Vehicle carrying platform control method

Abstract

The invention discloses a vehicle carrying platform control method which comprises the following steps: controlling a vehicle carrying plane to be accelerated from a static state to a first speed and start to rise or fall from an initial height; the actual height of the vehicle carrying plane is obtained, and whether the actual height reaches the first middle height or not is judged; under the condition that the judgment result is yes, the vehicle carrying plane is controlled to rise or fall at a second speed smaller than the first speed; the actual height of the vehicle carrying plane is obtained again, and whether the actual height reaches the second middle height or not is judged; and under the condition that the judgment result is yes, the vehicle carrying plane is controlled to decelerate and stop to the target height. In the stopping process of the vehicle carrying plane, the vehicle carrying plane decelerates to the second relatively low speed and ascends or descends at a constant speed, and then decelerates to stop to the target height, so that the beneficial technical effect of more stable stopping is achieved, and the situation that in the battery pack dismounting or mounting process, the vehicle carrying plane is damaged is avoided. An unlocking part on the battery replacing equipment collides with a battery pack or a locking mechanism on an automobile due to inertia, and the unlocking part and the battery pack or the locking mechanism are damaged.

Description

[0001] This application is a divisional application of a Chinese patent application with an application date of September 30, 2021, application number 202111165921X, and invention name “Vehicle-carrying platform control method”. Technical Field

[0002] The present invention belongs to the field of battery replacement control, and in particular relates to a vehicle-carrying platform control method. Background Art

[0003] There are two main charging methods for electric vehicles, one is direct charging and the other is quick-change. Direct charging requires charging piles to charge electric vehicles, but the charging time is long and the efficiency is low. Battery swapping requires setting up a battery swap station to achieve quick battery swapping by replacing the battery pack of the electric vehicle, which shortens the time compared to direct charging, but the battery swapping process includes removing and installing the battery pack.

[0004] Chinese invention patent application CN202010076929.8 discloses a battery replacement control method and system / electronic device and storage medium. The battery replacement control method is used to control the first battery replacement device and the second battery replacement device to cooperate to alternately replace the battery pack for an electric vehicle. However, during the battery replacement process, the lifting plane directly rises or descends to the required height position, and its lifting action is not smooth enough from high-speed movement to the stop state. Therefore, during the process of removing and installing the battery pack, there will be impact force on the unlocking devices on the first battery replacement device and the second battery replacement device and the locking mechanism on the electric vehicle, causing damage to the unlocking device and the locking mechanism. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a vehicle loading platform control method in order to overcome the defect in the prior art that the lifting action of the vehicle loading plane from high-speed movement to a stopped state is not smooth enough, which may cause damage to the unlocking device or the locking mechanism.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] A vehicle-carrying platform control method, characterized in that the vehicle-carrying platform comprises a lifting device, the lifting device has a vehicle-carrying plane for carrying an electric vehicle and can be raised or lowered, and the vehicle-carrying plane is controlled to be raised or lowered from an initial height to a target height;

[0008] The vehicle-carrying platform control method comprises:

[0009] Controlling the vehicle-carrying plane to accelerate from rest to a first speed, and to rise or fall from the initial height;

[0010] Obtaining the actual height of the vehicle-carrying plane, and determining whether the actual height reaches a first intermediate height;

[0011] If the judgment result is yes, the vehicle-carrying plane is controlled to be raised or lowered at a second speed, the second speed being lower than the first speed;

[0012] obtaining the actual height of the vehicle-carrying plane again, and determining whether the actual height reaches the second intermediate height;

[0013] If the judgment result is yes, the vehicle-carrying plane is controlled to decelerate and stop to a target height;

[0014] The vehicle loading platform also has a lifting mechanism, and the vehicle loading plane is raised or lowered by the oil cylinder of the lifting mechanism;

[0015] Controlling the vehicle-carrying plane to decelerate and stop at a target height includes:

[0016] Obtaining the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0017] The current speed of the oil cylinder is adjusted according to a preset third speed curve so that the oil cylinder drives the vehicle-carrying plane to decelerate and stop at a target height. The preset third speed curve represents the corresponding relationship between the second speed and the height.

[0018] In this technical solution, through the above steps, the vehicle-carrying plane can first decelerate to a relatively low second speed and rise or fall at a uniform speed during the stopping process, and then decelerate and stop to the target height, thereby achieving the beneficial technical effect of stopping more smoothly, thereby avoiding the collision of the unlocking parts on the battery swapping equipment and the battery pack or locking mechanism on the car due to inertia during the removal and installation of the battery pack, resulting in damage to both. Furthermore, through the above steps, the current speed of the oil cylinder can be adjusted in time to ensure that the rise or fall of the vehicle-carrying plane is decelerated and stopped to the target height according to the preset third speed curve.

[0019] Preferably, the distance from the first intermediate height to the target height is greater than the distance from the second intermediate height to the target height.

[0020] In the present technical solution, the position requirements between the second intermediate height and the first intermediate height are further restricted to ensure that the vehicle-carrying plane will first undergo a period of slower uniform movement during the deceleration process and then decelerate, thereby reducing the impact between the unlocking components on the battery exchange equipment and the battery pack or locking mechanism on the vehicle.

[0021] Preferably, the vehicle loading platform further has a lifting mechanism, and the vehicle loading plane is raised or lowered by the oil cylinder of the lifting mechanism;

[0022] The step of controlling the vehicle-carrying plane to accelerate from a stationary state to a first speed and to rise or fall from an initial height includes:

[0023] Obtaining the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0024] The current speed of the cylinder is adjusted according to a preset first speed curve so that the cylinder drives the vehicle-carrying plane to rise or fall from the initial height to a first intermediate height at the first speed. The preset first speed curve represents the corresponding relationship between the first speed and the height.

[0025] In the present technical solution, through the above-mentioned steps, the current speed of the oil cylinder can be adjusted in time to ensure that the vehicle-carrying plane is raised or lowered from the initial height to the first intermediate height at the first speed according to the requirements of the preset first speed curve.

[0026] Preferably, the step of adjusting the current speed of the oil cylinder according to the preset first speed curve includes:

[0027] Determining whether an absolute value of a difference between an actual height of the vehicle-carrying plane and a corresponding preset height on the preset first speed curve is greater than a first threshold;

[0028] When the judgment result is yes, the vehicle loading plane is controlled to stop rising or lowering.

[0029] In the present technical solution, through the above-mentioned steps, when the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is large, the vehicle loading plane is directly controlled to stop rising or lowering, and the lifting device and related structures are promptly inspected for safety to avoid further safety accidents.

[0030] Preferably, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset first speed curve is greater than a first threshold, the method further comprises:

[0031] If the result of the judgment is negative, determining the difference between the actual height of the vehicle-carrying plane and the preset height corresponding to the first speed curve;

[0032] When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the first speed curve and the vehicle loading plane is in an ascending stage, reducing the current speed of the vehicle loading plane;

[0033] When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the first speed curve and the vehicle loading plane is in an ascending stage, increasing the current speed of the vehicle loading plane;

[0034] When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the first speed curve and the vehicle loading plane is in a descending stage, increasing the current speed of the vehicle loading plane;

[0035] When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the first speed curve and the vehicle loading plane is in a descending stage, the current speed of the vehicle loading plane is reduced.

[0036] In the present technical solution, when it is determined that the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is small, the above method can realize automatic adjustment of the movement speed of the lifting device, thereby promoting the lifting device to rise or fall according to the preset first speed curve.

[0037] Preferably, the vehicle loading platform further has a lifting mechanism, and the vehicle loading plane is raised or lowered by the oil cylinder of the lifting mechanism;

[0038] In controlling the vehicle-carrying plane to rise or fall at a second speed, the method comprises:

[0039] Obtaining the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0040] The current speed of the cylinder is adjusted according to a preset second speed curve so that the cylinder drives the vehicle-carrying plane to rise or fall from the first intermediate height to the second intermediate height at the second speed. The preset second speed curve represents the corresponding relationship between the second speed and the height.

[0041] In the present technical solution, through the above-mentioned steps, the current speed of the oil cylinder can be adjusted in time to ensure that the vehicle-carrying plane is raised or lowered from the first intermediate height to the second intermediate height at the second speed according to the preset second speed curve.

[0042] Preferably, the step of adjusting the current speed of the oil cylinder according to the preset second speed curve includes:

[0043] Determining whether an absolute value of a difference between an actual height of the vehicle-carrying plane and a corresponding preset height on the preset second speed curve is greater than a second threshold;

[0044] When the judgment result is yes, the vehicle loading plane is controlled to stop rising or lowering.

