Vehicle carrier platform control method

Abstract

The application discloses a kind of vehicle carrying platform control method, comprising: control vehicle carrying plane from static speed up to first speed, start to rise or lower from initial height;Actual height of vehicle carrying plane is obtained, and whether actual height reaches first intermediate height is judged;In the case where the result of judgment is yes, control vehicle carrying plane to rise or lower at second speed less than first speed;Actual height of vehicle carrying plane is obtained again, and whether actual height reaches second intermediate height is judged;In the case where the result of judgment is yes, control vehicle carrying plane to decelerate and stop to target height.The application achieves the beneficial technical effect of more stable stop by decelerating to relatively lower second speed and rising or lowering at constant speed during the stop of vehicle carrying plane, and then decelerating and stopping to target height, so as to avoid the collision between unlocking components on battery swapping equipment and battery pack or locking mechanism on the car due to inertia during the process of disassembling or installing battery pack, which leads to the damage of both.

Description

[0001] This application is a divisional application of Chinese patent application filed on September 30, 2021, with application number 202111165921X and invention title "Vehicle Platform Control Method". Technical Field

[0002] This invention belongs to the field of battery swapping control, and in particular relates to a vehicle platform control method. Background Technology

[0003] There are two main charging methods for existing electric vehicles: direct charging and battery swapping. Direct charging requires charging stations, but it takes a long time and is less efficient. Battery swapping requires battery swapping stations, where the battery pack is replaced to achieve rapid battery replacement. This method saves a significant amount of time compared to direct charging, but the swapping process involves removing and installing the battery pack.

[0004] Chinese invention patent application CN202010076929.8 discloses a battery swapping control method, system / electronic device, and storage medium. This battery swapping control method is used to control a first battery swapping device and a second battery swapping device to alternately replace the battery pack of an electric vehicle. However, during the battery swapping process, the lifting plane rises or falls directly to the required height position. The lifting action is not smooth enough from high speed to stop. As a result, during the process of removing and installing the battery pack, there will be impact force on the unlocking device on the first and second battery swapping devices and the locking mechanism on the electric vehicle, which will cause 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 overcome the defect in the prior art that the lifting action of the vehicle platform is not smooth enough from high speed to stop, which will cause damage to the unlocking device or locking mechanism, and to provide a vehicle platform control method.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution:

[0007] A vehicle platform control method is characterized in that the vehicle platform includes a lifting device, the lifting device having a vehicle-carrying plane for carrying electric vehicles and capable of being raised or lowered, and controlling the vehicle-carrying plane to be raised or lowered from an initial height to a target height;

[0008] The vehicle platform control method includes:

[0009] Control the vehicle platform to accelerate from a standstill to a first speed, and to rise or fall from the initial height;

[0010] Obtain the actual height of the vehicle platform and determine whether the actual height reaches the first intermediate height;

[0011] If the determination result is yes, the vehicle platform is controlled to rise or fall at a second speed, where the second speed is less than the first speed;

[0012] The actual height of the vehicle platform is obtained again, and it is determined whether the actual height reaches the second intermediate height.

[0013] If the judgment result is yes, control the vehicle to decelerate and stop at the target height;

[0014] The vehicle platform also has a lifting mechanism, and the vehicle platform is raised or lowered by the hydraulic cylinder of the lifting mechanism.

[0015] The process of controlling the vehicle plane to decelerate and stop at the target height includes:

[0016] Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

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

[0018] In this technical solution, the above-described steps enable the vehicle platform to decelerate to a relatively low second speed and rise or fall at a uniform speed during the stopping process, before decelerating to a stop at the target height. This achieves a smoother stopping effect, preventing damage to the unlocking components on the battery swapping equipment and the battery pack or locking mechanism on the vehicle due to inertia during battery pack removal and installation. Furthermore, the above steps allow for timely adjustment of the hydraulic cylinder's current speed, ensuring that the vehicle platform's rise or fall follows a preset third speed curve to decelerate and stop at the target height.

[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 this technical solution, the positional requirements between the second intermediate height and the first intermediate height are further restricted to ensure that the vehicle platform will first undergo a relatively slow and uniform movement during the deceleration process before decelerating, thereby reducing the impact between the unlocking components on the battery swapping equipment and the battery pack or locking mechanism on the vehicle.

[0021] Preferably, the vehicle platform also has a lifting mechanism, and the vehicle platform is raised or lowered by a hydraulic cylinder driven by the lifting mechanism.

[0022] The steps of controlling the vehicle platform to accelerate from a standstill to a first speed and to rise or fall from an initial height include:

[0023] Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

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

[0025] In this technical solution, by setting the above steps, the current speed of the hydraulic cylinder can be adjusted in a timely manner to ensure that the vehicle platform rises or falls at the first speed from the initial height to the first intermediate height according to the requirements of the preset first speed curve.

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

[0027] Determine whether the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height on the preset first speed curve is greater than a first threshold.

[0028] If the determination result is yes, control the vehicle platform to stop rising or falling.

[0029] In this technical solution, by setting the above steps, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is large, the vehicle platform is directly controlled to stop rising or falling, and the lifting device and related structures are promptly inspected to prevent further safety accidents.

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

[0031] If the judgment result is negative, determine the magnitude of the actual height of the vehicle-mounted plane and the corresponding preset height on the first speed curve;

[0032] When the determination result is that the actual height of the vehicle-carrying plane is greater than the preset height corresponding to the first speed curve and the vehicle-carrying plane is in the rising phase, the current speed of the vehicle-carrying plane is reduced.

[0033] When the determination result is that the actual height of the vehicle-carrying plane is less than the preset height corresponding to the first speed curve and the vehicle-carrying plane is in the rising phase, the current speed of the vehicle-carrying plane is increased.

