the locking process, the fitting rate of the battery swapping equipment carrying platform and the battery swapping support can be improved in the case that there is a measurement error in the detection distance between the battery swapping equipment carrying platform and the battery swapping support, and the locking success probability is further improved.

[0043] In some embodiments, the control of the locking of the locking and unlocking gun head along the locking direction includes:

[0044] controlling the locking and unlocking gun head to rotate along the locking direction at a third preset power growth rate, to obtain a third real-time rotation torque of the locking and unlocking gun head during the locking rotation process;

[0045] recording a fourth position of the locking and unlocking gun head when the third real-time rotation torque reaches a preset jamming torque threshold;

[0046] controlling the locking and unlocking gun head to continue rotating for a second preset time length according to the preset jamming torque threshold, and recording a fifth position of the locking and unlocking gun head;

[0047] In the case that the second offset amount according to the fourth position and the fifth position determines that the locking and unlocking gun head meets the normal rotation condition, the locking and unlocking gun head is controlled to continue to rotate along the locking direction for locking.

[0048] In the above embodiment, by performing rotation jamming detection on the locking member corresponding to the locking and unlocking gun head at the initial stage of the locking rotation, only in the case that the locking and unlocking gun head meets the normal rotation condition, the locking and unlocking gun head is controlled to continue to perform the complete locking process, which can effectively reduce the probability of locking failure and motor damage caused by external factors such as rust during the locking process.

[0049] In some embodiments, the control of the locking of the locking and unlocking gun head along the locking direction includes:

[0050] controlling the locking and unlocking gun head to continue to rotate along the locking direction for locking at a preset locking rotation speed, the preset locking rotation speed being greater than the rotation speed of the locking and unlocking gun head when rotating at the third preset power growth rate;

[0051] In the case that the locking real-time rotation position of the locking and unlocking gun head reaches a preset locking critical position during the locking rotation process, the rotation time length of the locking and unlocking gun head from the fifth position to the preset locking critical position is determined.

[0052] In the case that the rotation time length belongs to a preset rotation time length range, the locking and unlocking gun head is controlled to rotate along the locking direction according to a locking torque threshold;

[0053] In a case where the locking real-time rotation position reaches a preset locking position, it is determined that the locking and unlocking of the gun head is completed.

[0054] In the above embodiment, by comparing the rotation duration with the preset rotation duration range, the motor can be determined for operation failure in the locking process, the use reliability of the battery swapping device in use is improved, and the battery swapping efficiency is improved.

[0055] In a second aspect, the application further provides a battery swapping control device, which comprises:

[0056] A locking rotation information acquisition module is configured to acquire a first real-time rotation torque of the locking and unlocking gun head when the locking and unlocking gun head rotates in a locking direction after the locking and unlocking gun head of the battery swapping device completes unlocking and cap recognition;

[0057] A first position recording module is configured to record a first position of the locking and unlocking gun head when the first real-time rotation torque reaches a preset locking torque threshold value;

[0058] A second position recording module is configured to record a second position of the locking and unlocking gun head by controlling the locking and unlocking gun head to rotate continuously for a first preset duration according to the preset locking torque threshold value;

[0059] A locking and unlocking control module is configured to control the locking and unlocking gun head to rotate in an unlocking direction for unlocking in a case where the locking and unlocking gun head meets a preset locking condition according to a first offset between the first position and the second position.

[0060] In a third aspect, the application further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0061] In a fourth aspect, the application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0062] In a fifth aspect, the application further provides a computer program product comprising a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0063] In a sixth aspect, the application further provides a battery swapping device, which comprises a locking and unlocking device and a controller in communication connection with the locking and unlocking device, wherein the locking and unlocking device comprises a locking and unlocking gun head, and the controller is configured to implement the steps of the above method.

[0064] The battery replacing control method, device, computer device, storage medium and computer program product can obtain a first real-time rotating torque of the unlocking and locking gun head when the unlocking and locking gun head rotates in a locking direction after the unlocking and locking of the battery replacing device is completed. The first real-time rotating torque can reflect the rotation of the unlocking and locking gun head in the unlocking process. A first position of the unlocking and locking gun head when the first real-time rotating torque reaches a pre-locking torque threshold is recorded. Then, the unlocking and locking gun head is controlled to rotate continuously for a first preset time period according to the pre-locking torque threshold. A second position of the unlocking and locking gun head is recorded. A first offset of the first position and the second position can represent the rotation amount of the unlocking and locking gun head under the action of the pre-locking torque threshold. In a case where it is determined that the unlocking and locking gun head meets a pre-locking condition according to the first offset, the unlocking and locking gun head is controlled to rotate in an unlocking direction to be unlocked. The pre-locking process of the unlocking and locking gun head in the unlocking process can effectively reduce the probability of unlocking overshoot caused by high-speed unlocking rotation or looseness of the locking part, and improve the battery replacing efficiency of the battery replacing device. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 A structural block diagram of a battery replacing device in some embodiments;

[0066] Figure 2 A structural schematic diagram of an unlocking and locking device in some embodiments;

[0067] Figure 3 A structural schematic diagram of an unlocking and locking assembly in some embodiments;

[0068] Figure 4 A system composition schematic diagram of a battery replacing system in some embodiments;

[0069] Figure 5 A flowchart of a battery replacing control method in some embodiments;

[0070] Figure 6 A flowchart of a battery replacing control method in some other embodiments;

[0071] Figure 7 A flowchart of controlling the unlocking and locking gun head to rotate in an unlocking direction to be unlocked in some embodiments;

[0072] Figure 8 A flowchart of a battery replacing control method in some other embodiments;

[0073] Figure 9 A flowchart of a battery replacing control method in some other embodiments;

[0074] Figure 10 A flowchart of controlling the unlocking and locking gun head to rotate in a locking direction to be locked in some embodiments;

[0075] Figure 11A flowchart of a process of controlling the gun head to continue to rotate the locking in the locking direction for some embodiments;

[0076] Figure 12 A flowchart of an unlocking process of the battery swapping control method for some embodiments;

[0077] Figure 13 A flowchart of a locking process of the battery swapping control method for some embodiments;

[0078] Figure 14 A structural block diagram of the battery swapping control device for some embodiments;

[0079] Figure 15 An internal structural diagram of the electronic device for some embodiments. DETAILED DESCRIPTION

[0080] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0082] In this document, reference to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least some embodiments. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is explicitly contemplated that embodiments described herein can be combined with other embodiments.

[0083] In the description of the embodiments of the present application, the term "a plurality of" refers to two or more (including two), and similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0084] In the description of the embodiments of the present application, the orientations or positional relationships indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0085] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0086] In the process of electric vehicle battery replacement, the locking and unlocking device of the battery replacement equipment can realize accurate positioning and firm connection between the battery pack and the vehicle chassis. By loosening and tightening the bolts of the locking member, the battery pack can be quickly replaced, reducing the complexity and error rate of human operation.

[0087] The unlocking process of battery pack replacement refers to the process of separating the battery pack from the vehicle chassis by loosening the connecting bolts between the battery pack and the vehicle chassis. At present, in the process of unlocking the battery pack, the number of rotating turns of the locking and unlocking gun head is usually monitored, and when the number of rotating turns reaches the preset number of rotating turns, it is determined that the unlocking is completed. However, if the rotating speed of the gun head in the unlocking process is too fast, or the bolts of the locking member of the battery pack have loosened due to the operation of the vehicle, when the number of rotating turns reaches the preset number of rotating turns, the locking and unlocking device may have an overshoot phenomenon, and the bolts on the locking member are at risk of disengaging, which can damage the lock body.

[0088] In order to improve the unlocking success rate and reduce the risk of lock body damage caused by unlocking overshoot, the controller of the battery replacement equipment obtains the first real-time rotating torque of the locking and unlocking gun head when the locking and unlocking gun head rotates in the locking direction after the locking and unlocking gun head of the battery replacement equipment completes the unlocking and cap recognition. The first real-time rotating torque can reflect the rotation of the locking and unlocking gun head during the unlocking process. The first position of the locking and unlocking gun head when the first real-time rotating torque reaches the pre-locking torque threshold is recorded. Then, the locking and unlocking gun head is controlled to rotate continuously for a first preset time according to the pre-locking torque threshold. The second position of the locking and unlocking gun head is recorded. The first offset between the first position and the second position can represent the rotation amount of the locking and unlocking gun head under the action of the pre-locking torque threshold. In the case where it is determined that the locking and unlocking gun head meets the pre-locking condition according to the first offset, the locking and unlocking gun head is controlled to rotate in the unlocking direction to unlock. By pre-locking the locking and unlocking gun head during the unlocking process, the probability of unlocking overshoot caused by high-speed unlocking rotation or looseness of the locking part can be effectively reduced, and the battery replacement efficiency of the battery replacement equipment is improved.

[0089] The battery replacement control method provided by the embodiments of the present application can be applied to the battery replacement equipment as shown in Figure 1 The battery replacement equipment 100 includes a locking and unlocking device 101 and a controller 102 in communication connection with the locking and unlocking device 101.

[0090] The locking and unlocking device 101 includes a locking and unlocking gun head 1011. The locking and unlocking device 101 is in communication connection with the controller 102 and is used to accept the control of the controller 102 to drive the locking and unlocking gun head 1011 to rotate. The locking and unlocking gun head 101 is a component used to contact and cooperate with the locking part of the battery pack to realize the locking and unlocking operation of the battery pack.

[0091] The controller 102 can be in communication connection with the locking and unlocking device 101 installed with the locking and unlocking gun head 1011. By controlling the locking and unlocking device 101, the rotation control of the locking and unlocking gun head 1011 can be realized.