[0045] In the present technical solution, through the above steps, when the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is large, the vehicle loading plane is directly controlled to stop rising or lowering to avoid further safety accidents.

[0046] Preferably, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset second speed curve is greater than a second threshold, the method further comprises:

[0047] If the result of the judgment is negative, determining the difference between the actual height of the vehicle-carrying plane and the preset height corresponding to the second speed curve;

[0048] When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the second speed curve and the vehicle loading plane is in an ascending stage, reducing the current speed of the vehicle loading plane;

[0049] When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the second speed curve and the vehicle loading plane is in an ascending stage, increasing the current speed of the vehicle loading plane;

[0050] When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the second speed curve and the vehicle loading plane is in a descending stage, increasing the current speed of the vehicle loading plane;

[0051] When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the second speed curve and the vehicle loading plane is in a descending stage, the current speed of the vehicle loading plane is reduced.

[0052] In the present technical solution, when it is determined that the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is small, the above method can realize automatic adjustment of the movement speed of the lifting device, thereby promoting the lifting device to rise or fall according to the preset second speed curve.

[0053] Preferably, the step of adjusting the current speed of the oil cylinder according to the preset third speed curve includes:

[0054] Determining whether an absolute value of a difference between an actual height of the vehicle-carrying plane and a corresponding preset height on the preset third speed curve is greater than a third threshold;

[0055] When the judgment result is yes, the vehicle loading plane is controlled to stop rising or lowering.

[0056] In the present technical solution, through the above steps, when the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is large, the vehicle loading plane is directly controlled to stop rising or lowering to avoid further safety accidents.

[0057] Preferably, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset third speed curve is greater than a third threshold, the method further comprises:

[0058] If the result of the judgment is negative, determining the difference between the actual height of the vehicle-carrying plane and the preset height corresponding to the third speed curve;

[0059] When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the third speed curve and the vehicle loading plane is in an ascending stage, reducing the current speed of the vehicle loading plane;

[0060] When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the third speed curve and the vehicle loading plane is in an ascending stage, increasing the current speed of the vehicle loading plane;

[0061] When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the third speed curve and the vehicle loading plane is in a descending stage, increasing the current speed of the vehicle loading plane;

[0062] When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the third speed curve and the vehicle loading plane is in a descending stage, the current speed of the vehicle loading plane is reduced.

[0063] In the present technical solution, when it is determined that the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is small, the above method can realize automatic adjustment of the movement speed of the lifting device, thereby promoting the lifting device to rise or fall according to the preset third speed curve.

[0064] Preferably, the oil cylinder is a one-way two-stage hydraulic cylinder, which is vertically installed below the vehicle-carrying plane. The one-way two-stage hydraulic cylinder comprises a cylinder barrel, a primary piston rod and a secondary piston rod which are sequentially sleeved. The maximum height to which the primary piston rod can drive the vehicle-carrying plane is the cylinder change height.

[0065] The lifting mechanism also includes a hydraulic station for supplying hydraulic oil to the one-way two-stage hydraulic cylinder. The hydraulic station includes a motor and a hydraulic pump. The hydraulic pump is linked to the output shaft of the motor, and the hydraulic pump supplies or extracts hydraulic oil to the one-way two-stage hydraulic cylinder through an oil pipe.

[0066] In the present technical solution, a cylinder structure is provided through the above specific form.

[0067] Preferably, in the process of controlling the vehicle-carrying plane to rise or fall, the actual height and current speed of the vehicle-carrying plane are obtained to determine whether the actual height of the vehicle-carrying plane is equal to the cylinder-changing height;

[0068] When the judgment result is yes, the motor is controlled to decelerate from the current speed to zero, and then accelerate from zero to the target speed, so that the movement speed of the motor drive on the vehicle-carrying plane before and after the adjustment is consistent.

[0069] In the present technical solution, the above steps are set to prevent sudden changes such as vibration or shaking when the one-way two-stage hydraulic cylinder is replaced, thereby ensuring that the lifting action of the cylinder and the vehicle carrier surface is continuous and stable.

[0070] Preferably, the flow rate provided by the hydraulic station is calculated according to the following formula:

[0071]

[0072] Among them, Q1 is the hydraulic flow provided to the primary piston rod, D1 is the inner diameter of the cylinder, Q2 is the hydraulic flow provided to the secondary piston rod, and D2 is the inner diameter of the primary piston rod.

[0073] In the present technical solution, the change in the motor speed can control the size of the hydraulic flow. By providing the above formula, the size of the flow required to be provided to the cylinder after the motor speed returns to zero can be calculated according to the above formula.

[0074] Preferably, the current speed of the cylinder is adjusted by controlling the hydraulic flow; and the hydraulic flow is controlled by adjusting the rotation speed of the motor.

[0075] In this technical solution, the control relationship between the hydraulic station, the motor and the cylinder is defined.

[0076] Preferably, the vehicle-carrying platform is provided with a walking surface for the battery-changing equipment used for disassembling and assembling the battery pack to walk on;

[0077] During the battery replacement process, the initial height and the target height are any two adjacent heights of the starting height, the battery removal height, the battery installation height, the first operating height, and the second operating height;

[0078] The starting height is the height of the walking plane of the vehicle-carrying platform;

[0079] The battery removal height is a height that matches the driving-in stage of the battery swapping equipment before the battery is removed;

[0080] The battery installation height is the height that matches the driving-in stage of the battery replacement equipment before battery installation;

[0081] The first operating height is the height at which the battery swapping equipment removes the battery pack from the electric vehicle;

[0082] The second operating height is the height of the battery swap equipment when it is installed on the battery pack of the electric vehicle.

[0083] In this technical solution, when the electric vehicle drives to the vehicle loading platform for battery replacement, the lifting device needs to raise or lower the electric vehicle according to demand to complete the battery replacement operation.

[0084] Preferably, the first operating height is set to be lower than the battery removal height, and when the vehicle-carrying plane is at the first operating height, the relative height between the vehicle-carrying plane and the walking plane meets the height condition for removing the battery pack of the battery replacement equipment;

[0085] The second operating height is set to: lower than the battery installation height, and when the vehicle loading plane is at the second operating height, the relative height between the vehicle loading plane and the walking plane meets the height condition for installing the battery pack of the battery replacement equipment.

[0086] In the present technical solution, the first operating height and the second operating height are further limited to ensure that the first operating height and the second operating height can realize the function of removing or installing the battery.

[0087] A vehicle-carrying platform control method, characterized in that the vehicle-carrying platform has a vehicle-carrying plane for carrying electric vehicles and can be raised or lowered, and the vehicle-carrying plane is controlled to be raised or lowered from an initial height to a target height;

[0088] The vehicle-carrying platform control method comprises:

[0089] The controller sends a start signal to the motor of the hydraulic station;

[0090] When receiving the start signal, the motor rotates at a first speed and drives the oil cylinder of the lifting mechanism to start to extend and retract, so as to drive the vehicle-carrying plane to accelerate from a stationary state to a first speed, and the vehicle-carrying plane starts to rise or fall from the initial height;

[0091] The height sensor obtains the actual height of the vehicle-carrying plane and sends the actual height to the controller;

[0092] The controller determines whether the actual height reaches the first intermediate height, and sends a speed change signal to the motor of the hydraulic station if the determination result is yes;

[0093] When receiving the speed change signal, the motor rotates at a second speed and drives the oil cylinder of the lifting mechanism to continue to extend and retract, so as to drive the vehicle-carrying plane to rise or fall based on a second speed, and the second speed is less than the first speed;

[0094] The height sensor acquires the actual height of the vehicle-carrying plane again and sends the actual height to the controller;

[0095] The controller determines whether the actual height reaches the second intermediate height, and sends a stop signal to the motor of the hydraulic station if the determination result is yes;

[0096] When receiving the stop signal, the motor decelerates and stops rotating to stop the oil cylinder of the lifting mechanism from extending and retracting, so that the vehicle-carrying plane decelerates and stops at a target height.

[0097] The positive and progressive effects of the present invention are:

[0098] The present invention sets specific steps of the vehicle-carrying platform control method, which can make the vehicle-carrying plane decelerate to a relatively low second speed and rise or fall at a uniform speed during the stopping process, and then decelerate and stop to the target height, thereby achieving the beneficial technical effect of stopping more smoothly, thereby avoiding the unlocking components on the battery exchange equipment and the battery pack or locking mechanism on the vehicle from colliding due to inertia during the process of removing and installing the battery pack, resulting in damage to both. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] Figure 1 This is a top-down schematic diagram of the vehicle battery replacement process.