[0034] When the determination result is that the actual height of the vehicle-carrying plane is greater than the preset height corresponding to the first speed curve and the vehicle-carrying plane is in the descending phase, the current speed of the vehicle-carrying plane is increased.

[0035] When the determination result is that the actual height of the vehicle-carrying plane is less than the preset height corresponding to the first speed curve and the vehicle-carrying plane is in the descending phase, the current speed of the vehicle-carrying plane is reduced.

[0036] In this technical solution, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is small, the above method can be used to automatically adjust 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 platform also has a lifting mechanism, and the vehicle platform is raised or lowered by a hydraulic cylinder driven by the lifting mechanism.

[0038] In controlling the vehicle platform to rise or fall at a second speed, the following are included:

[0039] Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

[0040] The current speed of the hydraulic cylinder is adjusted according to a preset second speed curve so that the hydraulic cylinder drives the vehicle 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 correspondence between the second speed and the height.

[0041] In this technical solution, by setting the above steps, the current speed of the hydraulic cylinder can be adjusted in a timely manner to ensure that the vehicle platform rises or falls according to the preset second speed curve from the first intermediate height to the second intermediate height at the second speed.

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

[0043] Determine whether the absolute value of the difference between the actual height of the vehicle-mounted plane and the corresponding preset height on the preset second speed curve is greater than a second threshold.

[0044] If the determination result is yes, control the vehicle platform to stop rising or falling.

[0045] In this technical solution, by setting the above steps, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is large, the vehicle platform is directly controlled to stop rising or falling, thus avoiding further safety accidents.

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

[0047] If the judgment result is negative, determine the magnitude of the actual height of the vehicle-mounted plane and the corresponding preset height on the second speed curve;

[0048] When the determination result is that the actual height of the vehicle-carrying plane is greater than the preset height corresponding to the second speed curve and the vehicle-carrying plane is in the rising phase, the current speed of the vehicle-carrying plane is reduced.

[0049] When the determination result is that the actual height of the vehicle-carrying plane is less than the preset height corresponding to the second speed curve and the vehicle-carrying plane is in the rising phase, the current speed of the vehicle-carrying plane is increased.

[0050] When the determination result is that the actual height of the vehicle-carrying plane is greater than the preset height corresponding to the second speed curve and the vehicle-carrying plane is in the descending phase, the current speed of the vehicle-carrying plane is increased.

[0051] When the determination result is that the actual height of the vehicle-carrying plane is less than the preset height corresponding to the second speed curve and the vehicle-carrying plane is in the descending phase, the current speed of the vehicle-carrying plane is reduced.

[0052] In this technical solution, when it is determined that the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is small, the above method can be used to automatically adjust 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, adjusting the current speed of the hydraulic cylinder according to the preset third speed curve includes:

[0054] Determine whether the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height on the preset third speed curve is greater than a third threshold.

[0055] If the determination result is yes, control the vehicle platform to stop rising or falling.

[0056] In this technical solution, by setting the above steps, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is large, the vehicle platform is directly controlled to stop rising or falling, thus avoiding further safety accidents.

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

[0058] If the judgment result is negative, determine the magnitude of the actual height of the vehicle-mounted plane and the corresponding preset height on the third speed curve;

[0059] When the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the third speed curve and the vehicle platform is in the rising phase, the current speed of the vehicle platform is reduced.

[0060] When the judgment result is that the actual height of the vehicle platform is less than the preset height corresponding to the third speed curve and the vehicle platform is in the rising phase, the current speed of the vehicle platform is increased.

[0061] When the judgment result is that the actual height of the vehicle-carrying plane is greater than the preset height corresponding to the third speed curve and the vehicle-carrying plane is in the descending phase, the current speed of the vehicle-carrying plane is increased.

[0062] When the determination result is that the actual height of the vehicle-carrying plane is less than the preset height corresponding to the third speed curve and the vehicle-carrying plane is in the descending phase, the current speed of the vehicle-carrying plane is reduced.

[0063] In this technical solution, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is small, the above method can be used to automatically adjust 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 cylinder is a one-way double-stage hydraulic cylinder, which is vertically installed below the vehicle plane. The one-way double-stage hydraulic cylinder includes a cylinder barrel, a first-stage piston rod and a second-stage piston rod arranged in sequence. The highest height that the first-stage piston rod can drive the vehicle plane to reach is the cylinder changing 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 oil pipes.

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

[0067] Preferably, during the process of controlling the vehicle platform to rise or fall, the actual height and current speed of the vehicle platform are obtained, and it is determined whether the actual height of the vehicle platform is equal to the cylinder changing height;

[0068] If the judgment result is yes, control the motor to decelerate from the current speed to zero, and then accelerate from zero to the target speed, so that the motor drives the same speed on the vehicle plane before and after the adjustment.

[0069] In this technical solution, the above steps are designed to prevent sudden changes such as oscillation or shaking during cylinder switching of the unidirectional double-stage hydraulic cylinder, thus ensuring that the lifting action of the cylinder and the vehicle platform is continuous and stable.

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

[0071]

[0072] Wherein, Q1 is the hydraulic flow rate supplied to the first-stage piston rod, D1 is the inner diameter of the cylinder, Q2 is the hydraulic flow rate supplied to the second-stage piston rod, and D2 is the inner diameter of the first-stage piston rod.

[0073] In this technical solution, the change in motor speed can control the hydraulic flow rate. By providing the above formula, the flow rate required to be supplied to the oil cylinder after the motor speed returns to zero can be calculated.

