Self-service charging vehicle and control method of charging vehicle

Abstract

The invention discloses a self-service charging vehicle which comprises a vehicle body, driving wheels, a charging-discharging gun, a sensor, a mobile controller, a charging battery, a charging controller and a battery management system. The charging-discharging gun is electrically connected with the rechargeable battery, and under the control of the charging controller and the battery management system, the charging-discharging gun can complement energy of the rechargeable battery or charge the rechargeable battery outwards; a placing position for placing the charging-discharging gun is arranged on the vehicle body, and a first sensor is arranged in the placing position; a wheel locking mechanism is arranged corresponding to the driving wheel; the input end of the mobile controller is electrically connected with the first sensor, the output end of the mobile controller is electrically connected with the locking mechanism, and the mobile controller sends a locking signal or an unlocking signal to the wheel locking mechanism according to a charging-discharging gun in-place signal sent by the first sensor. And therefore, the driving wheel is unlocked. By adopting the self-service charging vehicle provided by the invention, the safety in the running process can be enhanced.

Description

Technical Field

[0001] The present application relates to the field of charging and discharging, and specifically to a self-service charging vehicle and a control method for a charging vehicle. The present application also relates to an electronic device. Background Art

[0002] As a charging device for new energy vehicles, the mobility of the charging cart overcomes the difficulty of finding charging piles for vehicles, allowing users to enjoy charging services without queuing or waiting in place. However, while the mobility of the charging cart provides convenience for new energy vehicles, it also brings corresponding safety risks.

[0003] There is a charging cart in the prior art, whose structure includes an energy replenishment interface and a discharge interface. The energy replenishment interface is used to store energy for the charging cart itself, while the discharge interface is used to charge the vehicle to be charged. At least one of the interfaces is a gun body, and the gun body generally includes a wire and a gun head. Since the battery in the charging cart is a high-voltage battery, and the wire of the gun body is connected to the high-voltage battery, a safety accident may occur if the operation is not done carefully.

[0004] In view of the above phenomenon, there is an urgent need for a charging cart to make up for the safety defects of the existing charging cart structure design so as to improve the safety of the charging cart operation process. Summary of the invention

[0005] The present application provides a self-service charging vehicle. The self-service charging vehicle using the present solution can improve the use efficiency and safety of the charging vehicle. The present application also provides a control method for the charging vehicle. The control method can be applied to the aforementioned self-service charging vehicle.

[0006] The self-service charging vehicle includes a body, driving wheels, a charging-discharging gun, a sensor, a mobile controller, a rechargeable battery, a charging controller, and a battery management system;

[0007] The charging-discharging gun is electrically connected to the rechargeable battery, and under the control of the charging controller and the battery management system, the rechargeable battery is replenished or charged externally;

[0008] The vehicle body is provided with a placement position for the charging-discharging gun, and a first sensor is provided in the placement position; according to the sensing result of the first sensor, it is judged that the charging-discharging gun is placed in the placement position, and a charging-discharging gun in place signal is sent;

[0009] A wheel locking mechanism is provided corresponding to the driving wheel, which is used to lock the driving wheel so that it cannot rotate, or to unlock the driving wheel so that it can rotate;

[0010] The input end of the mobile controller is electrically connected to the first sensor, and the output end is electrically connected to the locking mechanism. The mobile controller sends a locking signal or an unlocking signal to the wheel locking mechanism based on the charging-discharging gun in place signal sent by the first sensor and related conditions, thereby unlocking or locking the driving wheel; wherein the charging-discharging gun in place signal sent by the first sensor serves as a necessary condition for the mobile controller to send an unlocking signal to the locking mechanism.

[0011] Optionally, under the control of the charging controller and the battery management system, the rechargeable battery is replenished or charged externally, including:

[0012] The charge-discharge gun is electrically connected to the charge controller, and the charge-discharge gun is also electrically connected to the battery management system; when the charge controller detects a change in the detection terminal voltage of the charge-discharge gun, it determines that the external device connected to the charge-discharge gun is a charging device or a device to be charged, and according to the judgment result, instructs the battery management system to control the rechargeable battery to perform energy replenishment or external charging.

[0013] Optionally, judging that the charge-discharge gun is in place in the placement position through the sensing result of the first sensor, and then sending a charge-discharge gun in place signal, includes:

[0014] Obtaining a signal that the charging-discharging gun is in place, which is emitted by the first sensor through a change in an electrical signal, and starting timing;

[0015] When the timing reaches a predetermined time threshold, a charge-discharge gun in place message is issued.

[0016] Optionally, an electronic lock is provided in the charging-discharging gun, and the electronic lock is used to lock the charging-discharging gun when the charging-discharging gun is connected to the plug interface of the charging pile, and to lock the charging-discharging gun and the vehicle to be charged when the charging-discharging gun is connected to the plug interface of the vehicle to be charged;

[0017] The charging controller is provided with a signal control port for controlling the electronic lock, the signal control port sends a lock or unlock signal to control the lock or unlock state of the electronic lock, and the charging controller also synchronizes the lock or unlock signal to the mobile controller;

[0018] The mobile controller controls the driving wheel to lock in conjunction with the locking signal sent by the charging controller.

[0019] Optionally, when the charge-discharge gun is respectively connected to the charging pile and the vehicle to be charged, and when it is not connected to an external device, the voltage of the detection electron of the charge-discharge gun is different, and the charging controller determines the connection state of the charge-discharge gun according to the following steps:

[0020] According to the change of the detection terminal voltage, it is determined that the connection state between the current charge-discharge gun and the outside world has changed, and the next step is entered;

[0021] According to the detection terminal voltage value, determining the connection state of the charge-discharge gun includes:

[0022] According to the first voltage value of the detection terminal, it is judged that the charge-discharge gun is connected to the charging pile in the first state; according to the second voltage value of the detection terminal, it is judged that the charge-discharge gun is connected to the vehicle to be charged and is in the second state; according to the third voltage value of the detection terminal, it is judged that the charge-discharge gun is not connected to the external device and is in the third state;

[0023] According to the judgment result of the state of the charging-discharging gun, a corresponding control instruction is generated and sent to the battery management system, including:

[0024] Generate a charging instruction corresponding to the first state, charge the rechargeable battery through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller;

[0025] Generate a charging instruction corresponding to the second state, charge the vehicle to be charged through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller;

[0026] A charging instruction is generated corresponding to the third state, and combined with the charging-discharging gun in place signal sent by the first sensor, an unlocking signal is sent to the wheel locking mechanism through the mobile controller.