[0100] Figure 2 It is a side view of the vehicle loading plane reaching the initial height.

[0101] Figure 3 It is a side view of the vehicle carrier plane reaching the height for removing the battery.

[0102] Figure 4 It is a side view of the vehicle loading plane reaching the first operating height.

[0103] Figure 5 It is a side view of the vehicle loading plane reaching the battery installation height.

[0104] Figure 6 It is a side view showing the vehicle loading plane reaching the second operating height.

[0105] Figure 7 It is a flow chart of the vehicle-carrying platform control method proposed in Example 1 of the present invention.

[0106] Figure 8 It is a curve diagram of the change of the speed of the preset oil cylinder over time proposed in Examples 1 and 2 of the present invention.

[0107] Fig. 9 It is a flow chart of the vehicle-carrying platform control method proposed in Example 4 of the present invention.

[0108] Fig.10 It is a schematic diagram of the structure of the oil cylinder proposed in Example 6 of the present invention.

[0109] 1-car-carrying platform, 11-car-carrying plane, 12-walking plane, 2-battery-changing equipment, 31-first bottom plate, 32-second bottom plate, 4-oil cylinder, 41-cylinder barrel, 42-first-stage piston rod, 43-second-stage piston rod, 9-electric car, 91-wheel. DETAILED DESCRIPTION

[0110] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0111] Before describing the various embodiments of the present invention in detail, a brief description of the vehicle-carrying platform is given first. Figures 1 to 6 As shown, the vehicle-carrying platform 1 is a structure used in disassembling and installing battery packs, and is used in battery swap stations. It includes a lifting device for lifting the electric vehicle 9. Its main function is to adjust the height of the electric vehicle 9 for the bottom battery swapping method (i.e., the battery swapping equipment 2 for disassembling and installing the battery pack from the bottom of the electric vehicle 9), thereby providing sufficient bottom space for the electric vehicle 9 for battery swapping.

[0112] The lifting device has a vehicle-carrying plane 11, which is used to carry the electric vehicle 9 and can be raised or lowered in the height direction, and the vehicle-carrying plane 11 is controlled to be raised or lowered from an initial height to a target height, wherein the vehicle-carrying plane 11 is the upper surface of the lifting device. The lifting function of the vehicle-carrying plane 11 can be realized by the lifting mechanism of the lifting device, and specifically, the vehicle-carrying plane 11 is raised or lowered by the oil cylinder of the lifting mechanism.

[0113] exist Figure 1 In the embodiment, the vehicle loading plane 11 is not a continuous complete plane, but a segmented plane, that is, there are two sections of the vehicle loading plane 11 on both sides that can carry the wheels 91. In the following embodiment, the two sections of the vehicle loading plane 11 are synchronously controlled, that is, they rise or fall at the same time and the height is always the same.

[0114] The vehicle-carrying platform 1 is provided with a walking plane 12 for the battery-changing device 2 for removing and installing the battery pack. The battery-changing device 2 is a bottom battery-changing device used to remove and install the battery pack from the bottom of the electric vehicle 9. When the battery-changing device 2 reaches the bottom of the electric vehicle 9, the battery pack is removed and installed in the area between the two vehicle-carrying planes 11, that is, Figure 1 In the middle of the two vehicle-carrying planes 11. Figure 1 The arrow in the figure indicates a feasible walking route for the battery exchange device 2, i.e., entering the bottom of the vehicle from one end of the walking plane 12 and then driving out from the bottom of the vehicle from the other end. Of course, the battery exchange device 2 may also adopt other walking routes, i.e., entering the bottom of the vehicle from one end of the walking plane 12 and then driving out from the bottom of the vehicle from the same end.

[0115] In a direction perpendicular to the walking direction of the electric vehicle 9 on the vehicle-carrying platform 1, bottom plates are respectively provided on both sides of the walking plane 12, namely, a first bottom plate 31 and a second bottom plate 32. Figure 1As shown, the battery exchange device 2 enters the walking plane 12 from the first bottom plate 31 located on one side of the walking plane 12, and then enters the second bottom plate 32 located on the other side of the walking plane 12 from the walking plane 12. The walking plane 12 can be independent of the first bottom plate 31 and the second bottom plate 32; or the walking plane 12, the first bottom plate 31 and the second bottom plate 32 are an integrated structure. The walking plane 12, the first bottom plate 31 and the second bottom plate 32 are all provided with moving tracks for the battery exchange device 2.

[0116] During the battery replacement process, the lifting device needs to raise or lower the electric vehicle 9 to different heights according to the needs, so as to complete the battery replacement operation. These different heights are the starting height h0, the battery removal height h1, the battery installation height h2, the first operating height h3 and the second operating height h4. That is, when the electric vehicle 9 drives to the vehicle-carrying platform 1 for battery replacement, the vehicle-carrying plane 11 needs to be raised or lowered at any two adjacent heights, where the adjacent heights are the two heights that the vehicle-carrying plane 11 will reach in sequence during the battery replacement process.

[0117] The entire battery pack removal process can roughly include the battery swap equipment driving in stage before battery removal, the battery removal stage, and the battery swap equipment driving out stage after battery removal. The entire battery pack installation process can roughly include the battery swap equipment driving in stage before battery installation, the battery installation stage, and the battery swap equipment driving out stage after battery installation.

[0118] Specifically, Figure 2 As shown, the starting height h0 is the height of the walking plane 12 of the vehicle-carrying platform 1. The walking plane 12 of the vehicle-carrying platform 1, that is, the walking plane 12 of the vehicle-carrying platform 1 for the battery replacement equipment 2 for disassembling and assembling the battery pack as described above, is the upper surface of the vehicle-carrying platform 1, and is also the plane on which the electric car 9 walks on the vehicle-carrying platform 1.

[0119] like Figure 3 As shown, the battery removal height h1 can be coordinated with the battery swap equipment driving-in stage before battery removal and set to be higher than the starting height h0. When the vehicle loading plane 11 is at the battery removal height h1, the relative height between the vehicle loading plane 11 and the walking plane 12 is higher than the height of the battery swap equipment 2 when the battery pack is not loaded.

[0120] like Figure 5 As shown, the battery installation height h2 can be coordinated with the battery replacement equipment driving-in stage before battery installation and set to be higher than the starting height h0. When the vehicle loading plane 11 is at the battery installation height h2, the relative height between the vehicle loading plane 11 and the walking plane 12 is higher than the height of the battery replacement equipment 2 after the battery pack is loaded.

[0121] Theoretically, the battery removal height h1 is greater than, less than or equal to the battery installation height h2. However, considering that the battery swapping device 2 usually carries the battery pack on the top of the battery swapping device 2, the height of the battery swapping device 2 after loading the battery pack is higher than the height of the battery swapping device 2 when it is not loaded with the battery pack. Therefore, in order to avoid the vehicle loading plane 11 being lifted too high during the battery pack removal process, which takes too much lifting time and affects the overall battery replacement efficiency, in this embodiment, the battery removal height h1 is less than or equal to the battery installation height h2. The specific values ​​of the battery removal height h1 and the battery installation height h2 can be calculated by comprehensively considering factors such as the chassis height of the electric vehicle 9, the relative height of the starting height h0 and the walking plane 12, the height of the battery swapping device 2 itself, and the height of the battery swapping device 2 after loading the battery.

[0122] like Figure 4 As shown, the first operating height h3 is the height when the battery swap device 2 removes the battery pack from the electric car 9. Furthermore, in order to ensure that the first operating height h3 can achieve the function of removing the battery, the first operating height h3 is set to be lower than the battery removal height h1, and can even be lower than the starting height h0, and when the vehicle loading plane 11 is at the first operating height h3, the relative height between the vehicle loading plane 11 and the walking plane 12 meets the height condition for the battery swap device 2 to remove the battery pack.

[0123] The height condition for the battery swapping device 2 to remove the battery pack needs to be determined according to the operation process of the battery swapping device 2 during the battery removal stage. For example, when the battery swapping device 2 removes the battery pack, it is necessary to lift the battery swapping platform on it so that the battery pack unlocking mechanism on the battery swapping platform unlocks the battery pack at the bottom of the electric car 9, and then the unloaded battery pack is carried by the battery swapping platform. In order to cooperate with the lifting height of the battery swapping platform and reduce the distance between the bottom of the vehicle and the battery swapping platform, the first operating height h3 can be appropriately adjusted to change the relative height between the battery swapping platform and the vehicle loading plane 11 to ensure that the battery pack unlocking mechanism is successfully unlocked and the battery swapping platform of the battery swapping device 2 can catch the unloaded battery pack.