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

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

[0076] Preferably, the vehicle platform is provided with a travel plane for the battery swapping equipment used for installing and removing battery packs to travel on;

[0077] During the battery swapping process, the initial height and the target height are any two adjacent heights among the starting height, battery removal height, battery installation height, first operation height and second operation height, respectively.

[0078] The starting height is the height of the travel plane of the vehicle platform;

[0079] The battery removal height is the height that corresponds to the stage when the battery swapping equipment enters the vehicle before battery removal.

[0080] The battery installation height is the height that corresponds to the stage when the battery swapping equipment enters the vehicle before battery installation.

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

[0082] The second operating height is the height at which the battery swapping equipment is installed on the battery pack of the electric vehicle.

[0083] In this technical solution, when an electric vehicle travels to the vehicle platform for battery swapping, the lifting device needs to raise or lower the electric vehicle as needed to complete the battery swapping operation.

[0084] Preferably, the first operating height is set to be lower than the battery removal height, and when the vehicle platform is at the first operating height, the relative height between the vehicle platform and the traveling plane satisfies the battery pack removal height condition of the battery swapping equipment.

[0085] The second operating height is set to be lower than the battery mounting height, and when the vehicle platform is at the second operating height, the relative height between the vehicle platform and the traveling plane satisfies the battery pack mounting height condition of the battery swapping equipment.

[0086] In this technical solution, the first operating height and the second operating height are further defined 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 platform control method is characterized in that the vehicle 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 platform control method includes:

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

[0090] Upon receiving the start signal, the motor rotates at a first speed and drives the hydraulic cylinder of the lifting mechanism to extend and retract, thereby accelerating the vehicle platform from a standstill to a first speed, and the vehicle platform rises or falls from the initial height.

[0091] The height sensor acquires the actual height of the vehicle platform and sends the actual height to the controller;

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

[0093] When the motor receives the speed change signal, it rotates at a second speed and drives the hydraulic cylinder of the lifting mechanism to continue to extend and retract, so as to drive the vehicle platform to rise or fall based on a second speed, wherein the second speed is less than the first speed.

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

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

[0096] Upon receiving the stop signal, the motor decelerates and stops rotating, causing the hydraulic cylinder of the lifting mechanism to stop extending and retracting, thereby causing the vehicle platform to decelerate and stop at the target height.

[0097] The positive and progressive effects of this invention are as follows:

[0098] By setting specific steps in the vehicle platform control method, this invention enables the vehicle platform to decelerate to a relatively low second speed and rise or fall at a uniform speed during the stopping process, and then decelerate and stop at the target height, thereby achieving a more stable stopping effect. This avoids damage to both the unlocking components on the battery swapping equipment and the battery pack or locking mechanism on the vehicle due to inertia during the removal and installation of the battery pack. Attached Figure Description

[0099] Figure 1 A top-down view of the vehicle battery swapping process.

[0100] Figure 2 This is a side view of the vehicle platform reaching its initial height.

[0101] Figure 3 This is a side view showing the vehicle's horizontal plane reaching the height of the removed battery.

[0102] Figure 4 This is a side view of the vehicle platform reaching the first operating height.

[0103] Figure 5 This is a side view showing the vehicle's horizontal plane reaching the height of the battery compartment.

[0104] Figure 6 This is a side view showing the vehicle platform reaching the second operating height.

[0105] Figure 7 This is a flowchart of the vehicle platform control method proposed in Embodiment 1 of the present invention.

[0106] Figure 8 This is a graph showing the speed of the preset hydraulic cylinder changing over time, as proposed in Embodiments 1 and 2 of the present invention.

[0107] Figure 9 This is a flowchart of the vehicle platform control method proposed in Embodiment 4 of the present invention.

[0108] Figure 10 This is a schematic diagram of the structure of the hydraulic cylinder proposed in Embodiment 6 of the present invention.

[0109] 1-Vehicle platform, 11-Vehicle surface, 12-Travel surface, 2-Power swapping equipment, 31-First base plate, 32-Second base plate, 4-Hydraulic cylinder, 41-Cylinder barrel, 42-First-stage piston rod, 43-Second-stage piston rod, 9-Electric vehicle, 91-Wheel. Detailed Implementation

[0110] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0111] Before describing the various embodiments of the present invention in detail, a brief description of the vehicle platform will be given first. For example... Figures 1 to 6 As shown, the vehicle platform 1 is a structure used in the removal and installation of battery packs in a battery swapping station. It includes a lifting device for lifting electric vehicles 9. Its main function is to adjust the height of electric vehicles 9 for bottom battery swapping (i.e., the battery swapping equipment 2 removes and installs the battery pack from the bottom of the electric vehicle 9), thereby providing sufficient space under the electric vehicle 9 for battery swapping.

[0112] The lifting device has a vehicle-carrying plane 11, which is used to support the electric vehicle 9 and is height-adjustable. The vehicle-carrying plane 11 is controlled to rise or fall from an initial height to a target height. 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. Specifically, the vehicle-carrying plane 11 is raised or lowered by the hydraulic cylinder of the lifting mechanism.

[0113] exist Figure 1 In this embodiment, the vehicle-carrying plane 11 is not a continuous, complete plane, but rather segmented, consisting of two segments of vehicle-carrying plane 11 on either side capable of supporting the wheels 91. In the following embodiments, the two segments of vehicle-carrying plane 11 are synchronously controlled, meaning they rise or fall simultaneously and remain at the same height.

[0114] The vehicle platform 1 is equipped with a travel surface 12 for the battery swapping device 2 to move on, which is a bottom-mounted battery swapping device used to install and remove the battery pack from the bottom of the electric vehicle 9. When the battery swapping device 2 reaches the bottom of the electric vehicle 9, the battery pack is installed or removed in the area between the two vehicle platform 11. Figure 1 The middle of the two vehicle-carrying planes 11. Figure 1 The arrow in the diagram represents one possible route for the battery swapping device 2, which is to enter the vehicle from one end of the travel plane 12 and exit from the other end. Of course, the battery swapping device 2 can also adopt other travel routes, such as entering the vehicle from one end of the travel plane 12 and then exiting from the same end.