[0027] The present application also provides a control method for a charging vehicle, comprising:

[0028] receiving a request to use a charging vehicle, obtaining status information of the charging vehicle, and when the status information indicates that the charging vehicle is being charged, controlling the charging vehicle to stop charging and unlocking an electronic lock provided in the charging-discharging gun;

[0029] According to the sensing result of the first sensor installed at the placement position, it is judged that the charging-discharging gun is placed in the placement position, and an unlocking signal to the wheel locking mechanism is sent through the mobile controller, so that the driving wheel is unlocked;

[0030] The mobile controller controls the charging vehicle to move to the location of the vehicle to be charged;

[0031] When the charging controller detects that the charging vehicle is connected to the vehicle to be charged, the charging controller instructs the battery management system to control the charging vehicle to charge the vehicle to be charged; at the same time, the mobile controller sends a locking signal to the wheel locking mechanism, thereby locking the driving wheel.

[0032] Optionally, also include:

[0033] receiving a request to stop charging from the charging vehicle, and controlling the charging vehicle to stop external charging;

[0034] Confirming that the charging vehicle has stopped external charging, and controlling the electronic lock provided in the charging-discharging gun to unlock;

[0035] According to the sensing result of the first sensor installed at the placement position, it is judged that the charging-discharging gun is placed in the placement position, and an unlocking signal to the wheel locking mechanism is sent through the mobile controller, so that the driving wheel is unlocked;

[0036] The mobile controller controls the charging vehicle to move to the location of the charging pile;

[0037] The charging controller detects that the charging vehicle is connected to the charging pile, and controls the battery management system to enable the charging vehicle to recharge; at the same time, the mobile controller sends a locking signal to the wheel locking mechanism, thereby locking the driving wheel.

[0038] Optionally, before issuing the charging instruction, the method further includes:

[0039] When it is detected that the charging vehicle is connected to the plug interface of the vehicle to be charged, the electronic lock is controlled to lock with the vehicle to be charged.

[0040] Optionally, before issuing the energy replenishment instruction, the method further includes:

[0041] When it is detected that the charging vehicle is connected to the plug interface of the charging pile, the electronic lock is controlled to be locked.

[0042] The present application provides an electronic device, the electronic device comprising:

[0043] processor;

[0044] and a memory for storing a computer program, wherein after the electronic device is powered on and the computer program is run by the processor, any one of the above-mentioned control methods for the charging vehicle is executed.

[0045] The present application also provides a storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to execute any one of the above-mentioned control methods for a charging vehicle.

[0046] Compared with the prior art, this application has the following advantages:

[0047] The self-service charging vehicle provided in the present application includes a vehicle body, a driving wheel, a charging-discharging gun, a sensor, a mobile controller, a rechargeable battery, a charging controller, and a battery management system. The self-service charging vehicle controls the charging-discharging gun to replenish energy or charge externally through the charging controller and the battery management system, and realizes one interface to meet the needs of replenishing energy and discharging externally. At the same time, a placement position is set on the vehicle body for the placement of the charging-discharging gun, and the locking and unlocking of the wheel locking mechanism are determined according to the detection result of the sensor for the charging-discharging gun in place signal, and the restriction conditions on the movement of the self-service charging vehicle are increased. With the self-service charging vehicle provided in the present application, charging and discharging can be realized with one interface, which saves the production cost of the charging vehicle; the placement position and the sensor are combined to send a signal in place, and the mobile controller automatically controls the wheel locking mechanism to unlock, which improves the automation operation efficiency of the self-service charging vehicle and enhances the safety of the self-service charging vehicle during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1A A schematic diagram of a first application scenario of a self-service charging vehicle provided in an embodiment of the present application.

[0049] Figure 1B A schematic diagram of a second application scenario of the self-service charging vehicle provided in an embodiment of the present application.

[0050] Figure 2 This is a schematic diagram of the structure of the self-service charging vehicle provided in the first embodiment of the present application.

[0051] Figure 3 A schematic diagram of the mechanism of the charge-discharge gun provided in the first embodiment of the present application.

[0052] Figure 4 This is a flow chart of a control method for a charging vehicle provided in the second embodiment of the present application.

[0053] Figure 5 This is a second flow chart of a control method for a charging vehicle provided in the second embodiment of the present application.

[0054] Figure 6 A schematic diagram of the structure of an electronic device provided in the third embodiment of the present application. DETAILED DESCRIPTION

[0055] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0056] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In the prior art, a charging pile is used to charge a target vehicle to be charged, and a charging gun is provided on the charging pile. By inserting the charging gun into the charging interface of the target vehicle, the charging task of the target vehicle can be performed. In the present application, the charging pile is used to replenish energy for the charging cart. The charging cart first replenishes the electric energy from the charging pile and stores the electric energy in the battery pack. The charging cart goes to the location of the target vehicle, and the target vehicle is connected to the charging cart to establish a discharge circuit. The charging cart transmits the electric energy stored in the battery pack to the target vehicle, thereby completing the task of the charging cart to charge the target vehicle. Therefore, the charging cart in this embodiment is an energy storage device that is easy to move. Generally, the charging cart has two interfaces: a charging seat for replenishing its own battery and a charging gun for charging the target vehicle. The charging seat on the charging cart is used to replenish the energy of the charging cart itself, and the charging gun on the charging cart is used to charge the vehicle to be charged. The charging seat and the charging gun play different roles on the charging cart, and each performs its duties without interfering with each other.

[0060] The following describes the application scenarios of the self-service charging vehicle provided in the embodiment of the present application. Figure 1A and Figure 1B , Figure 1A This is a schematic diagram of a first application scenario of a self-service charging vehicle provided in an embodiment of the present application. Figure 1B A schematic diagram of a second application scenario of the self-service charging vehicle provided in an embodiment of the present application.