[0124] like Figure 6 As shown, the second operating height h4 is the height of the battery swap device 2 when the battery pack is installed on the electric vehicle 9. Furthermore, in order to ensure that the second operating height h4 can realize the function of installing the battery, the second operating height h4 is set to be lower than the battery installation height h2, and can even be lower than the starting height h0, and when the vehicle loading plane 11 is at the second operating height h4, the relative height between the vehicle loading plane 11 and the walking plane 12 meets the height condition of the battery swap device 2 for installing the battery pack.

[0125] The height condition for installing the battery pack on the battery swapping device 2 needs to be determined according to the operation process of the battery swapping device 2 during the battery installation stage. For example, when the battery swapping device 2 installs the battery pack, it is necessary to lift the battery swapping platform on it so that the battery pack on the battery swapping platform is placed into the body bracket 92 of the electric car 9, and then use the battery pack locking mechanism on the body bracket 92 to lock the battery pack on the body bracket 92. In order to cooperate with the lifting height of the battery swapping platform and reduce the distance between the bottom of the vehicle and the battery swapping platform, the second operating height h4 can be appropriately adjusted to change the relative height between the battery swapping platform and the vehicle loading plane 11 to ensure that the battery pack is successfully placed in the body bracket 92 and the battery pack locking mechanism locks the battery pack.

[0126] The first operating height h3 and the second operating height h4 may be the same or different.

[0127] like Figures 2 to 6 As shown, the working process of the vehicle-carrying plane 11 in the entire battery replacement process is further explained:

[0128] Before the electric vehicle 9 is parked on the vehicle loading plane 11, the vehicle loading plane 11 is controlled to maintain a starting height h0, see Figure 2 ; Wherein, when the vehicle loading plane 11 is at the starting height h0, it can be on the same plane as the plane where the upper surface of the vehicle loading platform 1 is located, so that the electric vehicle 9 can enter the vehicle loading plane 11;

[0129] After the electric vehicle 9 is parked on the vehicle loading plane 11, the vehicle loading plane 11 is controlled to reach the battery removal height h1, see Figure 3 ; After the vehicle-carrying plane 11 reaches the battery removal height h1, the battery-changing device 2 without the battery pack loaded can drive under the bottom of the electric vehicle 9 to remove the battery pack;

[0130] After the battery exchange device 2 enters the bottom of the electric vehicle 9, the vehicle loading plane 11 is controlled to reach the first operating height h3, see Figure 4 ; Wherein, when the vehicle-carrying plane 11 is located at the first operating height h3, the battery-changing device 2 is located below the bottom of the electric vehicle 9, unlocking the battery pack under the vehicle and then receiving the unloaded battery pack;

[0131] After the battery pack of the electric vehicle 9 is removed, the vehicle loading plane 11 is controlled to reach the battery loading height h2, see Figure 5 ; After the vehicle loading plane 11 reaches the battery loading height h2, the battery exchange device 2 loaded with the unloaded battery pack can be driven out from under the bottom of the electric vehicle 9, the unloaded battery pack is returned to the battery rack or other position, and then a new battery pack is loaded, and it is driven again under the bottom of the electric vehicle 9 to install the battery pack;

[0132] After the battery exchange device 2 enters the bottom of the electric vehicle 9 again, the vehicle loading plane 11 is controlled to reach the second operating height h4, see Figure 6 ; When the vehicle-carrying plane 11 is at the second operating height h4, the battery-changing device 2 is located below the bottom of the electric vehicle 9, and the loaded new battery pack is installed on the body bracket 92 at the bottom of the electric vehicle 9;

[0133] After the electric vehicle 9 is equipped with a battery pack, the vehicle loading plane 11 is first raised to the battery removal height h1, see Figure 3 ; After the battery exchange device 2 drives out, control the vehicle plane 11 to return to the starting height h0, see Figure 2 When the vehicle loading plane 11 is located at the starting height h0, it can be in the same plane as the walking plane 12 of the vehicle loading platform 1, so that the electric car 9 can drive out of the vehicle loading plane 11.

[0134] It should be noted that the above content and drawings only schematically show a vehicle-carrying platform and battery-exchange equipment that can be applied to the following embodiments, but it does not mean that the following embodiments can only be used for vehicle-carrying platforms and battery-exchange equipment with the above-mentioned structure or style. Vehicle-carrying platforms and battery-exchange equipment with the same or similar functions and battery-exchange principles are also applicable to the following embodiments.

[0135] [Example 1]

[0136] This embodiment provides a vehicle loading platform control method, which is used to control the vehicle loading plane to rise from an initial height to a target height, or to control the vehicle loading plane to fall from an initial height to a target height. That is, the movement of the vehicle loading plane from the initial height to the target height is only a unidirectional movement of rising or falling, and it is not a multi-directional movement including rising and falling.

[0137] The initial height and the target height are any two adjacent heights among the starting height, the battery removal height, the battery installation height, the first operating height and the second operating height.

[0138] The vehicle loading platform control method of the present invention is now described by taking controlling the vehicle loading plane to rise from an initial height to a target height as an example.

[0139] Figure 7 1 is a flow chart of a vehicle-carrying platform control method according to Embodiment 1 of the present invention. Figure 7 and Figure 8 As shown, the vehicle-carrying platform control method includes:

[0140] Step 100: Control the vehicle-carrying plane to accelerate from a stationary state to a first speed and to rise from an initial height; that is, accelerate the vehicle-carrying plane from zero to a first speed and then to rise at a uniform speed at the first speed;

[0141] Step 200: Obtaining the actual height of the vehicle-carrying plane, and determining whether the actual height reaches a first intermediate height;

[0142] Step 300: If the judgment result is yes, control the vehicle-carrying plane to rise at a second speed, which is lower than the first speed;

[0143] Step 400: obtaining the actual height of the vehicle-carrying plane again, and determining whether the actual height reaches the second intermediate height;

[0144] Step 500: When the judgment result is yes, the vehicle-carrying plane is controlled to decelerate and stop at the target height.

[0145] The deceleration of the vehicle-carrying platform in the above step 500 is preferably a uniform deceleration.

[0146] In this embodiment, through the above-mentioned steps, the vehicle-carrying plane can first decelerate to a relatively low second speed and maintain a uniform rise during the movement to the target height, and then decelerate and stop at the target height, so that the vehicle-carrying plane can stop at the target height more smoothly, avoiding the unlocking mechanism on the battery exchange device and the battery pack or locking mechanism on the electric vehicle from colliding due to inertia during the process of removing and installing the battery pack, causing damage to both.

[0147] Specifically, in this embodiment, the distance from the first intermediate height to the target height is greater than the distance from the second intermediate height to the target height. The aforementioned restrictions can ensure that the vehicle-carrying plane will first undergo a period of slower uniform movement during the deceleration process before decelerating, thereby reducing the impact between the unlocking mechanism on the battery swapping device and the battery pack or locking mechanism on the electric vehicle.

[0148] The first speed and the second speed can be variables or constant, depending on actual working conditions and are not limited here.

[0149] In the above steps, the actual height of the vehicle-carrying plane is obtained by a height sensor. The height sensor is arranged on the lower end surface of the lifting plane, so that the starting height, battery removal height, battery installation height, first operating height and second operating height of the vehicle-carrying plane all refer to the distance from the vehicle-carrying plane to the lower end surface of the lifting mechanism, and the movement of the vehicle-carrying plane to rise or fall between any two adjacent heights among the starting height, battery removal height, battery installation height, first operating height and second operating height is completed at a position above the height sensor, that is, the height values ​​obtained by the height sensor are all positive values. Among them, the height sensor can be one of a rangefinder and a laser sensor.

[0150] [Example 2]

[0151] Embodiment 2 provides another method for controlling a vehicle loading platform, wherein the vehicle loading platform further comprises a lifting mechanism, and the vehicle loading plane is raised by driving the oil cylinder of the lifting mechanism.

[0152] The vehicle-carrying platform control method comprises:

[0153] Step 100: Control the vehicle-carrying plane to accelerate from a stationary state to a first speed and start to rise from an initial height;

[0154] Specifically, in step 100, that is, in the step of controlling the vehicle-carrying plane to accelerate from rest to a first speed and to rise from an initial height, it includes:

[0155] Step 110: Obtain the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0156] Step 120: Adjust the current speed of the cylinder according to a preset first speed curve so that the cylinder drives the vehicle carrier plane to rise from an initial height to a first intermediate height at a first speed. The preset first speed curve represents the corresponding relationship between the first speed and the height.