[0115] On the traveling direction of the electric vehicle 9 perpendicular to the vehicle platform 1, there are base plates on both sides of the traveling plane 12, namely the first base plate 31 and the second base plate 32, as shown below. Figure 1As shown, the battery swapping device 2 enters the walking plane 12 from the first base plate 31 located on one side of the walking plane 12, and then enters the second base plate 32 located on the other side of the walking plane 12. The walking plane 12 can be independent of the first base plate 31 and the second base plate 32; alternatively, the walking plane 12, the first base plate 31, and the second base plate 32 can be an integral structure. The walking plane 12, the first base plate 31, and the second base plate 32 are all equipped with moving tracks for the battery swapping device 2.

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

[0117] The entire battery pack removal process can be roughly divided into three stages: the battery swapping equipment entering the vehicle before battery removal, the battery removal stage, and the battery swapping equipment exiting the vehicle after battery removal. The entire battery pack installation process can be roughly divided into three stages: the battery swapping equipment entering the vehicle before battery installation, the battery installation stage, and the battery swapping equipment exiting the vehicle after battery installation.

[0118] Specifically, such as Figure 2 As shown, the initial height h0 is the height of the travel plane 12 of the vehicle platform 1. The travel plane 12 of the vehicle platform 1, as described above, is the travel plane 12 on which the battery swapping equipment 2 for installing and removing battery packs travels. It is the upper surface of the vehicle platform 1 and also the plane on which the electric vehicle 9 travels on the vehicle platform 1.

[0119] like Figure 3 As shown, the battery removal height h1 can be coordinated with the battery swapping equipment's entry stage before battery removal and is set to be higher than the initial height h0. When the vehicle platform 11 is at the battery removal height h1, the relative height between the vehicle platform 11 and the travel platform 12 is higher than the height of the battery swapping equipment 2 when it is not loaded with the battery pack.

[0120] like Figure 5 As shown, the battery mounting height h2 can be coordinated with the battery swapping equipment's entry stage before battery installation and is set to be higher than the initial height h0. When the vehicle platform 11 is at the battery mounting height h2, the relative height between the vehicle platform 11 and the travel platform 12 is higher than the height of the battery swapping equipment 2 after the battery pack is installed.

[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 mounts the battery pack on top of itself, and the height of the battery swapping device 2 after mounting the battery pack is higher than its height without the battery pack, in order to avoid the vehicle platform 11 being lifted too high during the battery removal process, thus spending too much lifting time and affecting the overall battery swapping 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 between the initial height h0 and the driving platform 12, the height of the battery swapping device 2 itself, and the height of the battery swapping device 2 after mounting the battery.

[0122] like Figure 4 As shown, the first operating height h3 is the height at which the battery swapping device 2 removes the battery pack from the electric vehicle 9. Furthermore, to ensure that the first operating height h3 achieves the function of removing the battery, the first operating height h3 is set to be lower than the battery removal height h1, and even lower than the starting height h0. When the vehicle platform 11 is located at the first operating height h3, the relative height between the vehicle platform 11 and the traveling platform 12 satisfies the height condition for the battery swapping device 2 to remove the battery pack.

[0123] The height requirement for battery pack removal by the battery swapping equipment 2 needs to be determined based on the operation process of the battery swapping equipment 2 during the battery removal stage. For example, when removing the battery pack, the battery swapping equipment 2 needs to lift the battery swapping platform on it so that the battery pack unlocking mechanism on the battery swapping platform can unlock the battery pack under the electric vehicle 9. Then, the battery pack is carried by the battery swapping platform. In order to match the lifting height of the battery swapping platform and reduce the distance between the vehicle bottom 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 carrying plane 11, so as to ensure that the battery pack unlocking mechanism can be successfully unlocked and that the battery swapping platform of the battery swapping equipment 2 can catch the removed battery pack.

[0124] like Figure 6 As shown, the second operating height h4 is the height at which the battery pack on the electric vehicle 9 is installed in the battery swapping device 2. Furthermore, to ensure that the second operating height h4 can fulfill the battery installation function, the second operating height h4 is set to be lower than the battery installation height h2, and even lower than the initial height h0. When the vehicle-mounted plane 11 is at the second operating height h4, the relative height between the vehicle-mounted plane 11 and the traveling plane 12 satisfies the height condition for installing the battery pack in the battery swapping device 2.

[0125] The height requirement for battery pack installation in battery swapping equipment 2 depends on the operation process of battery swapping equipment 2 during the battery installation stage. For example, when installing battery packs, battery swapping equipment 2 needs to lift its battery swapping platform so that the battery pack on the battery swapping platform can be placed into the body bracket 92 of electric vehicle 9. Then, the battery pack locking mechanism on the body bracket 92 is used to lock the battery pack to the body bracket 92. In order to match the lifting height of the battery swapping platform and reduce the distance between the vehicle bottom 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 surface 11, so as to ensure that the battery pack is successfully placed into the body bracket 92 and the battery pack locking mechanism locks the battery pack.

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

[0127] like Figures 2 to 6 The following diagram further illustrates the working process of the vehicle-mounted plane 11 during the entire battery swapping process:

[0128] Before the electric vehicle 9 is parked on the vehicle platform 11, the vehicle platform 11 is controlled to be maintained at the initial height h0. See [link / reference] Figure 2 When the vehicle-carrying plane 11 is at the starting height h0, it can be on the same plane as the upper surface of the vehicle-carrying platform 1, so that the electric vehicle 9 can drive into the vehicle-carrying plane 11.