[0061] like Figure 1A As shown, the self-service charging vehicle 101 can charge the target vehicle 102. When the self-service charging vehicle 101 is charging the target vehicle 102, the charging-discharging gun of the self-service charging vehicle 101 is locked with the charging interface of the target vehicle. At the same time, the driving wheels of the self-service charging vehicle 101 are in a locked state, and the self-service charging vehicle cannot move. Figure 1B As shown, the self-service charging vehicle 101 can obtain electric energy from the charging pile 103 and store it in its own battery. When the charging pile 103 is recharging the self-service charging vehicle 101, the charging-discharging gun of the self-service charging vehicle 101 is locked with the socket of the charging pile, and the wheels of the self-service charging vehicle 101 are in a locked state, so the self-service charging vehicle cannot move.

[0062] The charging-discharging gun is a component of the self-service charging vehicle, and the target vehicle is also charged through the charging-discharging gun. The charging-discharging gun is generally composed of a wire and a gun body. The wire is usually the part that connects the battery and the gun body, and the gun body is the handheld part, usually including a handle and a connector. The self-service charging vehicle provided in the embodiment of the present application has only one external interface, namely the charging-discharging gun. The self-service charging vehicle's own energy replenishment and external charging are all completed through the charging-discharging gun.

[0063] In the specific implementation, the new energy vehicle to be charged is the target vehicle. The user of the target vehicle can initiate a charging request through an application on a handheld mobile intelligent terminal or an application set by the new energy vehicle itself, or a one-button charging button light method specially set by the new energy vehicle itself. The self-service charging vehicle that is replenishing energy receives the charging request initiated by the user, stops replenishing energy, and unlocks the connection between the charging-discharging gun and the charging pile. After stopping replenishing energy, the self-service charging vehicle needs to go to the location of the target vehicle, unlock the connection between the charging-discharging gun and the charging pile at the same time or after that, and change the wheel from the locked state to the unlocked state, at which time the self-service charging vehicle can move. However, considering safety issues, the charging-discharging gun needs to be placed on the placement position of the self-service charging vehicle before the self-service charging vehicle can be moved. Therefore, the placement position of the self-service charging vehicle detects whether the charging-discharging gun is placed in place through a sensor, and controls the locking and unlocking of the wheel through the placement signal. In other words, after the self-service charging vehicle and the charging pile are unlocked and disconnected, it is also necessary to determine whether the charging-discharging gun is returned to its position before determining whether to unlock the drive wheel to ensure the safety of the self-service charging vehicle during movement. When the self-service charging vehicle is connected to the charging interface of the target vehicle, the charging-discharging gun is locked with the charging interface of the target vehicle, and at this time, the driving wheel of the self-service charging vehicle is also locked. After charging the target vehicle is completed, the connection between the charging-discharging gun and the charging interface of the target vehicle is unlocked, and the locking state of the driving wheel is released. Similarly, before releasing the locking state of the driving wheel, in order to ensure the safety of the self-service charging vehicle during movement, it is necessary to first determine the placement of the charging-discharging gun, and then determine whether to unlock the driving wheel. The self-service charging vehicle moves to the location of the charging pile, connects to the charging pile, locks the connection between the charging-discharging gun and the charging pile socket, and locks the driving wheel at the same time, and starts to recharge the self-service charging vehicle.

[0064] The charging car can also be equipped with an interactive display screen. When a new energy vehicle needs to be charged by the charging car, the user can quickly confirm the target new energy vehicle to be charged by entering the information of the new energy vehicle on the display screen, such as the license plate number, model, brand, etc. The display screen of the charging car can also provide all new energy vehicles detected by itself within a preset range (nearby), and display a list of new energy vehicles. The user can select his own vehicle on the display screen to confirm the vehicle to be charged.

[0065] The above content describes the operation process of the self-service charging vehicle provided in the embodiment of the present application in combination with the application scenario, reflects the mutual coordination and constraint relationship between the locking structure of the charging-discharging gun and the driving wheel, and provides a technical basis for the safety and convenience of the self-service charging vehicle.

[0066] First embodiment

[0067] The first embodiment of the present application provides a self-service charging vehicle. Figure 2 , Figure 2 The schematic diagram of the structure of the self-service charging vehicle provided in the first embodiment of the present application. The self-service charging vehicle 101 includes a vehicle body 201, a driving wheel 202, a charging-discharging gun 203, a sensor 204, a mobile controller 205, a rechargeable battery 206, a charging controller 207, and a battery management system 208.

[0068] The charging-discharging gun 203 is electrically connected to the rechargeable battery 206 , and under the control of the charging controller 207 and the battery management system 208 , the rechargeable battery 206 is replenished or charged externally.

[0069] The charging-discharging gun 203 can be used to recharge the charging vehicle and to charge the target vehicle. In other words, the charging-discharging gun is a gun body that can realize both charging and discharging functions. Specifically, the self-service charging vehicle is connected to the charging pile through the charging-discharging gun 203 to recharge the energy, and the electric energy is stored in the rechargeable battery 206; the electric energy stored in the rechargeable battery 206 is connected to the target vehicle through the charging-discharging gun 203 to discharge the target vehicle.

[0070] The charging controller 207 and the battery management system 208 control the circuit inside the self-service charging vehicle to form a charging circuit or a discharging circuit according to the voltage change of the detection terminal of the charging-discharging gun, so as to realize the energy replenishment or external charging of the rechargeable battery.

[0071] Under the control of the charging controller and the battery management system, the rechargeable battery is replenished or charged externally, including:

[0072] The charge-discharge gun 203 is electrically connected to the charge controller 207, and the charge-discharge gun 203 is also electrically connected to the battery management system 208; when the charge controller 207 detects a change in the detection terminal voltage of the charge-discharge gun, it determines that the external device connected to the charge-discharge gun is a charging device or a device to be charged, and according to the judgment result, instructs the battery management system to control the rechargeable battery to perform charging or external charging.

[0073] The device to be charged is the target vehicle. The charging device is the charging pile, which has a charging seat. Since the voltage measured at the detection terminal is different when the external device is a charging device or a device to be charged, the type of the external device can be judged, and then the working state of the charge-discharge gun can be determined.

[0074] When the charging controller detects a change in the voltage of the detection terminal of the charging-discharging gun, it determines whether the external device is a charging pile for energy replenishment or a target vehicle that needs to be charged based on the difference in voltage changes. Based on the result of the judgment, the corresponding circuit is controlled to replenish energy or charge the external device. After the charging controller obtains the judgment result, it controls the battery management system based on the judgment result so that the battery management system controls the charging circuit or the energy replenishment circuit to be turned on. Based on the judgment result of the charging controller, the battery management system controls the operation of the charging circuit or the energy replenishment circuit by controlling the relay in the high-voltage circuit to charge or replenish energy. The high-voltage circuit connects the charging-discharging gun to the rechargeable battery, which can realize the transmission of power between the rechargeable battery and the external device.