[0157] Through the above steps, the current speed of the cylinder is the current speed of the vehicle loading plane. By timely adjusting the current speed of the cylinder, the vehicle loading plane is ensured to rise from the initial height to the first intermediate height at the first speed according to the requirements of the preset first speed curve.

[0158] The preset first speed curve represents the corresponding relationship between the first speed and the height, that is, the preset first speed curve represents the corresponding relationship between the vehicle-carrying plane and the different preset heights that it should reach at different times according to the preset first speed, such as Figure 8 The curve diagram of the change of the preset speed V of the oil cylinder with time T, wherein v1 is the preset first speed of the oil cylinder (i.e. the preset first speed of the vehicle-carrying plane), the first speed curve corresponds to the line segment L1, and the area H1 of the corresponding shaded part is the corresponding height change of the oil cylinder at different time points from 0 to t1 (i.e. the corresponding height change of the vehicle-carrying plane at different time points from 0 to t1). 0 to t1 is the preset time period for the vehicle-carrying plane to rise from the initial height to the first intermediate height.

[0159] It should be noted that Figure 8 The horizontal axis time T in the curve diagram of the change of the speed V of the preset oil cylinder with time T is the preset motion state between the vehicle-carrying plane rising from the initial height to the target height. As mentioned above, 0 to t1 is the preset time period for the vehicle-carrying plane to rise from the initial height to the first intermediate height, and so on, t1 to t2 is the preset time period for the vehicle-carrying plane to rise from the first intermediate height to the second intermediate height, and t2 to t3 is the preset time period for the vehicle-carrying plane to rise from the second intermediate height to the target height.

[0160] Further, in step 120, adjusting the current speed of the oil cylinder according to the preset first speed curve includes:

[0161] Step 121: Determine whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset first speed curve is greater than a first threshold;

[0162] Step 122: When the judgment result is yes, the vehicle loading plane is controlled to stop rising.

[0163] Through the above steps, when the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is large, the vehicle loading plane is directly controlled to stop rising, and the lifting device and related structures are promptly inspected for safety to avoid further safety accidents.

[0164] Among them, the value range of the first threshold is 3mm-5mm. For example, when the first threshold is 4.5mm, assuming that at a certain moment, the preset height corresponding to the first speed curve at that moment is 50mm, then the actual height converted according to the first threshold is allowed to be 45.5mm~54.5mm. If the actual height is within the range of 45.5mm~54.5mm, there is no need to stop the movement of the vehicle carrier platform. If it is outside the range, the vehicle carrier plane is controlled to stop moving.

[0165] Further, after step 121, that is, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset first speed curve is greater than the first threshold, the method includes:

[0166] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the first speed curve;

[0167] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the first speed curve, the current speed of the vehicle-carrying plane is reduced;

[0168] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the first speed curve, the current speed of the vehicle carrying plane is increased.

[0169] Thus, when it is determined that the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is small, the above method can realize automatic adjustment of the movement speed of the lifting device, thereby promoting the lifting device to rise according to the preset first speed curve.

[0170] Step 200: Obtaining the actual height of the vehicle-carrying plane, and determining whether the actual height reaches the first intermediate height;

[0171] Step 300: If the judgment result is yes, control the vehicle-carrying plane to rise at a second speed, which is lower than the first speed;

[0172] In step 300, i.e., in controlling the vehicle carrier plane to rise at a second speed, the following steps are included:

[0173] Step 310: Obtain the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0174] Step 320: Adjust the current speed of the cylinder according to a preset second speed curve so that the cylinder drives the vehicle carrier plane to rise from the first intermediate height to the second intermediate height at a second speed. The preset second speed curve represents the corresponding relationship between the second speed and the height.

[0175] By setting the above steps, the current speed of the oil cylinder can be adjusted in time to ensure that the vehicle-carrying plane is raised from the first intermediate height to the second intermediate height at the second speed according to the preset second speed curve.

[0176] The preset second speed curve represents the corresponding relationship between the second speed and the height, that is, the preset second speed curve represents the corresponding relationship between the vehicle-carrying plane and the different preset heights that it should reach at different times according to the preset second speed, such as Figure 8 The curve diagram of the change of the preset speed V of the cylinder with time T in FIG. 1 , wherein v2 is the second speed of the cylinder (i.e., the preset second speed of the vehicle-carrying plane), the preset second speed curve corresponds to the line segment L2, and the area H2 of the corresponding shaded part is the corresponding height change of the cylinder at different time points from t1 to t2 (i.e., the corresponding height change of the vehicle-carrying plane at different time points from t1 to t2). As mentioned above, t1 to t2 is the preset time period for the vehicle-carrying plane to rise from the first intermediate height to the second intermediate height.

[0177] Further, in step 320, adjusting the current speed of the oil cylinder according to the preset second speed curve includes:

[0178] Step 321: Determine whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset second speed curve is greater than a second threshold;

[0179] Step 322: When the judgment result is yes, the vehicle loading plane is controlled to stop rising.

[0180] Through the above steps, when the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is large, the vehicle loading plane is directly controlled to stop rising to avoid further safety accidents.

[0181] The second threshold value ranges from 3 mm to 5 mm.

[0182] The second threshold is used in the same manner as the first threshold.

[0183] Further, after step 321, that is, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset second speed curve is greater than the second threshold, the method includes:

[0184] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the second speed curve;

[0185] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the second speed curve, the current speed of the vehicle-carrying plane is reduced;

[0186] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the second speed curve, the current speed of the vehicle carrying plane is increased.

[0187] Thus, when it is determined that the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is small, the above method can realize automatic adjustment of the movement speed of the lifting device, thereby promoting the lifting device to rise according to the preset second speed curve.

[0188] Step 400: obtaining the actual height of the vehicle-carrying plane again, and determining whether the actual height reaches the second intermediate height;

[0189] Step 500: When the judgment result is yes, the vehicle-carrying plane is controlled to decelerate and stop at the target height.

[0190] In step 500, that is, in controlling the vehicle plane to decelerate and stop to a target height, it includes:

[0191] Step 510: Obtain the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0192] Step 520: adjusting the current speed of the oil cylinder according to a preset third speed curve so that the oil cylinder drives the vehicle carrier plane to decelerate and stop to a target height. The preset third speed curve represents the corresponding relationship between the second speed and the height.

[0193] By setting the above steps, the current speed of the oil cylinder can be adjusted in time to ensure that the rise of the vehicle-carrying plane is decelerated and stopped to the target height according to the preset third speed curve.

[0194] The preset third speed curve represents the corresponding relationship between the third speed and the height, that is, the preset third speed curve represents the corresponding relationship between the vehicle-carrying plane and the different preset heights that it should reach at different times according to the preset second speed, such as Figure 8The curve diagram of the change of the preset speed V of the cylinder with time T, wherein, as mentioned above, v2 is the second speed of the cylinder (i.e., the preset second speed of the vehicle-carrying plane), the preset third speed curve corresponds to the line segment L3, and the area H3 of the corresponding shaded part is the corresponding height change of the cylinder at different time points from t2 to t3 (i.e., the corresponding height change of the vehicle-carrying plane at different time points from t2 to t3). Wherein, as mentioned above, t2 to t3 is the preset time period for the vehicle-carrying plane to rise from the second intermediate height to the target height.

[0195] Further, in step 520, adjusting the current speed of the oil cylinder according to the preset third speed curve includes:

[0196] Step 521: Determine whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset third speed curve is greater than a third threshold;

[0197] Step 522: When the judgment result is yes, the vehicle loading plane is controlled to stop rising.

[0198] Through the above steps, when the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is large, the vehicle loading plane is directly controlled to stop rising to avoid further safety accidents.

[0199] The third threshold value ranges from 3 mm to 5 mm.

[0200] The usage of the third threshold is consistent with the usage of the first threshold and the second threshold mentioned above.

[0201] Further, after step 521, that is, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset third speed curve is greater than the third threshold, the method includes:

[0202] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the third speed curve;

[0203] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the third speed curve, the current speed of the vehicle-carrying plane is reduced;

[0204] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the third speed curve, the current speed of the vehicle carrying plane is increased.

[0205] Thus, when it is determined that the absolute value of the difference between the actual height of the vehicle loading plane and the corresponding preset height is small, the above method can realize automatic adjustment of the movement speed of the lifting device, thereby promoting the lifting device to rise according to the preset third speed curve.

[0206] In other specific embodiments, the method for controlling the vehicle platform to lower the vehicle plane from the initial height to the target height is the same as the above steps, except that the ascending motion is replaced by the descending motion, which will not be repeated here.