[0129] After electric vehicle 9 is parked on vehicle platform 11, control vehicle platform 11 to reach battery removal height h1, see [link / reference]. Figure 3 After the vehicle platform 11 reaches the battery removal height h1, the battery swapping equipment 2 without the battery pack can drive under the bottom of the electric vehicle 9 to remove the battery pack.

[0130] After the battery swapping device 2 is driven under the bottom of the electric vehicle 9, the vehicle platform 11 is controlled to reach the first operating height h3, see [reference]. Figure 4 When the vehicle platform 11 is at the first operating height h3, the battery swapping device 2 is located below the bottom of the electric vehicle 9. The battery pack under the vehicle is unlocked and then the removed battery pack is caught.

[0131] After the battery pack is removed from electric vehicle 9, the vehicle platform 11 is controlled to reach the battery installation height h2, see [reference]. Figure 5 After the vehicle platform 11 reaches the battery installation height h2, the battery swapping equipment 2, which is loaded with the removed battery pack, can drive out from under the bottom of the electric vehicle 9, put the removed battery pack back to the battery rack or other location, load a new battery pack, and drive back into the bottom of the electric vehicle 9 to install the battery pack.

[0132] After the battery swapping device 2 moves back under the bottom of the electric vehicle 9, the vehicle platform 11 is controlled to reach the second operating height h4, see [reference]. Figure 6 When the vehicle platform 11 is at the second operating height h4, the battery swapping equipment 2 is located below the bottom of the electric vehicle 9, and the new battery pack is installed onto the body support 92 at the bottom of the electric vehicle 9.

[0133] After the battery pack is installed in electric vehicle 9, the vehicle platform 11 is first raised to the battery removal height h1, see [reference]. Figure 3 After the battery swapping equipment 2 has moved out, control the vehicle platform 11 to return to its initial height h0. See [link / reference]. Figure 2 When the vehicle platform 11 is at the starting height h0, it can be on the same plane as the walking plane 12 of the vehicle platform 1, so that the electric vehicle 9 can drive out of the vehicle platform 11.

[0134] It should be noted that the above content and accompanying drawings are only schematic representations of a vehicle platform and battery swapping equipment applicable to the following embodiments, but do not imply that the following embodiments can only be used for vehicle platforms and battery swapping equipment with the above structure or style. Vehicle platforms and battery swapping equipment with the same or similar functions and battery swapping principles are also applicable to the following embodiments.

[0135]

Example 1

[0136] This embodiment provides a vehicle platform control method for controlling the vehicle platform to rise from an initial height to a target height, or to control the vehicle platform to descend from an initial height to a target height. That is, the movement of the vehicle platform from the initial height to the target height is only a unidirectional movement of rising or falling; and not a multidirectional movement including both rising and falling.

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

[0138] The vehicle platform control method of the present invention will now be described using the example of controlling the vehicle platform to rise from an initial height to a target height.

[0139] Figure 7 This is a flowchart of a vehicle platform control method according to Embodiment 1 of the present invention. (In conjunction with...) Figure 7 and Figure 8 As shown, the vehicle platform control method includes:

[0140] Step 100: Control the vehicle platform to accelerate from rest to the first speed and start rising from the initial height; that is, accelerate the vehicle platform from zero to the first speed, and then start rising at a constant speed from the first speed.

[0141] Step 200: Obtain the actual height of the vehicle platform and determine whether the actual height reaches the first intermediate height;

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

[0143] Step 400: Obtain the actual height of the vehicle platform again, and determine whether the actual height has reached the second intermediate height;

[0144] Step 500: If the judgment result is yes, control the vehicle to decelerate and stop at the target height.

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

[0146] In this embodiment, by setting the above steps, the vehicle platform can first decelerate to a relatively low second speed and maintain a uniform speed increase during the movement towards the target height, and then decelerate and stop at the target height. This makes the vehicle platform stop at the target height more smoothly and avoids damage to both the unlocking mechanism on the battery swapping equipment and the battery pack or locking mechanism on the electric vehicle due to inertia during the removal and installation of the battery pack.

[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. This limitation ensures that the vehicle platform undergoes a slower, more uniform movement during deceleration before slowing down, reducing the impact between the unlocking mechanism on the battery swapping equipment and the battery pack or locking mechanism on the electric vehicle.

[0148] The first and second speeds can be variables or constants, depending on the actual working conditions; no restrictions are imposed here.

[0149] In the above steps, the actual height of the vehicle platform is obtained through a height sensor. The height sensor is positioned on the lower surface of the lifting platform, so the initial height, battery removal height, battery installation height, first operating height, and second operating height of the vehicle platform all refer to the distance from the vehicle platform to the lower surface of the lifting mechanism. Furthermore, any upward or downward movement of the vehicle platform between any two adjacent heights among the initial height, battery removal height, battery installation height, first operating height, and second operating height is completed above the height sensor; that is, the height values ​​obtained by the height sensor are all positive. The height sensor can be either a rangefinder or a laser sensor.

[0150]

Example 2

[0151] Example 2 provides another vehicle platform control method, wherein the vehicle platform also has a lifting mechanism, and the vehicle plane is raised by the hydraulic cylinder of the lifting mechanism.