[0075] The above content describes that the charge-discharge gun can realize the functions of charging and replenishing energy through the charge controller and the battery management system. During the process of replenishing energy and charging, the charge-discharge gun is connected to the external device. In addition, the charge-discharge gun can also be in a non-working state. The following content describes the placement position on the vehicle body, which is used to place the charge-discharge gun during the non-working period.

[0076] The vehicle body 201 is provided with a placement position for the charge-discharge gun, and a first sensor 204 is provided in the placement position; through the sensing result of the first sensor 204, it is judged that the charge-discharge gun 203 is placed in the placement position, and a charge-discharge gun in place signal is issued.

[0077] Since the charging-discharging gun is connected to the high-voltage battery inside the charging vehicle, it is a dangerous component. If it is not properly stored, it may cause a safety accident. Therefore, when not in operation, the charging-discharging gun needs to be placed in a fixed and reasonable position, rather than being held in the hand all the time, dragged on the ground, or even placed in other dangerous positions. The placement position is to solve the problem that the charging-discharging gun cannot be stored properly when not in operation.

[0078] The first sensor 204 can be set at any position of the vehicle body, which is specifically determined according to the needs of actual applications and is not limited in the embodiments of the present application.

[0079] The first sensor 204 may be a Hall element. The Hall element is an electronic element based on the working principle of the Hall effect, which is mainly used for measuring magnetic fields or detecting the presence of magnetic fields, and is usually made of semiconductor materials. A typical Hall element usually includes a thin sheet of semiconductor material, with power supplies connected at both ends and a voltage output terminal on the side. When the magnetic field is perpendicular to the semiconductor sheet, the drift direction of electrons in the semiconductor will be affected by the magnetic field, resulting in Hall voltage on the side. When a current passes through a conductive material and a magnetic field exists perpendicular to the direction of the current, a voltage will be generated on the side of the conductive material. This voltage is called the Hall voltage, and its magnitude is related to the current, the strength of the magnetic field and the properties of the material itself. Therefore, when the Hall element is placed in a magnetic field and a current passes through it, the magnitude and polarity of the Hall voltage can be used to determine the strength and direction of the magnetic field. The Hall element is used to detect the magnetic field generated by the change in the position of the object. When the result measured by the Hall element is stable and unchanged, it indicates that the charge-discharge gun has been placed in place at this time.

[0080] The first sensor 204 may also be a photoelectric sensor. A photoelectric sensor uses a photoelectric effect or a photosensitive element to detect the presence or position of a target object. It usually includes a transmitter and a receiver. The transmitter emits a light beam, and the receiver receives a reflected or transmitted light signal. When the target object blocks or passes through the light beam, the sensor can detect a change in the signal. Therefore, the photoelectric sensor can detect changes in light inside the placement position, and once it detects that the charge-discharge gun is inserted into place, a charge-discharge gun in place signal is generated and sent.

[0081] The method of determining that the charge-discharge gun is in place in the placement position through the sensing result of the first sensor, and then sending a charge-discharge gun in place signal, includes: obtaining the charge-discharge gun in place signal sent by the first sensor through the change of the electrical signal, and starting timing; when the timing reaches a predetermined time threshold, sending the charge-discharge gun in place information. In order to reduce the misjudgment of the charge-discharge gun in place situation, a time threshold is set, and the in place information is sent only when the measured duration of the in place signal is the predetermined time threshold.

[0082] Furthermore, in order to prevent the self-service charging vehicle from moving when the charging-discharging guns are not returned to their original positions, the movement of the self-service charging vehicle is restricted in combination with the wheel locking mechanism.

[0083] A wheel locking mechanism is provided corresponding to the driving wheel 202, which is used to lock the driving wheel 202 so that it cannot rotate, or to unlock the driving wheel 202 so that it can rotate. Common wheel locking mechanisms include: manual wheel locks, which clamp or release the wheel by manually rotating or pushing the locking device; electric wheel locks, which can be controlled by buttons or remote controls; pneumatic wheel locks, which use pneumatic actuators to control the locking mechanism. In one embodiment, an electric wheel lock is preferably used, which is composed of a clamp, claw or similar structure set at the driving wheel, which can firmly grasp the wheel to ensure that it is fixed. These clamps are usually designed to adapt to wheels of different sizes and shapes. When the mobile controller instructs the wheel locking mechanism to unlock through an electrical signal, the clamp, claw or similar structure set at the driving wheel changes from a locked state to an unlocked state, so that the driving wheel can rotate normally.

[0084] The driving wheel 202 can drive the self-service charging vehicle to move. When the driving wheel is in an unlocked state, the low-voltage battery pack can provide power to the driving motor so that the driving motor drives the driving wheel to rotate to realize the movement of the self-service charging vehicle. When the driving wheel 202 is in a locked state, it cannot be driven by the driving motor to rotate and drive the charging vehicle to move. Since the placement of the charging-discharging gun can determine the operating state of the self-service charging vehicle, the charging-discharging gun's position signal is associated with the wheel locking mechanism.

[0085] The input end of the mobile controller 205 is electrically connected to the first sensor 204, and the output end is electrically connected to the locking mechanism. The mobile controller sends a locking signal or an unlocking signal to the wheel locking mechanism based on the charging-discharging gun in place signal sent by the first sensor and related conditions, thereby unlocking or locking the driving wheel 202; wherein the charging-discharging gun in place signal sent by the first sensor is a necessary condition for the mobile controller to send an unlocking signal to the locking mechanism.

[0086] The mobile controller 205 can realize the locking state or unlocking state of the driving wheel of the self-service charging vehicle by controlling the locking or unlocking of the wheel locking mechanism. When the charging-discharging gun is in place in the placement position, the charging-discharging gun in place signal is generated in the first sensor 204, and the mobile controller 205 receives the in place signal. The mobile controller sends an unlocking signal to the wheel locking mechanism to unlock the driving wheel. It is worth noting that if an unlocking signal is to be sent to the locking mechanism, it is necessary to receive the charging-discharging gun in place signal sent by the first sensor.