[0207] However, the method of controlling the vehicle platform to lower the vehicle platform from the initial height to the target height is slightly different in the following steps:

[0208] After step 121, that is, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset first speed curve is greater than the first threshold, the method includes:

[0209] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the first speed curve;

[0210] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the first speed curve, the current speed of the vehicle-carrying plane is increased;

[0211] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the first speed curve, the current speed of the vehicle carrying plane is reduced.

[0212] After step 321, that is, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset second speed curve is greater than the second threshold, the following steps are included:

[0213] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the second speed curve;

[0214] When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the second speed curve and the vehicle loading plane is in a descending stage, increasing the current speed of the vehicle loading plane;

[0215] When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the second speed curve and the vehicle loading plane is in a descending stage, the current speed of the vehicle loading plane is reduced.

[0216] After step 521, that is, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset third speed curve is greater than the third threshold, the following steps are included:

[0217] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the third speed curve;

[0218] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the third speed curve, the current speed of the vehicle-carrying plane is increased;

[0219] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the third speed curve, the current speed of the vehicle carrying plane is reduced.

[0220] [Example 3]

[0221] This embodiment is an example of a specific application scenario corresponding to Embodiment 2, and illustrates the control process of the vehicle platform by controlling the vehicle platform to rise from a starting height as an initial height to a battery removal height as a target height.

[0222] Specifically, the starting height is 300 mm from the lower end surface of the lifting mechanism, and the battery removal height is 500 mm from the lower end surface of the lifting mechanism.

[0223] The first intermediate height is a height position which is 400 mm away from the lower end surface of the lifting mechanism, and the second intermediate height is a height position which is 445 mm away from the lower end surface of the lifting mechanism.

[0224] The preset first speed of the vehicle-carrying plane is 20 mm / s, and the preset time for the vehicle-carrying plane to run from the starting height to the first intermediate height is 10 seconds. In this section of distance, the vehicle-carrying plane performs an ascending motion with acceleration from zero; the preset second speed of the vehicle-carrying plane is 15 mm / s, and the time for the vehicle-carrying plane to run from the first intermediate height to the second intermediate height is 3 seconds. In this section of distance, the vehicle-carrying plane performs an ascending motion with a uniform speed; the preset time for the vehicle-carrying plane to run from the second intermediate height to the target height is 5 seconds. In this section of distance, the vehicle-carrying plane performs an ascending motion with deceleration to zero. Thus, the preset first speed curve, the preset second speed curve, and the preset third speed curve can be obtained.

[0225] The vehicle-carrying platform control method comprises:

[0226] Step 100: Control the vehicle-carrying plane to accelerate from rest to a first speed of 20 mm / s, and start to rise from an initial height of 300 mm from the lower end surface of the lifting mechanism;

[0227] Step 200: Obtain the actual height of the vehicle loading plane, and determine whether the actual height reaches a first intermediate height of 400 mm from the lower end surface of the lifting mechanism;

[0228] Step 300: If the judgment result is yes, control the vehicle carrier plane to rise at a second speed of 15 mm / s;

[0229] Step 400: obtaining the actual height of the vehicle loading plane again, and determining whether the actual height reaches the second intermediate height of 445 mm from the lower end surface of the lifting mechanism;

[0230] Step 500: When the judgment result is yes, the vehicle carrier plane is controlled to decelerate and stop to a target height of 500 mm from the lower end surface of the lifting mechanism.

[0231] Specifically, step 100 includes:

[0232] Step 110: Obtain the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0233] Step 120: Adjust the current speed of the cylinder according to the preset first speed curve so that the cylinder drives the vehicle carrier plane to rise from an initial height of 300 mm from the lower end surface of the lifting mechanism to a first intermediate height of 400 mm from the lower end surface of the lifting mechanism at a first speed of 20 mm / s.

[0234] Further, in step 120, it includes:

[0235] Step 121: Determine whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset first speed curve is greater than 5 mm, and the first threshold value is 5 mm;

[0236] Step 122: If the result of the judgment is yes, control the vehicle carrier plane to stop rising; or,

[0237] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the first speed curve;

[0238] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the first speed curve, the current speed of the vehicle-carrying plane is reduced;

[0239] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the first speed curve, the current speed of the vehicle carrying plane is increased.

[0240] In step 300, it includes:

[0241] Step 310: Obtain the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0242] Step 320: Adjust the current speed of the cylinder according to the preset second speed curve so that the cylinder drives the vehicle carrier plane to rise from a first intermediate height of 400 mm from the lower end surface of the lifting mechanism to a second intermediate height of 445 mm from the lower end surface of the lifting mechanism at a second speed of 15 mm / s.

[0243] Further, in step 320, adjusting the current speed of the oil cylinder according to the preset second speed curve includes:

[0244] Step 321: Determine whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset second speed curve is greater than 5 mm, and the second threshold value is 5 mm;

[0245] Step 322: If the judgment result is yes, control the vehicle loading plane to stop rising; or,

[0246] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the second speed curve;

[0247] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the second speed curve, the current speed of the vehicle-carrying plane is reduced;

[0248] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the second speed curve, the current speed of the vehicle carrying plane is increased.

[0249] In step 500, it includes:

[0250] Step 510: Obtain the current speed of the oil cylinder and the actual height of the vehicle-carrying plane;

[0251] Step 520: Adjust the current speed of the oil cylinder according to the preset third speed curve, so that the oil cylinder drives the vehicle carrier plane to decelerate and stop to a target height of 500 mm from the lower end surface of the lifting mechanism.

[0252] Further, in step 520, adjusting the current speed of the oil cylinder according to the preset third speed curve includes:

[0253] Step 521: Determine whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset third speed curve is greater than 5 mm, and the third threshold value is 5 mm;

[0254] Step 522: If the judgment result is yes, control the vehicle loading plane to stop rising; or,

[0255] If the result of the judgment is negative, the actual height of the vehicle-carrying plane is judged to be greater than the preset height corresponding to the third speed curve;

[0256] If the actual height of the vehicle-carrying plane is greater than the corresponding preset height on the third speed curve, the current speed of the vehicle-carrying plane is reduced;

[0257] If the judgment result is that the actual height of the vehicle carrying plane is less than the corresponding preset height on the third speed curve, the current speed of the vehicle carrying plane is increased.

[0258] The above steps complete the entire process of controlling the vehicle carrier plane to rise from the starting height as the initial height to the battery removal height as the target height.

[0259] [Example 4]

[0260] like Fig. 9 As shown, Embodiment 4 discloses another method for controlling a vehicle-carrying platform. Embodiment 4 is a method for controlling a vehicle-carrying plane to rise from an initial height to a target height. A hydraulic station provides hydraulic oil to a cylinder of a lifting mechanism to drive the cylinder to extend and retract, and includes the following steps:

[0261] Step 100: The controller sends a start signal to the motor of the hydraulic station;

[0262] Step 200: When receiving the start signal, the motor rotates at a first speed and drives the cylinder of the lifting mechanism to start extending;

[0263] Step 300: The oil cylinder of the lifting mechanism begins to extend to drive the vehicle-carrying plane to accelerate from a stationary state to a first speed, and the vehicle-carrying plane begins to rise from an initial height;

[0264] Step 400: The height sensor obtains the actual height of the vehicle-carrying plane and sends the actual height to the controller;

[0265] Step 500: The controller determines whether the actual height reaches the first intermediate height, and if the determination result is yes, sends a speed change signal to the motor of the hydraulic station;

[0266] Step 600: When receiving the speed change signal, the motor rotates at the second speed and drives the oil cylinder of the lifting mechanism to continue to extend;

[0267] Step 700: the oil cylinder of the lifting mechanism continues to extend to drive the vehicle-carrying plane to rise based on a second speed, which is lower than the first speed;

[0268] Step 800: The height sensor obtains the actual height of the vehicle-carrying plane again and sends the actual height to the controller;

[0269] Step 900: The controller determines whether the actual height reaches the second intermediate height, and if the determination result is yes, sends a stop signal to the motor of the hydraulic station;

[0270] Step 1000: When receiving a stop signal, the motor decelerates and stops rotating to stop the oil cylinder of the lifting mechanism from extending;

[0271] Step 1100: The oil cylinder of the lifting mechanism stops extending, so that the vehicle-carrying plane slows down and stops at a target height.

[0272] In this embodiment, the height sensors in step 400 and step 800 continuously obtain the actual height of the vehicle-carrying plane and make corresponding judgments.

[0273] When the vehicle loading platform is controlled to descend from the initial height to the target height, the method is consistent with the aforementioned steps of this embodiment, except that at this time the oil cylinder of the lifting mechanism is retracted to adjust the height of the vehicle loading plane.