[0152] The vehicle platform control method includes:

[0153] Step 100: Control the vehicle plane to accelerate from a standstill to the first speed, and start rising from the initial height;

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

[0155] Step 110: Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

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

[0157] By setting the above steps, the current speed of the hydraulic cylinder is the current speed of the vehicle platform. By adjusting the current speed of the hydraulic cylinder in a timely manner, the vehicle platform is raised 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 correspondence between the first speed and the height. Specifically, the preset first speed curve indicates the correspondence between the vehicle's horizontal plane at different times and the different preset heights it should reach, according to the preset first speed. Figure 8 The graph shows the speed V of the hydraulic cylinder versus time T, where v1 is the preset first speed of the hydraulic cylinder (i.e., the preset first speed of the vehicle platform), the curve corresponding to the first speed curve is line segment L1, and the area H1 of the shaded region is the height change of the hydraulic cylinder at different time points from 0 to t1 (i.e., the height change of the vehicle platform at different time points from 0 to t1). Here, 0 to t1 is the preset time period from the initial height to the first intermediate height of the vehicle platform.

[0159] It should be noted that, Figure 8 In the preset curve of the cylinder speed V versus time T, the horizontal axis time T represents the preset motion state of the vehicle platform from the initial height to the target height. Specifically, as mentioned above, 0 to t1 is the preset time period for the vehicle platform to rise from the initial height to the first intermediate height; similarly, t1 to t2 is the preset time period for the vehicle platform to rise from the first intermediate height to the second intermediate height; and t2 to t3 is the preset time period for the vehicle platform to rise from the second intermediate height to the target height.

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

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

[0162] Step 122: If the judgment result is yes, control the vehicle platform to stop rising.

[0163] By setting the above steps, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is large, the vehicle platform will be directly controlled to stop rising, and the lifting device and related structures will be promptly inspected to prevent further safety accidents.

[0164] The first threshold value ranges from 3mm to 5mm. For example, if the first threshold value is 4.5mm, and the preset height corresponding to that moment on the first speed curve is 50mm, the actual height calculated based on the first threshold is 45.5mm to 54.5mm. If the actual height is within the range of 45.5mm to 54.5mm, there is no need to stop the vehicle platform. If it is outside the range, the vehicle platform 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 platform and the corresponding preset height on the preset first speed curve is greater than the first threshold, the process includes:

[0166] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the first speed curve;

[0167] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the first speed curve, reduce the current speed of the vehicle platform.

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

[0169] This allows for automatic adjustment of the lifting device's movement speed when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is small, thus promoting the lifting device to rise according to the preset first speed curve.

[0170] Step 200: Obtain the actual height of the vehicle platform and determine whether the actual height reaches the first intermediate height;

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

[0172] In step 300, that is, in controlling the vehicle plane to rise at a second speed, the following is included:

[0173] Step 310: Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

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

[0175] By setting the above steps, the current speed of the hydraulic cylinder can be adjusted in a timely manner to ensure that the vehicle platform rises 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 correspondence between the second speed and the height. Specifically, the preset second speed curve indicates the correspondence between the vehicle's horizontal plane at different times and the different preset heights it should reach, according to the preset second speed. Figure 8 The graph shows the speed V of the preset hydraulic cylinder versus time T, where v2 is the second speed of the hydraulic cylinder (i.e., the preset second speed of the vehicle platform). The preset second speed curve corresponds to line segment L2, and the shaded area H2 represents the height change of the hydraulic cylinder at different time points from t1 to t2 (i.e., the height change of the vehicle platform at different time points from t1 to t2). As mentioned above, t1 to t2 is a preset time period during which the vehicle platform rises from the first intermediate height to the second intermediate height.

[0177] Furthermore, in step 320, adjusting the current speed of the hydraulic 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 platform and the corresponding preset height on the preset second speed curve is greater than the second threshold.

[0179] Step 322: If the judgment result is yes, control the vehicle platform to stop rising.

[0180] By setting the above steps, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is large, the vehicle platform will be directly controlled to stop rising, thus preventing further safety accidents.

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

[0182] The second threshold is used in the same way 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 platform and the corresponding preset height on the preset second speed curve is greater than the second threshold, the process includes:

[0184] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the second speed curve;

[0185] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the second speed curve, reduce the current speed of the vehicle platform;

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

[0187] This allows for automatic adjustment of the lifting device's movement speed when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is small, thus promoting the lifting device to rise according to the preset second speed curve.

[0188] Step 400: Obtain the actual height of the vehicle platform again, and determine whether the actual height has reached the second intermediate height;

[0189] Step 500: If the judgment result is yes, control the vehicle to decelerate and stop at the target height.

[0190] In step 500, that is, in controlling the vehicle plane to decelerate and stop to the target height, the following are included:

[0191] Step 510: Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

[0192] Step 520: Adjust the current speed of the hydraulic cylinder according to the preset third speed curve so that the hydraulic cylinder drives the vehicle plane to decelerate and stop at the target height. The preset third speed curve represents the correspondence between the second speed and the height.

[0193] By setting the above steps, the current speed of the hydraulic cylinder can be adjusted in a timely manner to ensure that the lifting of the vehicle platform decelerates and stops at the target height according to the preset third speed curve.

[0194] The preset third speed curve represents the correspondence between the third speed and the height. Specifically, the preset third speed curve indicates the correspondence between the vehicle's horizontal plane at different times and the different preset heights it should reach, according to the preset second speed. Figure 8The graph shows the speed V of the preset hydraulic cylinder versus time T. As mentioned above, v2 is the second speed of the hydraulic cylinder (i.e., the preset second speed of the vehicle platform), the preset third speed curve corresponds to line segment L3, and the shaded area H3 represents the height change of the hydraulic cylinder at different time points from t2 to t3 (i.e., the height change of the vehicle platform at different time points from t2 to t3). As mentioned above, t2 to t3 is the preset time period from the second intermediate height to the target height for the vehicle platform.

[0195] Furthermore, in step 520, adjusting the current speed of the hydraulic 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 platform and the corresponding preset height on the preset third speed curve is greater than the third threshold.