[0092] In some embodiments, the controller 102 can obtain the first real-time rotating torque of the locking and unlocking gun head 1011 when the locking and unlocking gun head 1011 rotates in the locking direction after the locking and unlocking gun head 1011 of the battery replacement equipment 100 completes the unlocking and cap recognition. The first position of the locking and unlocking gun head 1011 when the first real-time rotating torque reaches the pre-locking torque threshold is recorded. The locking and unlocking gun head 1011 is controlled to rotate continuously for a first preset time according to the pre-locking torque threshold. The second position of the locking and unlocking gun head 1011 is recorded. In the case where it is determined that the locking and unlocking gun head 1011 meets the pre-locking condition according to the first offset between the first position and the second position, an unlocking rotation instruction is generated. The unlocking rotation instruction is sent to the locking and unlocking device 101 to control the locking and unlocking device 101 to drive the locking and unlocking gun head 1011 to rotate in the unlocking direction to unlock.

[0093] The above battery replacing device, after the unlocking and cap recognizing of the locking and unlocking gun head of the battery replacing device is completed, a first real-time rotating torque when the locking and unlocking gun head rotates in the locking direction is obtained, the first real-time rotating torque can reflect the rotating condition of the locking and unlocking gun head in the unlocking process, a first position of the locking and unlocking gun head when the first real-time rotating torque reaches a pre-locking torque threshold is recorded, then the locking and unlocking gun head is controlled to rotate continuously for a first preset time length according to the pre-locking torque threshold, a second position of the locking and unlocking gun head is recorded, and a first offset of the first position and the second position can represent the rotating amount of the locking and unlocking gun head under the action of the pre-locking torque threshold. In the case that the locking and unlocking gun head meets the pre-locking condition according to the first offset, the locking and unlocking gun head is controlled to rotate in the unlocking direction to unlock. Through the pre-locking process of the locking and unlocking gun head in the unlocking process, the probability of unlocking overshoot caused by high-speed unlocking rotation or looseness of the locking part itself can be effectively reduced, and the battery replacing efficiency of the battery replacing device is improved.

[0094] In some embodiments, as shown in Figure 2 The locking and unlocking device 101 can include a servo motor 201, a speed reducer 202, and a locking and unlocking assembly 203.

[0095] The speed reducer 202 is connected to the servo motor 201 at one end and connected to the locking and unlocking assembly 203 at the other end.

[0096] The servo motor 201 is used to drive the driving assembly of the locking and unlocking gun head 1011 in the locking and unlocking assembly 203 in response to the control signal of the controller. The servo motor 201 can be positively rotated and reversely rotated around the axis in response to the control signal sent by the controller, and can accurately control the rotating process according to the set parameters, and can monitor the rotating state information in real time during the rotating process, such as the torque value, the rotating position (number of turns / angle), etc.

[0097] The structure of the locking and unlocking assembly 203 is shown in Figure 3 The locking and unlocking assembly 203 includes a gun seat 2031, a latch 2032, a spring 2033, and a locking and unlocking gun head 1011. A long hole is formed on the locking and unlocking gun head 1011, and the locking and unlocking gun head 1011 and the gun seat 2031 are flexibly connected through the latch 2032. The locking and unlocking gun head 1011 can move within a certain limit along the axis. A spring 2033 is arranged between the locking and unlocking gun head 1011 and the gun seat 2031, which will be compressed when the pressure exceeds a certain pressure, and will recover when the external pressure decreases, so as to realize the adaptive movement of the locking and unlocking gun head 1011 along the axis.

[0098] In some embodiments, a battery replacing system is provided, as shown in Figure 4 The battery replacing system can include a battery replacing robot 400, a battery pack 402, and a battery replacing support 403, wherein the battery pack 402 is provided with a quick replacing lock 404.

[0099] The battery replacing robot 400 is provided with a locking and unlocking device 101, which includes a servo motor, a speed reducer and a locking and unlocking assembly at the top. The locking and unlocking assembly includes a gun seat 2031, a latch (not shown in the figure), a spring 2033 and a locking and unlocking gun head 1011.

[0100] During use, the controller (not shown in the figure) can control the locking and unlocking assembly 203 at the top of the locking and unlocking device 101 to contact the quick-change lock 402 on the battery pack 401, and by locking or unlocking the quick-change lock 402, the battery pack 401 can be installed on the battery replacing bracket 403 or taken out from the battery replacing bracket 403.

[0101] In some embodiments, as shown in Figure 5 A battery replacing control method is provided, which is applied to the controller of the above battery replacing device, and the method includes:

[0102] S502, after the locking and unlocking gun head of the battery replacing device completes the unlocking cap recognition, the first real-time rotating torque of the locking and unlocking gun head when rotating in the locking direction is obtained.

[0103] The cap recognition is a step of confirming that the locking and unlocking gun head and the locking member on the battery pack are in the correct locking or unlocking position. During the locking and unlocking process, the locking and unlocking gun head needs to be in the correct locking or unlocking position with the corresponding locking member, i.e., the locking and unlocking gun head and the locking member need to be in the sleeved state to achieve locking or unlocking. The unlocking cap recognition is a confirmation step of judging whether the locking and unlocking gun head is in the sleeved state with the locking member during unlocking. After the unlocking cap recognition is completed, it can be considered that the locking and unlocking gun head and the corresponding locking member are already in the correct initial unlocking position, i.e., the locking and unlocking gun head and the locking member are already in the sleeved state, and the subsequent unlocking operation can be performed. By performing the cap recognition operation on the locking and unlocking gun head during the locking and unlocking process, the success rate of locking and unlocking can be improved, and the probability of locking and unlocking failure and damaging the lock body can be reduced.

[0104] The locking direction is the direction of rotation of the locking and unlocking gun head when locking the locking member. It can be understood that the locking direction and the unlocking direction are opposite rotating directions. The controller is pre-provided with the locking direction and the unlocking direction.

[0105] The first real-time rotating torque is the real-time torque value of the locking and unlocking gun head when rotating in the locking direction after the unlocking cap recognition is completed, which can be considered as the real-time torque value of the locking and unlocking gun head in the pre-locking process.

[0106] In some optional embodiments, the controller can obtain the first real-time rotating torque of the locking and unlocking gun head when rotating in the locking direction after determining that the locking and unlocking gun head of the battery replacing device completes the unlocking cap recognition.

[0107] In some embodiments, the controller can obtain the first real-time rotation torque of the unlocking gun head when the unlocking gun head rotates in the locking direction through the servo motor in the unlocking device.

[0108] In some embodiments, when the unlocking gun head touches the locking piece of the battery pack, the controller can control the unlocking gun head to rotate in the locking direction according to the preset cap recognition rotation parameter, and obtain the cap recognition real-time torque of the unlocking gun head in the cap recognition process. The cap recognition real-time torque is compared with the preset cap recognition torque threshold. When the cap recognition real-time torque reaches the preset cap recognition torque threshold, it is determined that the unlocking gun head successfully unlocks the cap recognition. The preset cap recognition torque threshold can be determined by the designer in advance according to experimental data or experience data, for example, the preset cap recognition torque threshold can be 45 N.m.

[0109] S504, record the first position of the unlocking gun head when the first real-time rotation torque reaches the pre-locking torque threshold.

[0110] The pre-locking torque threshold is a preset judgment threshold for determining whether the unlocking gun head enters the pre-locking judgment procedure. Since the pre-locking process is an insurance process set to prevent over-unlocking, under normal circumstances, the locking piece should be in the locked state. In order to avoid the situation that the locking piece is locked too much due to pre-locking, the pre-locking torque threshold is less than the locking torque threshold.

[0111] In some embodiments, the pre-locking torque threshold can be the unlocking torque threshold of the locking piece. The unlocking torque threshold of the locking piece refers to the torque value required to loosen the locking piece that has been tightened.

[0112] In some embodiments, the unlocking torque threshold of the locking piece can be 60% of the locking torque threshold, for example, when the locking torque threshold is 250 N.m, the corresponding unlocking torque threshold can be 150 N.m. At this time, the pre-locking torque threshold can be any torque value in [150 N.m, 250 N.m).

[0113] In some embodiments, the unlocking torque threshold of the locking piece can be determined according to the locking torque threshold and the torque attenuation coefficient. The torque attenuation coefficient is related to the service time and usage of the locking piece, for example, the longer the service time of the locking piece, the greater the torque attenuation coefficient. The controller can determine the torque attenuation coefficient of the locking piece according to the service time of the battery pack, and determine the unlocking torque threshold of the locking piece based on the torque attenuation coefficient and the locking torque threshold of the locking piece.

[0114] In some optional embodiments, the controller can compare the first real-time rotation torque of the unlocking gun head monitored during the control of the rotation of the unlocking gun head with the pre-locking torque threshold, and record the first position of the unlocking gun head at this time in the case where the first real-time rotation torque reaches the pre-locking torque threshold.

[0115] In some embodiments, the controller can obtain a pre-locking real-time rotation position of the unlocking gun head when the unlocking gun head rotates in the locking direction during the control of the rotation of the unlocking gun head, and record the pre-locking real-time rotation position of the unlocking gun head at the current time as the first position of the unlocking gun head in the case where the pre-locking real-time rotation torque reaches the pre-locking torque threshold. The pre-locking real-time rotation position is real-time position information of the unlocking gun head obtained by monitoring the position of the unlocking gun head when the unlocking gun head rotates in the locking direction after the unlocking cap recognition is completed, such as the real-time rotation number or real-time rotation angle of the unlocking gun head.

[0116] S506, control the unlocking gun head to rotate for a first preset time length according to the pre-locking torque threshold, and record the second position of the unlocking gun head.

[0117] The first preset time length is the minimum time length for the unlocking gun head to rotate when judging whether the locking member is abnormally loose, which can be determined by designers according to experimental data or experience data, for example, the first preset time length can be set to 2 seconds.

[0118] In some optional embodiments, the controller can control the unlocking gun head to rotate for a first preset time length according to the pre-locking torque threshold after recording the first position of the unlocking gun head, and record the second position of the unlocking gun head at the current time.

[0119] In some embodiments, the controller can record the first real-time rotation position of the unlocking gun head at the current time as the second position of the unlocking gun head.

[0120] S508, in the case where it is determined that the unlocking gun head meets the pre-locking condition according to the first offset between the first position and the second position, control the unlocking gun head to rotate in the unlocking direction to unlock.