[0087] In practical applications, the conditions for controlling the unlocking of the wheel locking mechanism can also be specifically set according to the operation mode, function, etc. of the charging trolley. For example, the electrical signal instruction for controlling the unlocking of the wheel locking mechanism comes from the induction result of the first sensor on the charging-discharging gun in-place signal, and the charging trolley can also be judged in combination with the operator's operation of the handle. A handle can also be provided on the charging trolley, and the operator places both hands correctly on the handle to control the running direction of the charging trolley. A pressure sensor is provided on the handle, and the pressure sensor is electrically connected to the mobile controller. When the pressure value applied on the handle reaches the preset pressure value, the pressure sensor sends a pressure signal to the mobile controller. After receiving the pressure signal, the mobile controller confirms that the operator has placed both hands on the handle. At this time, if it is detected that the in-place signal sent by the first sensor has reached the mobile controller, the drive wheel can be controlled to unlock. Further, similar to the design logic of the first sensor, the judgment of the time length is also added to the pressure sensor. When the pressure signal is detected to be continuously received, the mobile controller has the conditions to unlock the drive wheel, that is, once the pressure signal disappears (the human hand does not hold the handle), the drive wheel is controlled to stop rotating. The design mainly considers that when the charging trolley can be controlled by human assistance, the operator must hold both hands on the handle to prevent the charging trolley from losing control and causing safety accidents. In this method, the pressure signal and the position signal are both essential conditions for unlocking the drive wheel. Similarly, the handle can also be provided with an unlock button or other structures that can detect the operation mode and control the running status of the trolley, so that the drive wheel can be unlocked only when multiple structures meet the preset conditions at the same time, which has a higher safety guarantee.

[0088] In one embodiment, an electronic lock is also provided in the charging-discharging gun to ensure that the connection with the external device is not easily disconnected when the self-service charging vehicle is charging or replenishing energy, thereby improving the safety of the charging or replenishing process. The locking and unlocking of the electronic lock are also associated with the locking mechanism through the mobile controller to jointly control the operation of the self-service charging vehicle.

[0089] The electronic lock is used to lock the charging-discharging gun when the charging-discharging gun is connected to the plug interface of the charging pile, and to lock the charging-discharging gun and the vehicle to be charged when the charging-discharging gun is connected to the plug interface of the vehicle to be charged. The electronic lock is generally arranged at the gun head of the charging-discharging gun. When the charging-discharging gun is connected to the charging seat of the charging pile, the charging controller controls the electronic lock to be locked. When the electronic lock is not unlocked, the charging-discharging gun cannot be disconnected from the charging seat of the charging seat. Correspondingly, when the charging-discharging gun is connected to the charging interface of the vehicle to be charged, the charging controller controls the electronic lock to be locked. When it is not unlocked, the charging-discharging gun cannot be disconnected from the charging interface of the vehicle to be charged. When the electronic lock is locked, the electronic lock is in the charging or energy replenishment process. During this period, the self-service charging vehicle does not need to move. Therefore, at this time, the wheel locking mechanism is also in a locked state to ensure that the self-service charging vehicle is stationary.

[0090] When the charging-discharging gun is connected to the charging pile and the vehicle to be charged, respectively, and when it is not connected to an external device, the voltage of the detection electron of the charging-discharging gun is different, and the charging controller determines the connection state of the charging-discharging gun according to the following steps:

[0091] According to the change of the detection terminal voltage, it is determined that the connection state between the current charge-discharge gun and the outside world has changed, and the next step is entered;

[0092] According to the detection terminal voltage value, determining the connection state of the charge-discharge gun includes:

[0093] According to the first voltage value of the detection terminal, it is judged that the charge-discharge gun is connected to the charging pile and is in the first state; according to the second voltage value of the detection terminal, it is judged that the charge-discharge gun is connected to the vehicle to be charged and is in the second state; according to the third voltage value of the detection terminal, it is judged that the charge-discharge gun is not connected to the external device and is in the third state.

[0094] The following are examples of the above voltage values ​​and states. Figure 3 , Figure 3A schematic diagram of the mechanism of the charge-discharge gun provided for the first embodiment of the present application. For example, the resistor connected in the charging seat of the charging pile can be 270Ω. When the charge-discharge gun is connected to the charging seat, a loop is formed between the internal circuit of the charging seat and the internal power supply (12V) of the charging controller, and a 1kΩ resistor is often set at the internal power supply; at the same time, a 1kΩ resistor is usually connected in parallel at the detection terminal. Therefore, when the charge-discharge gun is connected to the charging seat, the voltage value of the detection terminal CC1 is about 2.1V. The voltage value here is the first voltage value, and the first state is the state in which the charge-discharge gun is connected to the charging pile. The resistor connected in the interface of the vehicle to be charged is usually 1kΩ. When the charge-discharge gun is connected to the charging interface of the vehicle to be charged, a loop is formed between the charging interface of the vehicle to be charged and the internal power supply (12V) of the charging controller, and a 1kΩ resistor is often set at the internal power supply; at the same time, a 1kΩ resistor is usually connected in parallel at the detection terminal CC1. Therefore, when the charge-discharge gun is connected to the vehicle to be charged, the voltage value of the detection terminal CC1 is 4V. The voltage value here is the second voltage value, and the second state is the state in which the charging-discharging gun is connected to the vehicle to be charged. When the charging-discharging gun is not connected to an external device, the voltage value of the detection terminal CC1 is 6V. The voltage value here is the third voltage value, and the third state is the state in which the charging-discharging gun is not connected to any external device. Theoretically, the resistance value in the above example can be any value, as long as the voltage value between the charging device and the energy replenishing device can be distinguished. The above example is only for a more intuitive description of the technical means of the embodiment of the present application.

[0095] According to the judgment result of the state of the charging-discharging gun, a corresponding control instruction is generated and sent to the battery management system, including:

[0096] Generate a charging instruction corresponding to the first state, charge the rechargeable battery through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller;

[0097] Generate a charging instruction corresponding to the second state, charge the vehicle with charging through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller;

[0098] A charging instruction is generated corresponding to the third state, and combined with the charging-discharging gun in place signal sent by the first sensor, an unlocking signal is sent to the wheel locking mechanism through the mobile controller.

[0099] In the first state, the charging-discharging gun is connected to the socket of the charging pile, and the signal control port controlling the electronic lock sends a locking signal and generates a charging instruction at the same time. The battery control system controls the establishment of the charging circuit to recharge the rechargeable battery of the self-service charging vehicle through the charging-discharging gun.