[0197] Step 522: If the judgment result is yes, control the vehicle platform to stop rising.

[0198] By setting the above steps, when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is large, the vehicle platform will be directly controlled to stop rising, thus preventing further safety accidents.

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

[0200] The third threshold is used in the same way as the first and second thresholds 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 platform and the corresponding preset height on the preset third speed curve is greater than the third threshold, the process includes:

[0202] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the third speed curve;

[0203] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the third speed curve, reduce the current speed of the vehicle platform.

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

[0205] This allows for automatic adjustment of the lifting device's movement speed when the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height is small, thus promoting the lifting device to rise according to the preset third speed curve.

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

[0207] However, the vehicle platform control method for lowering the vehicle plane from its initial height to the target height differs slightly 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 platform and the corresponding preset height on the preset first speed curve is greater than the first threshold, the process includes:

[0209] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the first speed curve;

[0210] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the first speed curve, increase the current speed of the vehicle platform;

[0211] If the judgment result is that the actual height of the vehicle platform is less than the preset height corresponding to the first speed curve, the current speed of the vehicle platform 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 platform and the corresponding preset height on the preset second speed curve is greater than the second threshold, the process includes:

[0213] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the second speed curve;

[0214] When the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the second speed curve and the vehicle platform is in the descending phase, increase the current speed of the vehicle platform;

[0215] If the judgment result is that the actual height of the vehicle platform is less than the preset height corresponding to the second speed curve and the vehicle platform is in the descending phase, reduce the current speed of the vehicle platform.

[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 platform and the corresponding preset height on the preset third speed curve is greater than the third threshold, the process includes:

[0217] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the third speed curve;

[0218] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the third speed curve, increase the current speed of the vehicle platform;

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

[0220]

Example 3

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

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

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

[0224] The preset first speed of the vehicle platform is 20 mm / s, and the preset time for the vehicle platform to travel from the initial height to the first intermediate height is 10 seconds. During this distance, the vehicle platform accelerates upwards from zero. The preset second speed of the vehicle platform is 15 mm / s, and the preset time for the vehicle platform to travel from the first intermediate height to the second intermediate height is 3 seconds. During this distance, the vehicle platform rises at a constant speed. The preset time for the vehicle platform to travel from the second intermediate height to the target height is 5 seconds, and during this distance, the vehicle platform decelerates downwards to zero. Therefore, the preset first speed curve, the preset second speed curve, and the preset third speed curve can be obtained.

[0225] The vehicle platform control method includes:

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

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

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

[0229] Step 400: Obtain the actual height of the vehicle platform again, and determine whether the actual height reaches the second intermediate height of 445mm from the lower end of the lifting mechanism;

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

[0231] Specifically, step 100 includes:

[0232] Step 110: Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

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

[0234] Furthermore, step 120 includes:

[0235] Step 121: Determine whether the absolute value of the difference between the actual height of the vehicle platform and the corresponding preset height on the preset first speed curve is greater than 5mm. At this time, the first threshold value is 5mm.

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

[0237] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the first speed curve;

[0238] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the first speed curve, reduce the current speed of the vehicle platform.

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

[0240] Step 300 includes:

[0241] Step 310: Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

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

[0243] Furthermore, in step 320, adjusting the current speed of the hydraulic 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 platform and the corresponding preset height on the preset second speed curve is greater than 5mm. At this time, the second threshold value is 5mm.

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

[0246] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the second speed curve;

[0247] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the second speed curve, reduce the current speed of the vehicle platform;

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

[0249] Step 500 includes:

[0250] Step 510: Obtain the current speed of the hydraulic cylinder and the actual height of the vehicle platform;

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

[0252] Furthermore, in step 520, adjusting the current speed of the hydraulic 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 platform and the corresponding preset height on the preset third speed curve is greater than 5mm. The third threshold value is 5mm.

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

[0255] If the judgment result is negative, determine the magnitude of the actual height of the vehicle platform and the corresponding preset height on the third speed curve;

[0256] If the judgment result is that the actual height of the vehicle platform is greater than the preset height corresponding to the third speed curve, reduce the current speed of the vehicle platform.

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

[0258] The above steps complete the entire process of raising the vehicle's horizontal plane from the initial height (using the starting height as the initial height) to the target height (using the height after battery removal as the target height).

[0259]

Example 4

[0260] like Figure 9 As shown, Embodiment 4 discloses another vehicle platform control method. Embodiment 4 is a method for controlling the vehicle platform to rise from an initial height to a target height. The hydraulic station provides hydraulic oil to the cylinders of the lifting mechanism to drive the cylinders to extend and retract, including the following steps:

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

[0262] Step 200: Upon receiving the start signal, the motor rotates at the first speed and drives the hydraulic cylinder of the lifting mechanism to extend.

[0263] Step 300: The hydraulic cylinder of the lifting mechanism begins to extend to drive the vehicle platform to accelerate from a standstill to the first speed, and the vehicle platform begins to rise from the initial height;

[0264] Step 400: The height sensor acquires the actual height of the vehicle platform and sends the actual height to the controller;

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

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

[0267] Step 700: The hydraulic cylinder of the lifting mechanism continues to extend to drive the vehicle platform to rise based on a second speed, which is less than the first speed;

[0268] Step 800: The height sensor acquires the actual height of the vehicle platform again and sends the actual height to the controller;

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

[0270] Step 1000: Upon receiving a stop signal, the motor decelerates and stops rotating so that the hydraulic cylinder of the lifting mechanism stops extending;

[0271] Step 1100: The hydraulic cylinder of the lifting mechanism stops extending, so that the vehicle platform decelerates and stops at the target height.