[0121] The first offset between the first position and the second position can represent the rotation amount of the unlocking gun head under the action of the pre-locking torque threshold within the first preset time length, that is, the lockable amount of the locking member in the locking direction.

[0122] The pre-locking condition is a preset judgment condition for judging whether the pre-locking of the unlocking gun head is successful. When the unlocking gun head meets the pre-locking condition, it indicates that the locking member corresponding to the unlocking gun head may be in a locked state or a normally loose state before pre-locking. By exerting a pre-locking torque threshold on the locking member within a first preset time, the state of the locking member is successfully maintained or controlled in the locked state, and the subsequent unlocking operation can be performed without worrying about the problem of over-unlocking.

[0123] In some embodiments, the pre-locking condition can be that the first offset is less than or equal to a normal offset threshold. For example, when the first offset is less than or equal to 30°, it is determined that the unlocking gun head meets the pre-locking condition.

[0124] In some embodiments, the pre-locking condition can be that the first offset belongs to a preset offset interval. For example, when the first offset belongs to a preset offset interval, it is determined that the unlocking gun head meets the pre-locking condition.

[0125] In some optional embodiments, the controller can calculate the position offset between the first position and the second position to obtain the first offset, and determine whether the unlocking gun head meets the pre-locking condition according to the first offset. When it is determined that the unlocking gun head meets the pre-locking condition, it is determined that the unlocking gun head is currently in a normally locked state, and the unlocking operation of the unlocking gun head will not have the risk of over-unlocking. The controller can control the unlocking gun head to rotate and unlock in the unlocking direction.

[0126] In the above embodiments, after the unlocking gun head of the battery replacement device completes the unlocking and recognizes the cap, the first real-time rotation torque of the unlocking gun head when rotating in the locking direction is obtained. The first real-time rotation torque can reflect the rotation of the unlocking gun head during the unlocking process. The first position of the unlocking gun head when the first real-time rotation torque reaches the pre-locking torque threshold is recorded. Then, the unlocking gun head is controlled to rotate continuously for a first preset time according to the pre-locking torque threshold. The second position of the unlocking gun head is recorded. The first offset between the first position and the second position can represent the rotation amount of the unlocking gun head under the action of the pre-locking torque threshold. When it is determined that the unlocking gun head meets the pre-locking condition according to the first offset, the unlocking gun head is controlled to rotate and unlock in the unlocking direction. By pre-locking the unlocking gun head during the unlocking process, the probability of over-unlocking caused by high-speed unlocking rotation or the looseness of the locking member itself can be effectively reduced, and the battery replacement efficiency of the battery replacement device is improved.

[0127] In other embodiments, the pre-locking torque threshold is a unlocking torque threshold for the locking member. The battery swap control method further includes: if it is determined that the locking and unlocking gun head does not meet the pre-locking conditions, generating a fault prompt message based on the locking member position corresponding to the locking and unlocking gun head. The fault prompt message is sent to the control system within the battery swap station. The fault prompt message is used to indicate that the locking member at the locking member position is at risk of loosening.

[0128] Among them, the control system within the battery swap station is a control system used to coordinate and control all battery swap operations within the battery swap station.

[0129] In some optional embodiments, if the controller determines that the locking and unlocking gun head does not meet the pre-locking conditions, it indicates that the locking member corresponding to the locking and unlocking gun head may be in an abnormally loose state before pre-locking, and may be at risk of falling off during vehicle operation, requiring manual troubleshooting by operation and maintenance personnel. The controller can obtain the position information of the locking member corresponding to the locking and unlocking gun head, determine the position of the locking member, generate a fault prompt message based on the position of the locking member, and send the fault prompt message to the control system within the battery swap station, thereby notifying the operation and maintenance personnel through the fault prompt message that the locking member at the locking member position is at risk of becoming loose.

[0130] In the above embodiment, when the locking part corresponding to the locking and unlocking gun head does not meet the pre-locking conditions, by generating a fault prompt message, the operation and maintenance personnel can be prompted to conduct a risk check on the locking parts that may be at risk of loosening, thereby effectively improving the installation stability of the battery pack during vehicle operation, and thereby improving the safety and stability of vehicle operation.

[0131] In some embodiments, when the controller determines that the locking and unlocking gun head does not meet the pre-locking condition, the controller can control the locking and unlocking gun head to continue rotating for a first preset time according to the pre-locking torque threshold, and record the second position of the locking and unlocking gun head at this time, and determine whether the locking and unlocking gun head meets the pre-locking condition based on the first offset between the first position and the second position, and whether the number of returns to execute the continuous operation for the first preset time reaches a preset number threshold.

[0132] If the locking and unlocking gun head does not meet the pre-locking condition and the number of returns to execute the continuous operation for the first preset time period does not reach the preset number threshold, the step of controlling the locking and unlocking gun head to continue rotating for the first preset time period according to the pre-locking torque threshold is returned to.

[0133] When the locking and unlocking gun head meets the pre-locking conditions and the number of returns to execute the continuous operation for the first preset time period does not reach the preset number threshold, it is determined that the pre-locking is completed and a pre-locking abnormality prompt message is generated to prompt the pre-locking abnormality.

[0134] In a case where the unlocking and locking gun head does not meet the pre-locking condition and the return execution of the continuous running for the first preset time duration reaches the preset number threshold, it is determined that the pre-locking fails, a fault prompt information is generated according to the position of the locking member, and the fault prompt information is sent to the control system in the battery swapping station to prompt the operation and maintenance personnel that the locking member of the locking member position has a loosening risk through the fault prompt information.

[0135] Since the pre-locking process is a process of locking the locking member with unlocking demand, the locking member may be in a normal locking state at this time. Therefore, in order to reduce the risk of overlocking caused by the pre-locking process, in some embodiments, S502, after the unlocking and locking gun head of the battery swapping equipment completes the unlocking and cap recognition, the first real-time rotation torque of the unlocking and locking gun head when rotating in the locking direction is obtained, including:

[0136] After the unlocking and locking gun head of the battery swapping equipment completes the unlocking and cap recognition, a first preset power growth rate of the unlocking and locking gun head in the pre-locking judgment program is obtained, the unlocking and locking gun head is controlled to rotate in the locking direction based on the first preset power growth rate, and the first real-time rotation torque of the unlocking and locking gun head in the rotating process is obtained.

[0137] The first preset power growth rate is a control parameter of the change of the rotation torque when the unlocking and locking gun head is controlled to rotate in the locking direction in the unlocking process, and can reflect the change of the rotation torque of the unlocking and locking gun head with the rotation time in the rotating process. The first preset power growth rate can be determined by a designer according to experimental data or experience data, so that the real-time rotation torque of the unlocking and locking gun head can quickly reach the pre-locking torque threshold, and the locking member will not be overlocked in the rotating process.

[0138] In some optional embodiments, the controller can obtain the first preset power growth rate of the unlocking and locking gun head in the pre-locking judgment program after determining that the unlocking and locking gun head of the battery swapping equipment completes the unlocking and cap recognition, control the unlocking and locking gun head to rotate in the locking direction based on the first preset power growth rate, and obtain the first real-time rotation torque of the unlocking and locking gun head in the rotating process.

[0139] In the above embodiments, by setting the first preset power growth rate and controlling the unlocking and locking gun head to rotate in the locking direction based on the first preset power growth rate, the rotating power of the unlocking and locking gun head can be gradually increased in the rotating process, the stability of the gun head rotation is improved, and the risk of overlocking of the locking member caused by too fast rotation speed or too large rotating power is reduced.

[0140] In some embodiments, as shown in Figure 6 The battery swapping control method can further include the following steps:

[0141] S602, in response to the unlocking instruction for the battery pack to be replaced, controlling the battery swap equipment to ascend along a direction in which the battery pack to be replaced is located at a preset ascending speed.

[0142] The battery pack to be replaced refers to a battery pack that has been used by a vehicle and needs to be replaced, such as a battery pack that is not in a full charge state or has been discharged. The unlocking instruction for the battery pack to be replaced is an instruction signal for instructing the unlocking of the battery pack to be replaced.

[0143] The preset ascending speed is the moving speed of the battery swap equipment along the direction in which the battery pack to be replaced is located. For example, if the battery pack to be replaced is located directly above the battery swap equipment, the direction in which the battery pack to be replaced is located is the vertical upward direction.

[0144] In some optional embodiments, the controller controls the battery swap equipment to ascend along the direction in which the battery pack to be replaced is located at the preset ascending speed in response to the unlocking instruction for the battery pack to be replaced.

[0145] S604, in the case where the bearing plane of the battery swap equipment contacts the bottom of the battery pack to be replaced, controlling the battery swap equipment to continue ascending along the direction in which the battery pack to be replaced is located at the preset ascending speed.

[0146] In some optional embodiments, the controller can continue to control the battery swap equipment to continue ascending along the direction in which the battery pack to be replaced is located at the preset ascending speed in the case where the bearing plane of the battery swap equipment contacts the bottom of the battery pack to be replaced.

[0147] In some embodiments, an image acquisition component is arranged on the battery swap equipment, and the image acquisition component is in communication connection with the controller. When the controller controls the battery swap equipment to ascend along the direction in which the battery pack to be replaced is located at the preset ascending speed, the controller also controls the image acquisition component to acquire images of the bottom of the battery pack to be replaced, and determines whether the bearing plane of the battery swap equipment contacts the bottom of the battery pack to be replaced based on the image data obtained by the image acquisition.

[0148] S606, acquiring ascending operation information of the battery swap equipment in the ascending process.

[0149] The ascending operation information is information data for representing the ascending state of the battery swap equipment in the ascending process. It can be understood that the ascending operation information can include at least one of a real-time ascending force or a real-time ascending displacement.

[0150] In some optional embodiments, the controller acquires the ascending operation information of the battery swap equipment in the ascending process when controlling the battery swap equipment to ascend along the direction in which the battery pack to be replaced is located.

[0151] S608, in the case where it is determined that the battery swap equipment reaches the jacking state based on the ascending operation information, controlling the unlocking and unlocking gun head of the battery swap equipment to unlock the cap.