[0274] [Example 5]

[0275] This embodiment is an example of a specific application scenario corresponding to Embodiment 4, and illustrates the control process of the vehicle loading platform by controlling the vehicle loading plane to rise from the first operating height as the initial height to the battery loading height as the target height.

[0276] Specifically, the first operating height is a height position 240 mm from the lower end surface of the lifting mechanism, and the battery installation height is a height position 700 mm from the lower end surface of the lifting mechanism.

[0277] The first intermediate height is a height position which is 600 mm away from the lower end surface of the lifting mechanism, and the second intermediate height is a height position which is 645 mm away from the lower end surface of the lifting mechanism.

[0278] The preset first speed of the vehicle-carrying plane is 20 mm / second, and the preset time for the vehicle-carrying plane to run from the starting height to the first intermediate height is 36 seconds. In this distance, the vehicle-carrying plane performs an ascending motion with acceleration from zero, and the first speed of the motor is 3000 rpm; the preset second speed of the vehicle-carrying plane is 15 mm / second, and the time for the vehicle-carrying plane to run from the first intermediate height to the second intermediate height is 3 seconds. In this distance, the vehicle-carrying plane performs an ascending motion with a uniform speed, and the second speed of the motor is 2250 rpm; the preset time for the vehicle-carrying plane to run from the second intermediate height to the target height is 5 seconds. In this distance, the vehicle-carrying plane performs an ascending motion with deceleration to zero.

[0279] The vehicle-carrying platform control method comprises:

[0280] Step 100: The controller sends a start signal to the motor of the hydraulic station;

[0281] Step 200: When receiving the start signal, the motor speeds up to 3000 rpm and rotates at a first speed of 3000 rpm to drive the oil cylinder of the lifting mechanism to start extending;

[0282] Step 300: The oil cylinder of the lifting mechanism begins to extend to drive the vehicle-carrying plane to accelerate from rest to a first speed of 20 mm / s, and the vehicle-carrying plane begins to rise from an initial height of 240 mm from the lower end surface of the lifting mechanism;

[0283] Step 400: The height sensor obtains the actual height of the vehicle-carrying plane and sends the actual height to the controller;

[0284] Step 500: The controller determines whether the actual height reaches the first intermediate height of 600 mm from the lower end surface of the lifting mechanism, and sends a speed change signal to the motor of the hydraulic station if the determination result is yes;

[0285] Step 600: When receiving the speed change signal, the motor rotates at a second speed of 2250 rpm and drives the oil cylinder of the lifting mechanism to continue to extend;

[0286] Step 700: The oil cylinder of the lifting mechanism continues to extend to drive the vehicle-carrying plane to rise at a second speed of 15 mm / s;

[0287] Step 800: The height sensor obtains the actual height of the vehicle-carrying plane again and sends the actual height to the controller;

[0288] Step 900: The controller determines whether the actual height reaches the second intermediate height of 645 mm from the lower end surface of the lifting mechanism, and sends a stop signal to the motor of the hydraulic station if the determination result is yes;

[0289] Step 1000: When receiving a stop signal, the motor decelerates and stops rotating to stop the oil cylinder of the lifting mechanism from extending;

[0290] Step 1100: The oil cylinder of the lifting mechanism stops extending, so that the vehicle-carrying plane slows down and stops at a target height of 700 mm from the lower end surface of the lifting mechanism.

[0291] The above steps complete the entire process of controlling the vehicle loading plane to rise from the first operating height as the initial height to the battery loading height as the target height.

[0292] [Example 6]

[0293] The steps of the vehicle-carrying platform control method in Embodiment 6 are substantially the same as those in any of Embodiments 1 to 5. The difference of Embodiment 6 is that, in this embodiment, Fig.10 As shown, the oil cylinder 4 is a one-way double-stage hydraulic cylinder, which includes a cylinder barrel 41, a primary piston rod 42 and a secondary piston rod 43 which are arranged in sequence. The maximum height that the primary piston rod 42 can drive the vehicle-carrying plane to reach is the cylinder change height. The oil cylinder 4 is vertically installed below the vehicle-carrying plane 11.

[0294] The lifting mechanism also includes a hydraulic station for supplying hydraulic oil to the one-way two-stage hydraulic cylinder. The hydraulic station includes a motor and a hydraulic pump. The hydraulic pump is linked to the output shaft of the motor, and the hydraulic pump supplies or extracts hydraulic oil to the one-way two-stage hydraulic cylinder through an oil pipe.

[0295] The hydraulic flow is controlled to adjust the current speed of the cylinder, and the hydraulic flow is controlled by adjusting the rotation speed of the motor.

[0296] Specifically, in the process of controlling the vehicle loading platform to rise, the vehicle loading platform control method further includes:

[0297] Obtain the actual height and current speed of the vehicle-carrying plane, and determine whether the actual height of the vehicle-carrying plane is equal to the cylinder-changing height;

[0298] When the judgment result is yes, the motor is controlled to decelerate from the current speed to zero, and then accelerate from zero to the target speed, so that the speed of the lifting device before and after the adjustment of the motor is consistent.

[0299] By setting the above steps, it is possible to prevent sudden changes such as vibration or shaking of the vehicle-carrying plane when the one-way two-stage hydraulic cylinder is replaced, thereby ensuring that the lifting action of the cylinder and the vehicle-carrying plane is continuous and stable.

[0300] The cylinder change height is determined according to the actual participation of the oil cylinder 4 and is not limited here.

[0301] It should be noted that the target speed of the motor is to make the vehicle-carrying plane remain consistent with the current speed of the vehicle-carrying plane after crossing the cylinder-changing height, that is, before the cylinder-changing, if the movement speed of the vehicle-carrying plane is 20 mm / second, after the cylinder-changing speed adjustment, when the motor moves at the target speed, the movement speed of the vehicle-carrying platform is still 20 mm / second. Specifically, since the actual height of the vehicle-carrying plane is equal to the position of the cylinder-changing height, the primary piston rod 42 has been fully extended, so after crossing the cylinder-changing height, the motor needs to adjust the speed according to the inner diameter of the secondary piston rod 43 and the inner diameter of the cylinder 41 to reach the target speed, and the target speed makes the vehicle-carrying plane remain consistent with the current speed after crossing the cylinder-changing height.

[0302] The control relationship between the hydraulic station, the motor and the cylinder is: the hydraulic flow is controlled to adjust the current speed of the cylinder, and the hydraulic flow is controlled by adjusting the speed of the motor.

[0303] The flow rate provided by the hydraulic station is calculated according to the following formula:

[0304]

[0305] Among them, Q1 is the hydraulic flow provided to the primary piston rod 42 , D1 is the inner diameter of the cylinder 41 , Q2 is the hydraulic flow provided to the secondary piston rod 43 , and D2 is the inner diameter of the primary piston rod 42 .

[0306] Since the change in motor speed can control the size of the hydraulic flow, by providing the above formula, the size of the flow required to be provided to the cylinder after the motor speed returns to zero can be calculated according to the above formula.

[0307] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A vehicle-carrying platform control method, characterized in that: The vehicle-carrying platform includes a lifting device, wherein the lifting device has a vehicle-carrying plane for carrying the electric vehicle and can be raised or lowered, and the vehicle-carrying plane is controlled to be raised or lowered from an initial height to a target height; The vehicle-carrying platform control method comprises: Controlling the vehicle-carrying plane to accelerate from rest to a first speed, and to rise or fall from the initial height; Obtaining the actual height of the vehicle-carrying plane, and determining whether the actual height reaches a first intermediate height; If the judgment result is yes, the vehicle-carrying plane is controlled to be raised or lowered at a second speed, the second speed being lower than the first speed; obtaining the actual height of the vehicle-carrying plane again, and determining whether the actual height reaches the second intermediate height; If the judgment result is yes, the vehicle-carrying plane is controlled to decelerate and stop to a target height; The vehicle loading platform also has a lifting mechanism, and the vehicle loading plane is raised or lowered by the oil cylinder of the lifting mechanism; Controlling the vehicle-carrying plane to decelerate and stop at a target height includes: Obtaining the current speed of the oil cylinder and the actual height of the vehicle-carrying plane; The current speed of the oil cylinder is adjusted according to a preset third speed curve so that the oil cylinder drives the vehicle-carrying plane to decelerate and stop at a target height. The preset third speed curve represents the corresponding relationship between the second speed and the height.

2. The vehicle-carrying platform control method according to claim 1, characterized in that: A distance from the first intermediate height to the target height is greater than a distance from the second intermediate height to the target height.