[0100] In the second state, the charging-discharging gun is connected to the vehicle to be charged, controls the electronic lock to send a locking signal, and generates a charging instruction at the same time. The battery control system controls the establishment of the charging circuit, and transmits the electric energy stored in the rechargeable battery to the vehicle to be charged through the charging-discharging gun.

[0101] The charging-discharging gun in the third state may be stored in the placement position or may be suspended (including the situation where no device is connected and not returned to the position). For the charging-discharging gun in the third state, the in-position signal is detected. When the in-position signal that meets the predetermined time threshold is received, the mobile controller sends an unlocking signal to the wheel locking mechanism. At this time, the self-service charging vehicle can move by the driving wheels.

[0102] In practical applications, the wheel locking mechanism may be controlled to lock before the electronic lock is controlled to lock, and the wheel locking mechanism may be controlled to unlock after the electronic lock is controlled to unlock.

[0103] The charging controller is provided with a signal control port for controlling the electronic lock, and the signal control port sends a lock or unlock signal to control the lock or unlock state of the electronic lock, and the charging controller also synchronizes the lock or unlock signal to the mobile controller. The electronic lock signal control port provided in the charging controller can send a lock or unlock signal to control the lock or unlock of the electronic lock. The electronic lock signal control port sends a lock or unlock signal based on the situation of the external connection device determined by the charging controller. When the charging controller detects that the device connected to the charging-discharging gun is a charging pile or a vehicle to be charged, the charging controller sends a lock signal for the electronic lock to control the electronic lock to lock. When the charging controller receives an instruction to terminate charging or replenishing energy, the electronic lock signal control port of the charging controller sends an unlock instruction to control the electronic lock to unlock. In one embodiment, the unlocking and locking states of the electronic lock affect the locking or unlocking of the locking mechanism. The charging controller not only sends a lock or unlock signal to the electronic lock to control the locking or unlocking of the electronic lock, but also sends a lock or unlock signal to the mobile controller. As can be seen from the foregoing content, the mobile controller changes the movable state of the self-service charging vehicle by controlling the locking state of the driving wheel.

[0104] The mobile controller controls the locking of the driving wheel in combination with the locking signal sent by the charging controller. In practical applications, the driving wheel is also locked when the electronic lock is locked. On the contrary, the electronic lock is not necessarily locked when the driving wheel is locked. The locking and unlocking states of the driving wheel are associated with the in-place information of the charging-discharging gun. Before the charging controller detects that the charging-discharging gun is connected / disconnected with the external device, it is necessary to ensure that the self-service charging vehicle is in an immobile static state to ensure that no safety accident will be caused by the movement of the charging vehicle during the plugging process. Therefore, in one embodiment, a notification module is also provided on the self-service charging vehicle. It is determined that the driving wheel is in a locked state, and a signal allowing the charging-discharging gun to be plugged in is sent to the notification module. When the charging-discharging gun is detected to be connected to the external device, the charging controller controls the electronic lock to lock and starts to perform the charging or energy replenishment task. Correspondingly, it is confirmed that the driving wheel is in a locked state, and a signal allowing the charging-discharging gun to be unplugged is sent to the notification module. After determining that the charging-discharging gun has been disconnected from the external device by detecting the voltage of the terminal, the detection process of the first sensor is triggered. After the in-place information of the first sensor is sent to the mobile controller, the mobile controller controls the wheel locking mechanism to unlock.

[0105] The self-service charging vehicle provided in the first embodiment of the present application controls the charging-discharging gun to replenish energy or charge externally through the charging controller and the battery management system, so that the needs of replenishing energy and discharging externally can be met with one interface. At the same time, a placement position is set on the vehicle body for the placement of the charging-discharging gun, and the locking and unlocking of the wheel locking mechanism are determined according to the detection result of the sensor for the charging-discharging gun in place signal, thereby increasing the restriction conditions on the movement of the self-service charging vehicle. With the self-service charging vehicle provided in the present application, charging and discharging can be realized with one interface, saving the production cost of the charging vehicle; the placement position and the sensor are combined to send a placement signal, and the mobile controller automatically controls the wheel locking mechanism to unlock, thereby improving the automation operation efficiency of the self-service charging vehicle and enhancing the safety of the self-service charging vehicle during use.

[0106] Second embodiment

[0107] The second embodiment of the present application provides a control method for a charging vehicle, which corresponds to the structure and function of the self-service charging vehicle in the aforementioned content, and the relevant method has been described in the aforementioned content. Therefore, the following description is only illustrative, and the relevant parts of this embodiment can refer to the contents of the aforementioned embodiment.

[0108] Please see Figure 4 , Figure 4 This is a flow chart of a control method for a charging vehicle provided in the second embodiment of the present application. The control method for a charging vehicle provided in the second embodiment of the present application comprises the following steps:

[0109] Step S401, receiving a request for using a charging vehicle, obtaining status information of the charging vehicle, and when the status information indicates that the charging vehicle is being charged, controlling the charging vehicle to stop charging and unlocking an electronic lock provided in the charging-discharging gun.

[0110] This step is used to obtain the status information of the charging vehicle and determine whether the charging vehicle is available for use by the vehicle to be charged. The charging vehicle status information at least includes the charging status, the charging completion status, the external charging status, the unusable status, etc.

[0111] When the status information of the charging vehicle is detected as being recharged, the charging vehicle needs to stop recharging and prepare to move it to the location of the vehicle to be charged. When the charging vehicle receives the signal to stop recharging, the battery management system in the charging vehicle controls the recharging circuit to disconnect, so that the charging vehicle stops recharging. At the same time, the charging controller sends a signal to unlock the electronic lock, controlling the electronic lock in the charging-discharging gun to unlock, so that the charging-discharging gun is disconnected from the charging pile.

[0112] The placement signal of the charging-discharging gun is a necessary condition for the mobile controller to send an unlocking signal to the locking mechanism. Therefore, it is necessary to confirm that the charging-discharging gun is placed in the placement position after being disconnected from the charging pile to meet the conditions for triggering the wheel locking mechanism.

[0113] When it is detected that the charging vehicle is in the state of completing energy replenishment, it is assumed that the charging vehicle is ready to go to the location of the vehicle to be charged. Next, you only need to control the charging vehicle to move to the location of the vehicle to be charged to perform the charging task.