[0152] The jacking state refers to a state in which the battery swapping device continuously applies a certain lifting force after the to-be-swapped battery pack is lifted over the top. In the case where the battery swapping device reaches the jacking state, it can be considered that there is no or reduced force between the to-be-swapped battery pack and the battery swapping support.

[0153] In some optional embodiments, the controller judges the jacking of the battery swapping device based on the lifting operation information, and controls the locking and unlocking gun head of the battery swapping device to be unlocked in the case where it is determined that the battery swapping device reaches the jacking state.

[0154] In some of the embodiments, the lifting operation information includes a real-time lifting force. The controller compares the real-time lifting force with a preset jacking force, and determines that the battery swapping device reaches the jacking state in the case where the real-time lifting force reaches the preset jacking force. The preset jacking force can be determined according to the battery pack weight of the to-be-swapped battery pack and a preset jacking ratio.

[0155] In some of the embodiments, the lifting operation information includes a real-time lifting displacement. The controller compares the real-time lifting displacement with a preset jacking displacement, and determines that the battery swapping device reaches the jacking state in the case where the real-time lifting displacement reaches the preset jacking displacement.

[0156] In some of the embodiments, the lifting operation information can include a real-time lifting force and a real-time lifting displacement. The controller determines that the battery swapping device reaches the jacking state in the case where the real-time lifting force is greater than or equal to a preset jacking force, and the real-time lifting displacement is greater than or equal to a preset jacking displacement.

[0157] In the above embodiments, by controlling the battery swapping device to jack the to-be-swapped battery pack, the reverse stress generated by the rebound of the battery swapping support during the unlocking process can be offset, and the unlocking difficulty can be reduced.

[0158] In order to improve the unlocking success rate, in some embodiments, as shown in FIG. 8, the control of the locking and unlocking gun head to rotate in the unlocking direction to unlock in S508 includes: Figure 7

[0159] S702, control the locking and unlocking gun head to rotate in the unlocking direction at a second preset power growth rate, and obtain unlocking rotation information of the locking and unlocking gun head rotating in the unlocking direction.

[0160] The unlocking rotation information includes a real-time unlocking rotation position of the locking and unlocking gun head.

[0161] ​The second preset power growth rate is a control parameter for controlling the change of the rotating torque of the unlocking gun head when rotating in the unlocking direction, and can reflect the change of the rotating torque of the unlocking gun head with the rotating time in the initial unlocking rotation process. The second preset power growth rate can be determined by the designer according to experimental data or empirical data. It can be understood that the second preset power growth rate can be the same as the first preset power growth rate, or can be different from the first preset power growth rate.

[0162] The unlocking rotation information is information data for reflecting the rotation of the unlocking gun head in the unlocking direction. The unlocking rotation information includes the unlocking real-time rotation position of the unlocking gun head, which is the real-time position information of the unlocking gun head obtained by monitoring the position of the unlocking gun head when rotating in the unlocking direction during the unlocking process.

[0163] In some optional embodiments, when the controller determines that the unlocking gun head meets the pre-locking condition, the controller can control the unlocking gun head to rotate in the unlocking direction at a second preset growth rate, and obtain unlocking rotation information of the unlocking gun head when rotating in the unlocking direction. The unlocking rotation information includes the unlocking real-time rotation position of the unlocking gun head.

[0164] S704, when it is determined according to the unlocking real-time rotation position that the unlocking gun head meets the initial unlocking condition, the unlocking gun head is controlled to perform a positive and negative rotation operation according to a preset positive and negative rotation control parameter.

[0165] The initial unlocking condition is a preset determination condition for determining whether the unlocking gun head has rotated to a preset unlocking position. When it is determined according to the unlocking real-time rotation position that the unlocking gun head has rotated to the preset unlocking position, it can be determined that the unlocking gun head meets the initial unlocking condition.

[0166] The preset positive and negative rotation control parameter is a control parameter corresponding to the positive and negative rotation operation of the unlocking gun head. The preset positive and negative rotation control parameter can include a positive and negative rotation angle, a positive and negative rotation speed, a positive and negative rotation time, etc.

[0167] The positive and negative rotation operation refers to an operation process in which the unlocking gun head rotates in the locking direction and the unlocking direction alternately by the same positive and negative rotation angle at a positive and negative rotation speed. It can be understood that the positive and negative rotation speed is greater than the rotating speed of the unlocking gun head during normal unlocking. By controlling the unlocking gun head to perform the positive and negative rotation operation, the stress between the unlocking gun head and the locking member can be released in a rapid shaking manner, so that the unlocking gun head is prevented from being stuck by the locking member when the battery replacement device descends after unlocking.

[0168] In some optional embodiments, the controller can determine whether the unlocking gun head meets the initial unlocking condition by comparing the unlocking real-time rotation position with the preset unlocking position, and control the unlocking gun head to perform the forward-reverse rotation operation according to the preset forward-reverse rotation control parameter when it is determined that the unlocking gun head meets the initial unlocking condition.

[0169] S706, record the third position of the unlocking gun head after the completion of the forward-reverse rotation operation.

[0170] In some optional embodiments, the controller can record the unlocking real-time rotation position of the unlocking gun head at this time as the third position of the unlocking gun head after controlling the unlocking gun head to perform the forward-reverse rotation operation.

[0171] S708, determine that the unlocking of the unlocking gun head is completed when it is determined that the unlocking gun head meets the unlocking end condition according to the third position.

[0172] The unlocking end condition is a preset judgment condition for judging whether the unlocking of the unlocking gun head is completed.

[0173] In some optional embodiments, the controller can determine whether the unlocking gun head meets the unlocking end condition based on the position offset of the unlocking gun head from the preset unlocking position according to the third position, and determine that the unlocking of the unlocking gun head is completed when the unlocking gun head meets the unlocking end condition.

[0174] In some embodiments, if the third position of the unlocking gun head reaches the preset unlocking position, it can be determined that the unlocking gun head meets the unlocking end condition.

[0175] In some embodiments, if the third position of the unlocking gun head belongs to the preset unlocking position range, it can be determined that the unlocking gun head meets the unlocking end condition, wherein the preset unlocking position range is a range interval composed of the preset unlocking position and a preset unlocking threshold position, and the preset unlocking threshold position is an upper limit value of the unlocking position. If the unlocking gun head rotates beyond the preset unlocking threshold position, it can be considered that there is an excessive unlocking risk at this time.

[0176] In some embodiments, if the third position of the unlocking gun head does not reach the preset unlocking position, it means that the unlocking gun head may have rotated a certain displacement in the locking direction relative to the preset unlocking position due to operation errors or inertia during the forward-reverse rotation operation. The controller needs to control the unlocking gun head to rotate in the unlocking direction until the position of the unlocking gun head reaches the preset unlocking position, and then it can be determined that the unlocking gun head meets the unlocking end condition.

[0177] In some embodiments, if the third position of the locking and unlocking gun head exceeds the preset unlocking threshold position, the controller needs to control the locking and unlocking gun head to rotate in the locking direction until the position of the locking and unlocking gun head reaches the preset unlocking position, and then it can be determined that the locking and unlocking gun head meets the unlocking end condition.

[0178] In the above embodiments, the locking and unlocking gun head that meets the initial unlocking condition is subjected to the forward and reverse rotation operation, which can release the stress between the locking and unlocking gun head and the locking member in a rapid shaking manner, prevent the locking and unlocking gun head from being stuck by the locking member when the battery replacement device descends after unlocking, and effectively improve the unlocking success rate of the battery replacement device, thereby improving the battery replacement efficiency.

[0179] In addition to improving the unlocking success rate, in some embodiments, in order to further improve the unlocking efficiency, as shown in Figure 8 The unlocking rotation information further includes a second real-time rotation torque of the locking and unlocking gun head in the unlocking rotation process. The battery replacement control method can further include the following steps:

[0180] S802, based on the unlocking real-time rotation position and the second position, determining a real-time rotation angle of the locking and unlocking gun head in the unlocking rotation process.

[0181] In some optional embodiments, the controller can compare the monitored unlocking real-time rotation position with the second position to determine the real-time rotation angle of the locking and unlocking gun head in the unlocking rotation process during the control of the locking and unlocking gun head to rotate in the unlocking direction.

[0182] S804, in the case where the real-time rotation angle reaches a loosening angle threshold value and the second real-time rotation torque does not exceed an unlocking torque threshold value, it is determined that the locking member corresponding to the locking and unlocking gun head meets a loosening condition.

[0183] The loosening angle threshold value is a preset angle threshold value parameter for judging whether the locking member is loosened. The unlocking torque threshold value is an upper limit value of the torque that can be applied to the locking and unlocking gun head in the unlocking state. In order to protect the stable operation of the motor in the locking and unlocking device, the torque applied by the controller when controlling the locking and unlocking gun head to rotate cannot exceed the unlocking torque threshold value.

[0184] The loosening condition is a preset judgment condition for judging whether the locking member corresponding to the locking and unlocking gun head has been loosened. It can be understood that the loosening angle threshold value and the loosening torque threshold value can be determined by the designer according to experimental data or empirical data in advance.

[0185] In some optional embodiments, the controller can compare the real-time rotation angle with the loosening angle threshold value, and at the same time, compare the monitored second real-time rotation torque with the unlocking torque threshold value. In the case where the real-time rotation angle reaches the loosening angle threshold value and the second real-time rotation torque does not exceed the unlocking torque threshold value, it is determined that the locking member corresponding to the locking and unlocking gun head meets the loosening condition.

[0186] In some embodiments, if the second real-time rotation torque reaches the unlocking torque threshold, but the real-time rotation angle does not reach the loosening angle threshold, it can be considered that the locking member may be stuck, for example, the locking member is rusty or the inside is blocked by dust, stones, etc., so that even if the unlocking torque threshold is applied, the locking member cannot be loosened. At this time, the controller can generate a stuck fault prompt information according to the position of the locking member corresponding to the unlocking gun head, and prompt that the locking member may be stuck through the stuck fault prompt information.

[0187] S806, controlling the unlocking gun head to rotate in the unlocking direction at a preset loosening rotation speed.