3. The vehicle-carrying platform control method according to claim 1, characterized in that: The vehicle loading platform also has a lifting mechanism, and the vehicle loading plane is raised or lowered by the oil cylinder of the lifting mechanism; The step of controlling the vehicle-carrying plane to accelerate from a stationary state to a first speed and to rise or fall from an initial height includes: Obtaining the current speed of the oil cylinder and the actual height of the vehicle-carrying plane; adjusting the current speed of the oil cylinder according to a preset first speed curve so that the oil cylinder drives the vehicle-carrying plane to rise or fall from the initial height to a first intermediate height at the first speed, wherein the preset first speed curve represents a corresponding relationship between the first speed and the height; Preferably, the step of adjusting the current speed of the oil cylinder according to the preset first speed curve includes: Determining whether an absolute value of a difference between an actual height of the vehicle-carrying plane and a corresponding preset height on the preset first speed curve is greater than a first threshold; If the judgment result is yes, controlling the vehicle carrying plane to stop rising or lowering; Preferably, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset first speed curve is greater than a first threshold, the method further comprises: If the result of the judgment is negative, determining the difference between the actual height of the vehicle-carrying plane and the preset height corresponding to the first speed curve; When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the first speed curve and the vehicle loading plane is in an ascending stage, reducing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the first speed curve and the vehicle loading plane is in an ascending stage, increasing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the first speed curve and the vehicle loading plane is in a descending stage, increasing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the first speed curve and the vehicle loading plane is in a descending stage, the current speed of the vehicle loading plane is reduced.

4. The vehicle-carrying platform control method according to claim 1, characterized in that: The vehicle loading platform also has a lifting mechanism, and the vehicle loading plane is raised or lowered by the oil cylinder of the lifting mechanism; In controlling the vehicle-carrying plane to rise or fall at a second speed, the method includes: Obtaining the current speed of the oil cylinder and the actual height of the vehicle-carrying plane; adjusting the current speed of the oil cylinder according to a preset second speed curve so that the oil cylinder drives the vehicle-carrying plane to rise or fall from the first intermediate height to the second intermediate height at the second speed, wherein the preset second speed curve represents the corresponding relationship between the second speed and the height; Preferably, the step of adjusting the current speed of the oil cylinder according to the preset second speed curve includes: Determining whether an absolute value of a difference between an actual height of the vehicle-carrying plane and a corresponding preset height on the preset second speed curve is greater than a second threshold; If the judgment result is yes, controlling the vehicle carrying plane to stop rising or lowering; Preferably, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset second speed curve is greater than a second threshold, the method further comprises: If the result of the judgment is negative, determining the difference between the actual height of the vehicle-carrying plane and the preset height corresponding to the second speed curve; When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the second speed curve and the vehicle loading plane is in an ascending stage, reducing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the second speed curve and the vehicle loading plane is in an ascending stage, increasing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the second speed curve and the vehicle loading plane is in a descending stage, increasing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the second speed curve and the vehicle loading plane is in a descending stage, the current speed of the vehicle loading plane is reduced.

5. The vehicle-carrying platform control method according to claim 1, characterized in that: In adjusting the current speed of the oil cylinder according to the preset third speed curve, the method includes: Determine whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset third speed curve is greater than a third threshold; If the judgment result is yes, controlling the vehicle carrying plane to stop rising or lowering; Preferably, after the step of determining whether the absolute value of the difference between the actual height of the vehicle-carrying plane and the corresponding preset height on the preset third speed curve is greater than a third threshold, the method further comprises: If the result of the judgment is negative, determining the difference between the actual height of the vehicle-carrying plane and the preset height corresponding to the third speed curve; When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the third speed curve and the vehicle loading plane is in an ascending stage, reducing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the third speed curve and the vehicle loading plane is in an ascending stage, increasing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is greater than the corresponding preset height on the third speed curve and the vehicle loading plane is in a descending stage, increasing the current speed of the vehicle loading plane; When the judgment result is that the actual height of the vehicle loading plane is less than the corresponding preset height on the third speed curve and the vehicle loading plane is in a descending stage, the current speed of the vehicle loading plane is reduced.

6. The vehicle-carrying platform control method according to any one of claims 1, 3 and 4, characterized in that: The oil cylinder is a one-way two-stage hydraulic cylinder, which is vertically installed below the vehicle-carrying plane. The one-way two-stage hydraulic cylinder includes a cylinder barrel, a primary piston rod and a secondary piston rod which are sleeved in sequence. The maximum height to which the primary piston rod can drive the vehicle-carrying plane is the cylinder change height. The lifting mechanism also includes a hydraulic station for delivering hydraulic oil to the one-way two-stage hydraulic cylinder, the hydraulic station includes a motor and a hydraulic pump, the hydraulic pump is linked with the output shaft of the motor, and the hydraulic pump delivers or extracts hydraulic oil to the one-way two-stage hydraulic cylinder through an oil pipe; Preferably, in the process of controlling the vehicle-carrying plane to rise or fall, the actual height and current speed of the vehicle-carrying plane are obtained to determine whether the actual height of the vehicle-carrying plane is equal to the cylinder-changing height; If the judgment result is yes, the motor is controlled to decelerate from the current speed to zero, and then accelerate from zero to the target speed, so that the movement speed of the motor drive on the vehicle-carrying plane before and after the adjustment is consistent; Preferably, the flow rate provided by the hydraulic station is calculated according to the following formula: Among them, Q1 is the hydraulic flow provided to the primary piston rod, D1 is the inner diameter of the cylinder, Q2 is the hydraulic flow provided to the secondary piston rod, and D2 is the inner diameter of the primary piston rod.

7. The vehicle-carrying platform control method according to any one of claims 1, 3 and 4, characterized in that: The hydraulic flow is controlled to adjust the current speed of the cylinder; and the hydraulic flow is controlled by adjusting the rotation speed of the motor.

8. The vehicle-carrying platform control method according to claim 1, characterized in that: The vehicle-carrying platform is provided with a walking surface for the battery-changing equipment used for disassembling and installing the battery pack; During the battery replacement process, the initial height and the target height are any two adjacent heights of the starting height, the battery removal height, the battery installation height, the first operating height, and the second operating height; The starting height is the height of the walking plane of the vehicle-carrying platform; The battery removal height is a height that matches the driving-in stage of the battery swapping equipment before the battery removal; The battery installation height is the height that matches the driving-in stage of the battery replacement equipment before battery installation; The first operating height is the height at which the battery swapping equipment removes the battery pack from the electric vehicle; The second operating height is the height of the battery swap equipment when it is installed on the battery pack of the electric vehicle.

9. The vehicle-carrying platform control method according to claim 8, characterized in that: The first operating height is set to be lower than the battery removal height, and when the vehicle loading plane is at the first operating height, the relative height between the vehicle loading plane and the walking plane meets the height condition for removing the battery pack of the battery replacement equipment; The second operating height is set to: lower than the battery installation height, and when the vehicle loading plane is at the second operating height, the relative height between the vehicle loading plane and the walking plane meets the height condition for installing the battery pack of the battery replacement equipment.

10. A vehicle-carrying platform control method, characterized in that: The vehicle-carrying platform has a vehicle-carrying plane for carrying the electric vehicle and can be raised or lowered, and the vehicle-carrying plane is controlled to be raised or lowered from an initial height to a target height; The vehicle-carrying platform control method comprises: The controller sends a start signal to the motor of the hydraulic station; When receiving the start signal, the motor rotates at a first speed and drives the oil cylinder of the lifting mechanism to start to extend and retract, so as to drive the vehicle-carrying plane to accelerate from a stationary state to a first speed, and the vehicle-carrying plane starts to rise or fall from the initial height; The height sensor obtains the actual height of the vehicle-carrying plane and sends the actual height to the controller; The controller determines whether the actual height reaches the first intermediate height, and sends a speed change signal to the motor of the hydraulic station if the determination result is yes; When receiving the speed change signal, the motor rotates at a second speed and drives the oil cylinder of the lifting mechanism to continue to extend and retract, so as to drive the vehicle-carrying plane to rise or fall based on a second speed, and the second speed is less than the first speed; The height sensor acquires the actual height of the vehicle-carrying plane again and sends the actual height to the controller; The controller determines whether the actual height reaches the second intermediate height, and sends a stop signal to the motor of the hydraulic station if the determination result is yes; When receiving the stop signal, the motor decelerates and stops rotating to stop the oil cylinder of the lifting mechanism from extending and retracting, so that the vehicle-carrying plane decelerates and stops at a target height.

Images