[0114] When it is detected that the charging vehicle is in an unusable state, the state information and device information of the charging vehicle are reported.

[0115] When it is detected that the charging vehicle is in the state of external charging, the process may proceed to step S401 to detect whether an instruction to stop charging is received.

[0116] Step S402, judging that the charging-discharging gun is in place in the placement position according to the sensing result of the first sensor installed in the placement position, sending an unlocking signal to the wheel locking mechanism through the mobile controller, thereby unlocking the driving wheel.

[0117] The sensing result includes a signal that the charging-discharging gun is in position, which is sent by the first sensor through a change in an electrical signal. At this time, the first sensor detects that the charging-discharging gun has been placed in the placement position, and the mobile controller receives the sensing result and sends an unlocking signal to the wheel locking mechanism to unlock the driving wheel.

[0118] Step S403: the mobile controller controls the charging vehicle to move to the location of the vehicle to be charged.

[0119] The mobile controller can control the charging vehicle to move to the location of the vehicle to be charged. The mobile controller has obtained the location information of the vehicle to be charged in advance, and plans the driving path according to the location information, controls the charging vehicle to move to the location of the vehicle to be charged, and prepares to charge the vehicle to be charged.

[0120] Step S404, when the charging controller detects that the charging vehicle is connected to the vehicle to be charged, it issues a charging instruction to instruct the battery management system to control the charging vehicle to charge the vehicle to be charged; at the same time, the mobile controller issues a locking signal to the wheel locking mechanism to lock the drive wheel.

[0121] The charging controller determines whether the charging-discharging gun is connected to the charging interface of the vehicle to be charged by detecting the voltage value at the terminal, and issues a charging instruction after determining that the charging vehicle is connected to the vehicle to be charged. Before issuing the charging instruction, it also includes: when it is detected that the charging vehicle is connected to the plug interface of the vehicle to be charged, controlling the electronic lock to lock the vehicle to be charged. The battery management system receives the charging instruction, controls the establishment of the charging circuit and the charging communication circuit, obtains the charging demand information, and realizes the charging of the vehicle to be charged. At the same time, the mobile controller also sends a locking signal to the wheel locking mechanism to lock the drive wheel.

[0122] Corresponding to the above process of the charging vehicle charging the vehicle to be charged, the charging vehicle also recharges energy by connecting to the charging pile. Figure 5 , Figure 5 This is a second flow chart of a control method for a charging vehicle provided in the second embodiment of the present application. In one implementation, the control method for the charging vehicle further includes the following steps:

[0123] Step S501, receiving a request to stop charging from the charging vehicle, and controlling the charging vehicle to stop external charging.

[0124] This step is for the charging vehicle that is charging externally. When a request to stop charging is received, the battery management system and the charging controller control the charging circuit of the charging vehicle to disconnect and stop external charging.

[0125] Step S502, confirming that the charging vehicle has stopped external charging, and controlling the electronic lock provided in the charging-discharging gun to unlock.

[0126] In this step, after the charging vehicle stops charging, the electronic lock in the charging-discharging gun is unlocked so that the charging-discharging gun can be disconnected from the charging interface of the vehicle to be charged.

[0127] Step S503, judging that the charging-discharging gun is in place in the placement position according to the sensing result of the first sensor installed in the placement position, sending an unlocking signal to the wheel locking mechanism through the mobile controller, thereby unlocking the driving wheel.

[0128] After the charge-discharge gun is disconnected from the vehicle to be charged, it needs to be placed in the placement position before the charging vehicle can be moved. Therefore, after determining that the charge-discharge gun has been placed in place through the sensing result of the first sensor in the placement position, the wheel locking mechanism is controlled to unlock, thereby unlocking the drive wheel.

[0129] Step S504: the mobile controller controls the charging vehicle to move to the location of the charging pile.

[0130] This step is used to move the controller to the location of the target charging pile according to the acquired location of the target charging pile, and prepare for energy replenishment.

[0131] Step S505, when the charging controller detects that the charging vehicle is connected to the charging pile, it issues a charging instruction to instruct the battery management system to control the charging vehicle to perform charging; at the same time, the mobile controller sends a locking signal to the wheel locking mechanism to lock the driving wheel.

[0132] When the charging controller detects that the charging vehicle is connected to the charging pile, that is, the charging-discharging gun of the charging vehicle is connected to the plug interface of the charging pile, it controls the battery management system to establish the energy replenishment circuit and the energy replenishment communication circuit, and controls the charging vehicle to replenish energy. At the same time, the mobile controller locks the wheel locking mechanism so that the drive wheel cannot rotate.

[0133] In one embodiment, before issuing the energy replenishment instruction, it also includes: when it is detected that the charging vehicle is connected to the plug interface of the charging pile, controlling the electronic lock to lock to prevent the charging-discharging gun from being suddenly disconnected from the charging pile during the energy replenishment process.

[0134] The control method of the charging vehicle used in the second embodiment of the present application can be applied to self-service charging vehicles. Through the mutual cooperation and coordination of the electronic lock in the charging-discharging gun, the first sensor in the placement position, and the wheel locking mechanism, the connection between the charging vehicle and the outside, the energy replenishment or the external discharge process are controlled, and the wheel locking mechanism of the charging vehicle is automatically unlocked through the in-place signal. The use of this control method can make the charging vehicle have a high degree of automation and good safety, providing technical guarantee for the safety of the self-service charging vehicle during operation.

[0135] Third embodiment

[0136] Based on the above content, the third embodiment of the present application provides an electronic device. Figure 5 , Figure 5A schematic diagram of the structure of an electronic device provided in the third embodiment of the present application. The electronic device comprises:

[0137] Processor 601;

[0138] The memory 602 is used to store a computer program, and the computer program is executed by the processor to implement the control method of the charging vehicle provided in the present application.

[0139] It should be noted that the electronic device provided in the third embodiment of the present application can refer to the aforementioned related description of the present application, which will not be repeated here.

[0140] Although the present application is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present application. Any technical personnel in this field may make possible changes and modifications without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be based on the scope defined by the claims of the present application.