[0188] The preset loosening rotation speed is greater than the rotation speed of the unlocking gun head when rotating at the second preset power growth rate. Because a large torque is needed at the moment of unlocking, the unlocking gun head can be controlled to rotate at the second preset power growth rate at the beginning of unlocking. When the locking member meets the loosening condition, the rotation resistance of the unlocking gun head will quickly decrease, and at this time, the unlocking can be quickly performed at the preset loosening rotation speed, thereby improving the battery replacement efficiency.

[0189] In some embodiments, the controller controls the unlocking gun head to rotate in the unlocking direction at a preset loosening rotation speed when determining that the locking member corresponding to the unlocking gun head meets the loosening condition.

[0190] In the above embodiments, when the controller determines that the locking member corresponding to the unlocking gun head meets the loosening condition, the controller can control the unlocking gun head to rotate quickly at a preset loosening rotation speed, which can reduce the risk of unlocking failure due to sticking and improve the battery replacement efficiency.

[0191] In addition to the above control method during unlocking, how to lock the battery pack is also an important step of battery pack battery replacement. The following will illustrate the locking process of the battery replacement device through several embodiments.

[0192] In some embodiments, as shown in Figure 9 The battery replacement control method can further include the following steps:

[0193] S902, in response to a locking instruction for a to-be-used battery pack, the battery replacement device is controlled to lift in a direction of the to-be-used battery pack at a preset lifting speed.

[0194] The to-be-used battery pack refers to a battery pack that needs to be installed on a vehicle, for example, a full-electric battery pack. The locking instruction of the to-be-used battery pack is an instruction signal for indicating to lock the to-be-used battery pack.

[0195] In some optional embodiments, the controller responds to a locking instruction for the battery pack to be used and controls the battery exchange equipment to lift the battery pack to be used at a preset lifting speed in the direction of the battery pack to be used.

[0196] S904, when the carrying surface of the battery swap device touches the bottom of the battery pack to be used, control the locking and unlocking gun head to lock and identify the cap.

[0197] Among them, the locking cap recognition step is to determine whether the locking and unlocking gun head is in the inserted state with the locking part during the locking process.

[0198] In some optional embodiments, when the controller determines that the carrying surface of the battery exchange device is in contact with the bottom of the battery pack to be replaced, the controller can control the locking and unlocking gun head to lock and identify the cap.

[0199] S906, when the locking and unlocking gun head completes the locking and cap recognition, control the battery swap equipment to continue lifting in the direction of the battery pack to be used.

[0200] In some optional embodiments, when the controller determines that the locking and unlocking gun head has completed the lock recognition, it can be assumed that the locking and unlocking gun head and the corresponding locking member are now in the correct initial locking position, that is, the locking and unlocking gun head and the locking member are in the nested state, and subsequent locking operations can be performed. The controller will continue to control the battery swapping equipment to lift in the direction of the battery pack to be used.

[0201] S908, based on the lifting operation information of the battery swapping equipment during the lifting process, when it is determined that the battery swapping equipment has reached the jacking state, the locking and unlocking gun head is controlled to rotate along the locking direction for locking.

[0202] In some embodiments, when controlling the battery swap device to lift in the direction of the battery pack to be used, the controller obtains the lifting operation information of the battery swap device during the lifting process. When it is determined based on the lifting operation information that the battery swap device has reached the jacking state, the controller controls the locking and unlocking gun head to rotate in the locking direction to lock. It is understandable that the specific implementation steps of the controller determining whether the battery swap device has reached the jacking state based on the lifting operation information of the battery swap device are basically the same as the specific implementation steps in the above S608 and will not be repeated here.

[0203] In the above embodiment, by controlling the battery swapping equipment to lift the battery pack to be used during the locking process, the fitting rate between the carrying platform of the battery swapping equipment and the battery swapping bracket can be improved when there is a measurement error in the detection distance between the carrying platform of the battery swapping equipment and the battery swapping bracket, thereby increasing the probability of successful locking.

[0204] In some embodiments, as Figure 10 As shown, the control of locking and unlocking the gun head in S908 rotates along the locking direction to lock, including:

[0205] S1002, controlling the locking and unlocking gun head to rotate along the locking direction according to a third preset power growth rate, and obtaining a third real-time rotational torque of the locking and unlocking gun head during the locking rotation process.

[0206] The third preset power growth rate is a control parameter for the change in rotational torque when the locking and unlocking gun head rotates in the locking direction during the locking process. It can reflect the change in the rotational torque of the locking and unlocking gun head over the rotation time during the rotation process. The third preset power growth rate can be determined by the designer based on experimental data or empirical data. It is understood that the third preset power growth rate can be the same as or different from the first preset power growth rate and / or the second preset power growth rate.

[0207] The third real-time rotational torque is a real-time torque value obtained by monitoring the torque of the locking and unlocking gun head when the gun head rotates along the locking direction during the locking process.

[0208] In some optional embodiments, when the controller determines that the battery exchange equipment has reached the jacking state, it can control the locking and unlocking gun head to rotate in the locking direction according to a third preset power growth rate, and at the same time obtain the third real-time rotational torque of the locking and unlocking gun head during the locking rotation process.

[0209] S1004, recording the fourth position of the unlocking gun head when the third real-time rotation torque reaches the preset jamming torque threshold.

[0210] The preset jam torque threshold is the starting torque value for rotation jam detection. When the real-time rotation torque reaches the preset jam torque threshold, rotation jam detection can be performed on the locking member. It is understood that the preset jam torque threshold can be set by the designer based on actual needs. To prevent damage to the lock body, the preset jam torque threshold will be lower than the locking torque threshold. For example, the preset jam torque threshold can be 100 N.m.

[0211] In some optional embodiments, when the controller controls the locking and unlocking gun head to rotate in the locking direction according to a third preset power growth rate, the controller can compare the monitored third real-time rotational torque with the preset jamming torque threshold, and when the third real-time rotational torque reaches the preset jamming torque threshold, record the fourth position of the locking and unlocking gun head at this time.

[0212] In some embodiments, the controller can further monitor the real-time position information of the unlocking gun head when controlling the unlocking gun head to rotate in the locking direction at the third preset power growth rate, and determine a locking real-time rotation position of the unlocking gun head. When the third real-time rotation torque reaches the preset jamming torque threshold, the controller can record the third real-time rotation position as a fourth position of the unlocking gun head. The locking real-time rotation position is the real-time position information of the unlocking gun head obtained by monitoring the position of the unlocking gun head when rotating in the locking direction during the locking process, for example, the real-time rotation number or the real-time rotation angle of the unlocking gun head.

[0213] S1006, controlling the unlocking gun head to rotate continuously for a second preset time length according to the preset jamming torque threshold, and recording a fifth position of the unlocking gun head.

[0214] The second preset time length is the rotation time length required for the unlocking gun head to rotate during the jamming detection. It can be understood that the second preset time length can be determined by the designer according to the actual demand.

[0215] In some optional embodiments, after recording the fourth position of the unlocking gun head at this time, the controller continues to control the unlocking gun head to rotate continuously for a second preset time length according to the preset jamming torque threshold, and records the fifth position of the unlocking gun head at this time.

[0216] S1008, in the case that the unlocking gun head meets the normal rotation condition according to the second offset between the fourth position and the fifth position, controlling the unlocking gun head to continue to rotate in the locking direction for locking.

[0217] The second offset can represent the rotation amount of the unlocking gun head when the preset jamming torque threshold is applied to the unlocking gun head for a second preset time length. The normal rotation condition is a preset judgment condition for judging whether the unlocking gun head can rotate normally for locking.

[0218] In some optional embodiments, the controller can calculate the position offset between the fourth position and the fifth position to obtain the second offset, and compare the second offset with the normal rotation condition. In the case that the unlocking gun head meets the normal rotation condition according to the second offset, it indicates that the locking member does not jam during the rotation process at this time, and the subsequent locking operation can be continued. The controller controls the unlocking gun head to continue to rotate in the locking direction for locking.

[0219] In other embodiments, if the locking and unlocking head determines, based on the second offset, that it does not meet the normal rotation conditions, this indicates that the locking member is stuck. For example, the locking member is rusted or blocked by dust or stones, resulting in the locking and unlocking head being unable to rotate normally when a torque exceeding a preset jam torque threshold is continuously applied to the locking and unlocking head. In this case, the controller can generate a jam fault prompt message based on the locking member position corresponding to the locking and unlocking head, indicating that the locking member may be stuck through the jam fault prompt message.

[0220] In some embodiments, the normal rotation condition may be that the second offset reaches a preset unstuck offset. The preset unstuck offset may be determined by a designer based on experimental data or empirical data. For example, the preset unstuck offset may be set to 3240°.

[0221] In the above embodiment, by detecting the rotation jam of the locking part corresponding to the locking and unlocking gun head at the initial stage of locking rotation, only when it is determined that the locking and unlocking gun head meets the normal rotation conditions, the locking and unlocking gun head is controlled to continue to execute the completed locking process, which can effectively reduce the probability of locking failure and motor damage due to external factors such as rust during the locking process.

[0222] In some embodiments, as Figure 11 As shown, the control of locking and unlocking the gun head in S1008 continues to rotate along the locking direction to lock, including:

[0223] S1102, controlling the locking and unlocking gun head to continue rotating in the locking direction to lock according to the preset locking rotation speed.

[0224] The preset locking rotation speed is greater than the rotation speed of the locking and unlocking gun head when it rotates at a third preset power growth rate. Since the locking member has been detected for rotational jamming, the possibility of the locking member being jammed has been ruled out. Therefore, during the subsequent locking process, the locking and unlocking gun head can be controlled to continue rotating in the locking direction according to the preset locking rotation speed, thereby improving the battery replacement efficiency.

[0225] In some optional embodiments, when the controller determines that the locking and unlocking gun head meets the normal rotation conditions, the controller controls the locking and unlocking gun head to continue rotating in the locking direction to lock according to the preset locking rotation speed.

[0226] S1104, during the locking rotation process, when the locking real-time rotation position of the locking and unlocking gun head reaches the preset locking critical position, determining the rotation time for the locking and unlocking gun head to move from the fifth position to the preset locking critical position.

[0227] The preset locking critical position is a preset judging position for judging whether the last locking stage needs to be entered. Taking 10 turns of the gun head rotation required for completing the locking as an example, the preset locking critical position can be a position at which the unlocking gun head is rotated to the 9th turn.

[0228] In some optional embodiments, the controller obtains the real-time locking rotation position of the unlocking gun head during the locking rotation, compares the real-time locking rotation position with the preset locking critical position, and determines the rotation duration of the unlocking gun head from the fifth position to the preset locking critical position in the case where the real-time locking rotation position reaches the preset locking critical position.

[0229] S1106, in the case where the rotation duration belongs to the preset rotation duration range, the unlocking gun head is controlled to rotate in the locking direction according to the locking torque threshold.

[0230] The locking torque threshold is a torque threshold required for the unlocking gun head to control the locking of the locking member, that is, a torque threshold required for the normal locking completion of the locking member. For example, the locking torque threshold can be 250 N.m.

[0231] The preset rotation duration range is a preset range parameter for determining whether the rotation speed of the unlocking gun head is abnormal. The preset rotation duration range can be determined by the designer according to experimental data or experience data. For example, the designer determines that the rotation duration required for moving from the fifth position to the preset locking critical position is 2s-4s under the same condition during the experiment or use, and then determines s-4s as the preset rotation duration range.

[0232] In some optional embodiments, the controller can compare the rotation duration with the preset rotation duration range to determine whether the rotation duration belongs to the preset rotation duration range. In the case where the rotation duration belongs to the preset rotation duration range, it indicates that the rotation speed of the unlocking gun head is normal at this time, and the controller can control the unlocking gun head to rotate in the locking direction according to the locking torque threshold.

[0233] In another embodiment, if the rotation duration does not belong to the preset rotation duration range, it indicates that the rotation speed of the unlocking gun head is abnormal at this time, and there can be a motor failure risk. The controller can generate a motor failure prompt information and send the motor failure prompt information to the control system in the battery swap station to prompt that the motor can have a failure risk.

[0234] S1108, in the case where the real-time locking rotation position reaches the preset locking position, it is determined that the unlocking gun head is locked.

[0235] The preset locking position is a position parameter for judging whether the locking is completed, i.e., whether the locking member is locked, and can be determined by a designer according to the actual locking completion of the locking member. For example, if the locking member needs to be rotated 10 circles along the locking direction to be locked, the preset locking position is the position corresponding to the rotation of the locking and unlocking gun head by 10 circles.

[0236] In some optional embodiments, when the controller controls the locking and unlocking gun head to rotate along the locking direction according to the locking torque threshold, the locking real-time rotation position can be compared with the preset locking position. In the case that the locking real-time rotation position reaches the preset locking position, it can be determined that the locking and unlocking gun head is locked.

[0237] In the above embodiments, by comparing the rotation duration with the preset rotation duration range, the operation fault of the motor can be determined during the locking process, the use reliability of the battery swapping device during use is improved, and the battery swapping efficiency is further improved.

[0238] In some embodiments, in the case that the controller determines that the locking real-time rotation position reaches the preset locking position, the sixth position of the current locking and unlocking gun head can be recorded, and then the locking and unlocking gun head is controlled to rotate along the locking direction for a third preset duration according to the locking torque threshold, the seventh position of the current locking and unlocking gun head is recorded, the third position offset between the sixth position and the seventh position is calculated, and in the case that the locking and unlocking gun head meets the secondary locking condition according to the third position offset, it is determined that the locking and unlocking gun head is locked. By performing the secondary locking operation on the locking and unlocking gun head, the battery swapping device locking success rate can be effectively improved.

[0239] In some embodiments, the secondary locking condition is that the third position offset is less than or equal to a preset locking offset threshold.

[0240] In some embodiments, a battery swapping control method is provided. The method is applied to a battery swapping system as shown in Figure 4 The battery swapping control method can specifically include an unlocking process and a locking process.

[0241] As shown in Figure 12 The unlocking process specifically includes the following steps:

[0242] S1201, control the battery swapping robot to lift along the vertical direction until the top-up state is reached.

[0243] The controller can control the battery replacing robot to lift along the vertical direction. After the bearing plane of the battery replacing robot contacts the bottom of the battery pack, the battery replacing robot continues to lift upward until a set threshold is reached, and then stops lifting and maintains the position. The battery replacing robot maintains a certain force by overtopping, which can prevent the battery replacing support from rebounding upward after unloading the force during the unlocking process of the battery pack, causing the quick change lock to be stressed during the unlocking process. It can be understood that the set threshold can be a preset lifting force or a preset lifting displacement.

[0244] S1202, clear the current position of the locking and unlocking gun head.

[0245] S1203, determine whether the current position is successfully cleared. If not, execute S1204, and if so, execute S1205.

[0246] S1204, generate a clear fault alarm information for alarm.

[0247] S1205, control the locking and unlocking gun head to rotate in the locking direction, gradually increasing the torque value.

[0248] The battery replacing robot lifts to a preset position, and the locking and unlocking gun head touches the pre-quick change lock. At this time, the gun head and the quick change lock have two matching states: 1. The gun head is just fitted into the quick change lock, and 2. The gun head and the quick change lock are not aligned, only the head is in contact, and the spring under the gun head is in compression.

[0249] The controller controls the locking and unlocking gun head to rotate in the locking direction, so that the gun head and the quick change lock are in the second state. After rotating to a certain extent, the gun head and the quick change lock are aligned at the moment, and because of the upward force of the spring under the gun head, the gun head will be fitted into the quick change lock at the moment.

[0250] S1206, determine whether the torque value reaches a set condition A. If not, return to execute S1205, and if so, execute S1207.

[0251] The set condition A can be a preset cap torque threshold of 45N.m.

[0252] S1207, determine that the locking and unlocking gun head has successfully unlocked the cap, record the position P1, and control the locking and unlocking gun head to continue to increase the torque value in the locking direction.

[0253] S1208, determine whether the torque value reaches a set condition B. If not, return to execute S1207, and if so, execute S1209.

[0254] The set condition B can be a lock release torque threshold of the locking member of 150N.m.

[0255] S1209, run for 2s according to the torque value in the set condition B, and record the position P2.

[0256] S1210, determine whether P2-P1 reaches the set condition C, not reach execute S1211, reach execute S1215.

[0257] The set condition C can be that the offset of position P2 relative to position P1 does not exceed a preset offset, for example, 30°.

[0258] S1211, continue to run for 2s according to the torque value in the set condition B, and update the recorded position P2.

[0259] S1212, determine whether P2-P1 reaches the set condition C and does not exceed the set number of times, not execute S1213, yes execute S1214 and S1215.

[0260] S1213, control the battery replacement equipment to perform a pre-locking fault alarm.

[0261] The controller can generate a pre-locking fault prompt information, send the pre-locking fault prompt information to the control system in the battery replacement station, and prompt the pre-locking fault.

[0262] S1214, control the battery replacement equipment to perform a pre-locking abnormality alarm.

[0263] The controller can determine that the pre-locking is completed, clear the recorded position information after stopping the gun head, generate a pre-locking abnormality prompt information, send the pre-locking abnormality prompt information to the control system in the battery replacement station, and prompt the pre-locking abnormality.

[0264] S1215, the pre-locking is completed, the gun head is stopped, and the current position is cleared.

[0265] S1216, control the locking and unlocking gun head to gradually increase the torque value in the unlocking direction, and not exceed the set condition D.

[0266] The set condition D can be an upper limit value of the unlocking torque.

[0267] S1217, determine whether the deflection angle reaches the set condition E, not execute S1218, yes execute S1221.

[0268] The set condition E can be a loosening angle threshold, for example, 90°.

[0269] S1218, continue to maintain for a certain period of time.

[0270] The controller continues to control the locking and unlocking gun head to gradually increase the torque value in the unlocking direction, and controls not to exceed the set condition D, and updates the deflection angle.

[0271] S1219, determine whether the deflection angle reaches the set condition E and does not exceed the set number of times, not execute S1220, yes execute S1221.

[0272] S1220, controlling the battery swap equipment to perform an unlocking failure alarm.

[0273] The controller can generate an unlocking failure prompt information, and send the unlocking failure prompt information to the control system in the battery swap station to prompt the unlocking failure.

[0274] S1221, the initial unlocking is completed, and the quick forward and reverse rotation of the gun head is continued.

[0275] S1222, controlling the locking and unlocking gun head to continue to rotate in the unlocking direction.

[0276] S1223, determining whether the deflection angle exceeds the set condition F and does not exceed the set condition G, otherwise returning to execute S1222, and yes executing S1224.

[0277] The set condition F can be a preset unlocking position. The set condition G is a preset unlocking threshold position.

[0278] S1224, the unlocking is successful, and the rotation of the gun head is stopped.

[0279] As shown in Figure 13 The locking process specifically includes the following steps:

[0280] S1301, clearing the current position of the locking and unlocking gun head.

[0281] S1302, determining whether the current position is successfully cleared. If not successful, executing S1303, and if successful, executing S1304.

[0282] S1303, generating a clearing failure alarm information for alarm.

[0283] S1304, controlling the locking and unlocking gun head to rotate in the locking direction and gradually increase the torque value.

[0284] S1305, determining whether the torque value reaches the set condition J, returning to execute S1304 if not, and executing S1306 if yes.

[0285] The set condition J can be a preset cap torque threshold 45N.m.

[0286] S1306, the cap locking is successful, and the battery swap robot is controlled to be lifted in the vertical direction until the jacking state is reached.

[0287] The controller determines that the cap locking of the locking and unlocking gun head is successful, and controls the battery swap robot to be lifted in the vertical direction until the jacking state is reached.

[0288] The battery swap robot carries a full battery pack and is lifted in the vertical direction. After the battery contacts the battery swap support, it continues to be jacked upward, stops lifting and maintains the position after reaching the set threshold.