[0141] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0142] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0143] 1. Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0144] 2. Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

Claims

1. A self-service charging vehicle, It is characterized in that Including body, driving wheels, charging-discharging gun, sensor, mobile controller, rechargeable battery, charging controller, battery management system; The charging-discharging gun is electrically connected to the rechargeable battery, and under the control of the charging controller and the battery management system, the rechargeable battery is replenished or charged externally; The vehicle body is provided with a placement position for the charging-discharging gun, and a first sensor is provided in the placement position; according to the sensing result of the first sensor, it is judged that the charging-discharging gun is placed in the placement position, and a charging-discharging gun in place signal is sent; A wheel locking mechanism is provided corresponding to the driving wheel, which is used to lock the driving wheel so that it cannot rotate, or to unlock the driving wheel so that it can rotate; The input end of the mobile controller is electrically connected to the first sensor, and the output end is electrically connected to the locking mechanism. The mobile controller sends a locking signal or an unlocking signal to the wheel locking mechanism based on the charging-discharging gun in place signal sent by the first sensor and related conditions, thereby unlocking or locking the driving wheel; wherein the charging-discharging gun in place signal sent by the first sensor serves as a necessary condition for the mobile controller to send an unlocking signal to the locking mechanism.

2. The self-service charging vehicle according to claim 1, It is characterized in that Under the control of the charging controller and the battery management system, the rechargeable battery is replenished or charged externally, including: The charge-discharge gun is electrically connected to the charge controller, and the charge-discharge gun is also electrically connected to the battery management system; when the charge controller detects a change in the detection terminal voltage of the charge-discharge gun, it determines that the external device connected to the charge-discharge gun is a charging device or a device to be charged, and according to the judgment result, instructs the battery management system to control the rechargeable battery to perform energy replenishment or external charging.

3. The self-service charging vehicle according to claim 1, It is characterized in that The method of judging, based on the sensing result of the first sensor, that the charge-discharge gun is in place in the placement position, and then sending a charge-discharge gun in place signal includes: Obtaining a signal that the charging-discharging gun is in place, which is emitted by the first sensor through a change in an electrical signal, and starting timing; When the timing reaches a predetermined time threshold, a charge-discharge gun in place message is issued.

4. The self-service charging vehicle according to claim 1, It is characterized in that The charging-discharging gun is provided with an electronic lock, and the electronic lock is used to lock the charging-discharging gun when the charging-discharging gun is connected to the plug interface of the charging pile, and to lock the charging-discharging gun and the vehicle to be charged when the charging-discharging gun is connected to the plug interface of the vehicle to be charged; The charging controller is provided with a signal control port for controlling the electronic lock, the signal control port sends a lock or unlock signal to control the lock or unlock state of the electronic lock, and the charging controller also synchronizes the lock or unlock signal to the mobile controller; The mobile controller controls the driving wheel to lock in conjunction with the locking signal sent by the charging controller.

5. The self-service charging vehicle according to claim 4, It is characterized in that When the charging-discharging gun is connected to the charging pile and the vehicle to be charged, respectively, and when it is not connected to an external device, the voltage of the detection electron of the charging-discharging gun is different, and the charging controller determines the connection state of the charging-discharging gun according to the following steps: According to the change of the detection terminal voltage, it is determined that the connection state between the current charge-discharge gun and the outside world has changed, and the next step is entered; According to the detection terminal voltage value, determining the connection state of the charge-discharge gun includes: According to the first voltage value of the detection terminal, it is judged that the charge-discharge gun is connected to the charging pile in the first state; according to the second voltage value of the detection terminal, it is judged that the charge-discharge gun is connected to the vehicle to be charged and is in the second state; according to the third voltage value of the detection terminal, it is judged that the charge-discharge gun is not connected to the external device and is in the third state; According to the judgment result of the state of the charging-discharging gun, a corresponding control instruction is generated and sent to the battery management system, including: Generate a charging instruction corresponding to the first state, charge the rechargeable battery through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller; Generate a charging instruction corresponding to the second state, charge the vehicle to be charged through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller; A charging instruction is generated corresponding to the third state, and combined with the charging-discharging gun in place signal sent by the first sensor, an unlocking signal is sent to the wheel locking mechanism through the mobile controller.

6. A control method for a charging vehicle, It is characterized in that include: receiving a request to use a charging vehicle, obtaining status information of the charging vehicle, and when the status information indicates that the charging vehicle is being charged, controlling the charging vehicle to stop charging and unlocking an electronic lock provided in the charging-discharging gun; According to the sensing result of the first sensor installed at the placement position, it is judged that the charging-discharging gun is placed in the placement position, and an unlocking signal to the wheel locking mechanism is sent through the mobile controller, so that the driving wheel is unlocked; The mobile controller controls the charging vehicle to move to the location of the vehicle to be charged; When the charging controller detects that the charging vehicle is connected to the vehicle to be charged, the charging controller instructs the battery management system to control the charging vehicle to charge the vehicle to be charged; at the same time, the mobile controller sends a locking signal to the wheel locking mechanism, thereby locking the driving wheel.

7. The control method of the charging vehicle according to claim 6, It is characterized in that Also includes: receiving a request to stop charging from the charging vehicle, and controlling the charging vehicle to stop external charging; Confirming that the charging vehicle has stopped external charging, and controlling the electronic lock provided in the charging-discharging gun to unlock; According to the sensing result of the first sensor installed at the placement position, it is judged that the charging-discharging gun is placed in the placement position, and an unlocking signal to the wheel locking mechanism is sent through the mobile controller, so that the driving wheel is unlocked; The mobile controller controls the charging vehicle to move to the location of the charging pile; The charging controller detects that the charging vehicle is connected to the charging pile, and controls the battery management system to enable the charging vehicle to recharge; at the same time, the mobile controller sends a locking signal to the wheel locking mechanism, thereby locking the driving wheel.

8. The control method of the charging vehicle according to claim 6, It is characterized in that Before issuing the charging instruction, the method further includes: When it is detected that the charging vehicle is connected to the plug interface of the vehicle to be charged, the electronic lock is controlled to lock with the vehicle to be charged.

9. The control method of the charging vehicle according to claim 7, It is characterized in that Before issuing the energy replenishment instruction, the method further includes: When it is detected that the charging vehicle is connected to the plug interface of the charging pile, the electronic lock is controlled to be locked.

10. An electronic device, It is characterized in that The electronic device comprises: processor; and a memory for storing a computer program, wherein after the electronic device is powered on and the computer program is run by the processor, the method described in any one of claims 6 to 9 is executed.

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