[0289] S1307, controlling the locking and unlocking gun head to continue to gradually increase the torque value in the locking direction.

[0290] The controller controls the locking and unlocking gun head to gradually increase the power at a uniform speed along the locking direction and rotate the gun head steadily.

[0291] S1308, determine whether the torque value reaches the set condition K, if not, return to execute S1307, if it reaches, execute S1309.

[0292] The setting condition L may be a preset jamming torque threshold of 100 N.m.

[0293] S1309, stabilize the torque value and continue to rotate for a certain period of time.

[0294] S1310, determine whether the deflection angle reaches the set condition L, if not, execute S1311, if it reaches, execute S1312.

[0295] The setting condition L may be a preset non-stuck offset of 160°.

[0296] S1311, jamming fault alarm.

[0297] When the deflection angle does not reach the set condition L, the controller can generate a jam fault prompt message according to the locking part position corresponding to the locking and unlocking gun head, and use the jam fault prompt message to indicate that the locking part may be jammed.

[0298] S1312, continue to rotate the gun head quickly.

[0299] When the controller determines that the deflection angle of the gun head reaches the set condition L, the controller can control the locking and unlocking gun head to continue rotating in the locking direction to lock according to the preset locking rotation speed.

[0300] S1313, determine whether the deflection angle reaches the set condition M within the set time. If not, execute S1314, and if so, execute S1315.

[0301] The setting condition M may be a preset locking critical position of 3240°. When the controller determines that the deflection angle of the gun head has reached the setting condition L, it continues to rotate the gun head rapidly to determine whether the deflection angle can reach the setting condition M within the set time.

[0302] S1314, motor failure alarm.

[0303] When the controller determines that the deflection angle cannot reach the set condition M within the set time, it can generate a motor fault prompt message and send the motor fault prompt message to the control system in the battery swap station to indicate that the motor may have a fault risk.

[0304] S1315, increase power to continue rotation with set condition N.

[0305] Wherein, the set condition N can be a locking torque threshold 250 N.m. The controller increases power to rotate the gun head with set condition N if the deflection angle reaches the set condition M within the set time.

[0306] S1316, determine whether the deflection angle reaches set condition Q. If not, execute S1317. If yes, execute S1318.

[0307] S1317, locking failure alarm.

[0308] The controller can generate a locking failure prompt message to prompt the locking failure.

[0309] S1318, the gun head stops rotating and records position P3.

[0310] The controller stops rotating the gun head and records position P3 if the deflection angle reaches the set condition Q.

[0311] S1319, secondary locking to rotate the gun head with set condition N.

[0312] The controller controls the locking and unlocking of the gun head rotation with set condition N.

[0313] S1320, the rotation time reaches the set time and records position P4.

[0314] The controller records the gun head position P4 if the gun head rotation time reaches the set time.

[0315] S1321, determine whether P4-P3 reaches set condition R. If not, execute S1320. If yes, execute S1322.

[0316] Wherein, the set condition R can be a preset locking offset, used to determine whether the quick lock is locked.

[0317] S1322, determine that the locking is successful and the gun head stops rotating.

[0318] The controller calculates the deviation between the current position P4 and the previous position P3. If the set condition R is met, it means that the locking is completed.

[0319] In the above embodiments, the battery replacing robot maintains a certain jacking force after supporting the battery pack, ensures that the battery pack and the battery replacing support are always in contact during locking and unlocking, ensures that the quick replacing lock is not subjected to additional stress during unlocking and locking, avoids affecting the locking and unlocking to position state judgment and the structure and service life of the quick replacing lock. By monitoring the multi-dimensional parameters (such as torque, angle / number of turns, etc.) of the locking and unlocking device in real time, it is ensured that the locking and unlocking are in place, and safety risks are avoided. Pre-locking operation is performed during the unlocking process to determine whether the quick replacing lock has a loosening problem, and the risk is preposed.

[0320] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, there is no strict order limitation for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0321] Based on the same inventive concept, the embodiments of the present application also provide a battery replacing control device for implementing the above-mentioned battery replacing control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more battery replacing control device embodiments provided below can refer to the limitations of the battery replacing control method described above, which will not be repeated here.

[0322] In some embodiments, as shown in Figure 14 A battery replacing control device 1400 is provided, including a locking rotation information acquisition module 1401, a first position recording module 1402, a second position recording module 1403, and a locking and unlocking control module 1404, wherein:

[0323] The locking rotation information acquisition module 1401 is configured to acquire a first real-time rotation torque of the locking and unlocking gun head when the locking and unlocking gun head rotates in the locking direction after the locking and unlocking gun head of the battery replacing equipment completes the unlocking and recognizes the cap.

[0324] The first position recording module 1402 is configured to record a first position of the locking and unlocking gun head when the first real-time rotation torque reaches a pre-locking torque threshold.

[0325] The second position recording module 1403 is configured to control the locking and unlocking gun head to rotate continuously for a first preset time length according to the pre-locking torque threshold, and record a second position of the locking and unlocking gun head.

[0326] The unlocking control module 1404 is configured to control the locking and unlocking gun head to rotate in the unlocking direction to unlock, when the first offset between the first position and the second position meets the pre-locking condition.

[0327] In some embodiments, the pre-locking torque threshold is the unlocking torque threshold of the locking member. The battery replacement control device further comprises:

[0328] The prompt information generation module is configured to generate a fault prompt information according to the position of the locking member corresponding to the locking and unlocking gun head, when the locking and unlocking gun head does not meet the pre-locking condition.

[0329] The prompt information sending module is configured to send the fault prompt information to the battery replacement station control system, and the fault prompt information is used to prompt that the locking member at the position of the locking member has a risk of loosening.

[0330] In some embodiments, the locking rotation information acquisition module 1401 is configured to: after the locking and unlocking gun head of the battery replacement equipment completes the unlocking and cap recognition, acquire a first preset power growth rate of the locking and unlocking gun head in the pre-locking judgment procedure; control the locking and unlocking gun head to rotate in the locking direction based on the first preset power growth rate, and acquire a first real-time rotation torque of the locking and unlocking gun head in the rotation process.

[0331] In some embodiments, the battery replacement control device further comprises:

[0332] The instruction response module is configured to control the battery replacement equipment to lift in the direction of the battery pack to be replaced at a preset lifting speed, in response to an unlocking instruction for the battery pack to be replaced.

[0333] The continuous lifting module is configured to control the battery replacement equipment to continue to lift in the direction of the battery pack to be replaced at a preset lifting speed, when the bearing plane of the battery replacement equipment contacts the bottom of the battery pack to be replaced.

[0334] The lifting operation information acquisition module is configured to acquire lifting operation information of the battery replacement equipment in the lifting process.

[0335] The jacking state judgment module is configured to control the locking and unlocking gun head of the battery replacement equipment to perform unlocking and cap recognition, when the battery replacement equipment reaches the jacking state based on the lifting operation information.

[0336] In some embodiments, the unlocking control module 1404 includes: controlling the unlocking gun head to rotate in the unlocking direction at a second preset power growth rate, obtaining unlocking rotation information of the unlocking gun head rotating in the unlocking direction, the unlocking rotation information including a real-time unlocking rotation position of the unlocking gun head; in a case where it is determined according to the real-time unlocking rotation position that the unlocking gun head meets the initial unlocking condition, controlling the unlocking gun head to perform a forward-reverse rotation operation according to a preset forward-reverse rotation control parameter; recording a third position of the unlocking gun head after the completion of the forward-reverse rotation operation; and in a case where it is determined according to the third position that the unlocking gun head meets the unlocking end condition, determining that the unlocking of the unlocking gun head is completed.

[0337] In some embodiments, the unlocking rotation information further includes a second real-time rotation torque of the unlocking gun head in the unlocking rotation process. The battery replacement control device further includes:

[0338] A real-time rotation angle determination module is configured to determine a real-time rotation angle of the unlocking gun head in the unlocking rotation process based on the real-time unlocking rotation position and the second position.

[0339] A loosening condition judgment module is configured to determine that the locking member corresponding to the unlocking gun head meets a loosening condition in a case where the real-time rotation angle reaches a loosening angle threshold and the second real-time rotation torque does not exceed an unlocking torque threshold.

[0340] A rapid unlocking module is configured to control the unlocking gun head to rotate in the unlocking direction at a preset loosening rotation speed, the preset loosening rotation speed being greater than a rotation speed of the unlocking gun head when rotating at the second preset power growth rate.

[0341] In some embodiments, the battery replacement control device further includes:

[0342] An instruction response module is configured to control the battery replacement device to lift at a preset lifting speed in a direction of the to-be-used battery pack in response to a locking instruction for the to-be-used battery pack.

[0343] A locking cap recognition module is configured to control the unlocking gun head to perform locking cap recognition in a case where a bearing plane of the battery replacement device and a bottom of the to-be-used battery pack come into contact.

[0344] A lifting module is configured to control the battery replacement device to continue lifting in the direction of the to-be-used battery pack in a case where the unlocking gun head completes the locking cap recognition.

[0345] A locking control module is configured to control the unlocking gun head to rotate in a locking direction to perform locking in a case where it is determined based on lifting running information of the battery replacement device in the lifting process that the battery replacement device reaches a lifting state.

[0346] In some embodiments, the locking control module is used to: control the locking and unlocking gun head to rotate in the locking direction according to a third preset power growth rate, and obtain the third real-time rotational torque of the locking and unlocking gun head during the locking rotation process; record the fourth position of the locking and unlocking gun head when the third real-time rotational torque reaches the preset jamming torque threshold; control the locking and unlocking gun head to continuously rotate for a second preset time according to the preset jamming torque threshold, and record the fifth position of the locking and unlocking gun head; when it is determined that the locking and unlocking gun head meets the normal rotation conditions based on the second offset of the fourth position and the fifth position, control the locking and unlocking gun head to continue rotating in the locking direction to lock.

[0347] In some embodiments, the locking control module is also used to: control the locking and unlocking gun head to continue rotating in the locking direction to lock according to a preset locking rotation speed, and the preset locking rotation speed is greater than the rotation speed of the locking and unlocking gun head when it rotates at a third preset power growth rate; during the locking rotation process, when the locking real-time rotation position of the locking and unlocking gun head reaches the preset locking critical position, determine the rotation time of the locking and unlocking gun head to move from the fifth position to the preset locking critical position; when the rotation time falls within the preset rotation time range, control the locking and unlocking gun head to rotate in the locking direction according to the locking torque threshold; when the locking real-time rotation position reaches the preset locking position, determine that the locking of the locking and unlocking gun head is completed.

[0348] Each module in the above-mentioned battery swap control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0349] In some embodiments, an electronic device is provided. The computer device may be a controller, and its internal structure diagram may be as follows: Figure 15 As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the first real-time rotational torque, the pre-locking torque threshold, the first position, the second position, the pre-locking condition, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a battery replacement control method is implemented.

[0350] Those skilled in the art will understand that Figure 15The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0351] In some embodiments, a computer device is provided, including a memory and a processor, the memory has stored therein a computer program, and the processor implements the specific implementation steps in the above battery replacement control method embodiments when executing the computer program.

[0352] In some embodiments, a computer readable storage medium is provided, having stored thereon a computer program, and the computer program implements the specific implementation steps in the above battery replacement control method embodiments when executed by a processor.

[0353] In some embodiments, a computer program product is provided, including a computer program, and the computer program implements the specific implementation steps in the above battery replacement control method embodiments when executed by a processor.

[0354] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties. And the acquisition, storage, processing, transmission, etc. of the data comply with the relevant provisions of laws and regulations.

[0355] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0356] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0357] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A battery replacement control method, characterized in that: The method comprises: When the locking and unlocking gun head contacts the locking part of the battery pack, the locking and unlocking gun head is controlled to rotate in the locking direction according to the preset cap recognition rotation parameter, and the real-time cap recognition torque of the locking and unlocking gun head is obtained during the cap recognition process; Comparing the real-time cap recognition torque with a preset cap recognition torque threshold, and confirming that the cap recognition by the unlocking gun head is successfully unlocked when the real-time cap recognition torque reaches the preset cap recognition torque threshold; After the locking and unlocking gun head of the battery swapping device completes the unlocking and recognizing the cap, the locking and unlocking gun head is controlled to rotate in the locking direction, and a first real-time rotational torque is obtained when rotating in the locking direction; When the first real-time rotational torque reaches a pre-locking torque threshold, recording the first position of the locking and unlocking gun head; the pre-locking torque threshold is a unlocking torque threshold of the locking member; the unlocking torque threshold of the locking member is a torque value required to loosen a tightened locking member; controlling the locking and unlocking gun head to continuously rotate for a first preset time period according to the pre-locking torque threshold, and recording a second position of the locking and unlocking gun head; When it is determined that the locking and unlocking gun head meets a pre-locking condition according to a first offset between the first position and the second position, the locking and unlocking gun head is controlled to rotate along an unlocking direction to unlock.

2. The method according to claim 1, characterized in that The method further comprises: When it is determined that the locking and unlocking gun head does not meet the pre-locking condition, a fault prompt message is generated according to the position of the locking piece corresponding to the locking and unlocking gun head; The fault prompt information is sent to a control system in the battery swap station, and the fault prompt information is used to prompt that there is a risk of the locking member at the locking member position being loose.

3. The method according to claim 1 or 2, characterized in that After the locking and unlocking gun head of the battery swapping device completes the unlocking and recognizing the cap, controlling the locking and unlocking gun head to rotate along the locking direction and obtaining a first real-time rotational torque when rotating along the locking direction includes: After the unlocking gun head of the battery swapping device completes the unlocking recognition, the first preset power growth rate of the unlocking gun head in the pre-locking determination procedure is obtained; The locking and unlocking gun head is controlled to rotate along the locking direction based on the first preset power growth rate, and a first real-time rotational torque of the locking and unlocking gun head is obtained during the rotation process.

4. The method according to claim 1 or 2, characterized in that The method further comprises: In response to an unlocking instruction for the battery pack to be replaced, controlling the battery swapping device to lift in the direction of the battery pack to be replaced at a preset lifting speed; When the carrying plane of the battery swapping device comes into contact with the bottom of the battery pack to be replaced, controlling the battery swapping device to continue lifting in the direction of the battery pack to be replaced according to the preset lifting speed; Obtaining lifting operation information of the battery swapping device during the lifting process; When it is determined that the battery exchange device has reached the jacking state based on the lifting operation information, the locking and unlocking gun head of the battery exchange device is controlled to unlock and identify the cap.

5. The method according to claim 1 or 2, characterized in that The controlling the locking and unlocking gun head to rotate along the unlocking direction to unlock comprises: controlling the locking and unlocking gun head to rotate in the unlocking direction according to a second preset power increase rate, and acquiring unlocking rotation information of the locking and unlocking gun head when rotating in the unlocking direction, wherein the unlocking rotation information includes a real-time unlocking rotation position of the locking and unlocking gun head; When it is determined that the locking and unlocking gun head meets the initial unlocking condition according to the unlocking real-time rotation position, the locking and unlocking gun head is controlled to perform forward and reverse operations according to preset forward and reverse control parameters; Record the third position of the locking and unlocking gun head after the forward and reverse operation is completed; When it is determined that the locking and unlocking gun head meets the unlocking end condition according to the third position, it is determined that the unlocking of the locking and unlocking gun head is completed.

6. The method according to claim 5, characterized in that The unlocking rotation information also includes a second real-time rotation torque of the locking and unlocking gun head during the unlocking rotation process; The method further comprises: Determining a real-time rotation angle of the locking and unlocking gun head during the unlocking rotation process based on the unlocking real-time rotation position and the second position; When the real-time rotation angle reaches a loose angle threshold and the second real-time rotation torque does not exceed an unlocking torque threshold, determining that the locking member corresponding to the locking and unlocking gun head meets a loosening condition; The locking and unlocking gun head is controlled to rotate along the unlocking direction according to a preset loosening rotation speed, and the preset loosening rotation speed is greater than the rotation speed of the locking and unlocking gun head when it rotates at the second preset power growth rate.

7. The method according to claim 1 or 2, characterized in that The method further comprises: In response to a locking instruction for the battery pack to be used, controlling the battery swapping device to be lifted in the direction of the battery pack to be used at a preset lifting speed; When the carrying surface of the battery swapping device touches the bottom of the battery pack to be used, the locking and unlocking gun head is controlled to lock and identify the cap; When the locking and unlocking gun head completes the locking and recognizing of the cap, the battery swapping device is controlled to continue to be lifted in the direction of the battery pack to be used; When it is determined that the battery exchange device has reached the jacking state based on the lifting operation information of the battery exchange device during the lifting process, the locking and unlocking gun head is controlled to rotate along the locking direction for locking.

8. The method according to claim 7, characterized in that The controlling the locking and unlocking gun head to rotate along the locking direction to lock includes: controlling the locking and unlocking gun head to rotate in the locking direction according to a third preset power growth rate, and obtaining a third real-time rotational torque of the locking and unlocking gun head during the locking rotation process; recording a fourth position of the locking and unlocking gun head when the third real-time rotation torque reaches a preset locking torque threshold; controlling the locking and unlocking gun head to continuously rotate for a second preset time period according to the preset jamming torque threshold, and recording the fifth position of the locking and unlocking gun head; When it is determined that the locking and unlocking gun head meets the normal rotation condition according to the second offset of the fourth position and the fifth position, the locking and unlocking gun head is controlled to continue to rotate along the locking direction for locking.

9. The method according to claim 8, characterized in that The controlling the locking and unlocking gun head to continue rotating along the locking direction to lock the gun head comprises: controlling the locking and unlocking gun head to continue rotating in the locking direction to lock according to a preset locking rotation speed, wherein the preset locking rotation speed is greater than the rotation speed of the locking and unlocking gun head when it rotates at the third preset power growth rate; During the locking rotation process, when the locking real-time rotation position of the locking and unlocking gun head reaches the preset locking critical position, determining the rotation time of the locking and unlocking gun head moving from the fifth position to the preset locking critical position; When the rotation time falls within a preset rotation time range, controlling the locking and unlocking gun head to rotate along the locking direction according to the locking torque threshold; When the locking real-time rotation position reaches the preset locking position, it is determined that the locking of the locking and unlocking gun head is completed.

10. A battery replacement control device, characterized in that: The device comprises: The locking rotation information acquisition module is used to control the locking and unlocking gun head to rotate in the locking direction according to the preset cap recognition rotation parameters when the locking and unlocking gun head touches the locking part of the battery pack, and obtain the real-time cap recognition torque of the locking and unlocking gun head during the cap recognition process; compare the real-time cap recognition torque with the preset cap recognition torque threshold, and confirm that the locking and unlocking gun head has successfully unlocked the cap when the real-time cap recognition torque reaches the preset cap recognition torque threshold; after the locking and unlocking gun head of the battery swapping device completes the unlocking and recognition, control the locking and unlocking gun head to rotate in the locking direction, and obtain the first real-time rotation torque when rotating along the locking direction; a first position recording module configured to record the first position of the locking and unlocking gun head when the first real-time rotational torque reaches a pre-locking torque threshold; the pre-locking torque threshold is a unlocking torque threshold of the locking member; the unlocking torque threshold of the locking member is a torque value required to loosen a tightened locking member; a second position recording module, configured to control the locking and unlocking gun head to continuously rotate for a first preset time period according to the pre-locking torque threshold, and record a second position of the locking and unlocking gun head; The locking and unlocking control module is used to control the locking and unlocking gun head to rotate along the unlocking direction to unlock when it is determined that the locking and unlocking gun head meets the pre-locking condition based on the first offset between the first position and the second position.

11. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

14. A battery replacement device, characterized in that: The battery exchange device includes a locking and unlocking device and a controller communicatively connected to the locking and unlocking device; the locking and unlocking device includes a locking and unlocking gun head; the controller is used to implement the steps of the method described in any one of claims 1 to 9 above.

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