[0272] In this embodiment, the height sensors in steps 400 and 800 continuously acquire the actual height of the vehicle platform and make corresponding judgments.

[0273] When the vehicle platform is lowered from its initial height to the target height, the method is the same as the steps described in this embodiment, except that the hydraulic cylinder of the lifting mechanism retracts to adjust the height of the vehicle platform.

[0274]

Example 5

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

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

[0277] The first intermediate height is 600mm above the lower end of the lifting mechanism, and the second intermediate height is 645mm above the lower end of the lifting mechanism.

[0278] The preset first speed of the vehicle platform is 20 mm / s, and the preset time for the vehicle platform to travel from the initial height to the first intermediate height is 36 seconds. During this distance, the vehicle platform accelerates upward from zero, and the first motor speed is 3000 rpm. The preset second speed of the vehicle platform is 15 mm / s, and the preset time for the vehicle platform to travel from the first intermediate height to the second intermediate height is 3 seconds. During this distance, the vehicle platform travels upward at a constant speed, and the second motor speed is 2250 rpm. The preset time for the vehicle platform to travel from the second intermediate height to the target height is 5 seconds, and during this distance, the vehicle platform decelerates downward to zero.

[0279] The vehicle platform control method includes:

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

[0281] Step 200: Upon receiving the start signal, the motor speed increases to 3000 rpm and rotates at the first speed of 3000 rpm, driving the hydraulic cylinder of the lifting mechanism to extend.

[0282] Step 300: The hydraulic cylinder of the lifting mechanism begins to extend to drive the vehicle platform to accelerate from a standstill to a first speed of 20 mm / s, and the vehicle platform begins to rise from an initial height of 240 mm from the lower end of the lifting mechanism.

[0283] Step 400: The height sensor acquires the actual height of the vehicle platform and sends the actual height to the controller;

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

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

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

[0287] Step 800: The height sensor acquires the actual height of the vehicle platform again and sends the actual height to the controller;

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

[0289] Step 1000: Upon receiving a stop signal, the motor decelerates and stops rotating so that the hydraulic cylinder of the lifting mechanism stops extending;

[0290] Step 1100: The hydraulic cylinder of the lifting mechanism stops extending, so that the vehicle platform decelerates and stops at the target height of 700mm from the lower end of the lifting mechanism.

[0291] The above steps complete the entire process of raising the vehicle's horizontal plane from the initial operating height to the target height, which is the height at which the battery is installed.

[0292]

Example 6

[0293] The steps of the vehicle platform control method in Example 6 are basically the same as those in Examples 1-5. The difference in Example 6 is that, in this example, Figure 10 As shown, cylinder 4 is a unidirectional double-stage hydraulic cylinder, which includes a cylinder barrel 41, a first-stage piston rod 42, and a second-stage piston rod 43 arranged sequentially. The highest height that the first-stage piston rod 42 can drive the vehicle platform to reach is the cylinder switching height. Cylinder 4 is vertically installed below the vehicle platform 11.

[0294] The lifting mechanism also includes a hydraulic station for supplying hydraulic oil to the unidirectional double-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 supplies or draws hydraulic oil to the unidirectional double-stage hydraulic cylinder through oil pipes.

[0295] The hydraulic flow rate is adjusted to control the current speed of the cylinder, and the motor speed is adjusted to control the hydraulic flow rate.

[0296] Specifically, the vehicle platform control method also includes the following during the process of controlling the vehicle's horizontal elevation:

[0297] Obtain the actual height of the vehicle platform and the current speed, and determine whether the actual height of the vehicle platform is equal to the cylinder change height;

[0298] If the judgment result is yes, control the motor 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 is consistent before and after the adjustment.

[0299] By setting the above steps, sudden phenomena such as vibration or shaking of the vehicle platform are prevented when changing cylinders in the single-direction double-stage hydraulic cylinder, ensuring that the lifting action of the cylinder and the vehicle platform is smooth and continuous.

[0300] The cylinder changing height is determined based on the actual participation of cylinder 4, and no restrictions are imposed here.

[0301] It should be noted that the target speed of the motor is to ensure that the vehicle platform maintains the same speed as the current speed of the vehicle platform after crossing the cylinder change height. That is, if the vehicle platform's speed is 20 mm / s before the cylinder change, the vehicle platform's speed will remain 20 mm / s after the speed adjustment when the motor moves at the target speed. Specifically, since the first-stage piston rod 42 is fully extended when the actual height of the vehicle platform equals the cylinder change height, the motor needs to adjust its speed according to the inner diameter of the second-stage piston rod 43 and the inner diameter of the cylinder 41 after crossing the cylinder change height to achieve the target speed. This target speed ensures that the vehicle platform maintains the same speed as the current speed after crossing the cylinder change height.

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

[0303] The flow rate provided by the hydraulic power unit is calculated using the following formula:

[0304]

[0305] Wherein, Q1 is the hydraulic flow rate supplied to the first-stage piston rod 42, D1 is the inner diameter of the cylinder 41, Q2 is the hydraulic flow rate supplied to the second-stage piston rod 43, and D2 is the inner diameter of the first-stage piston rod 42.

[0306] Since the change in motor speed can control the hydraulic flow rate, the above formula can be used to calculate the required flow rate to the cylinder after the motor speed returns to zero.

[0307] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A method of controlling a car carrier platform, characterized by, The vehicle loading platform comprises a lifting device having a loading plane for carrying an electric vehicle and capable of being raised or lowered, and the loading plane is controlled to be raised or lowered from an initial height to a target height; The vehicle loading platform control method comprises: controlling the loading plane to accelerate from a static state to a first speed and start to be raised or lowered from the initial height; acquiring an actual height of the loading plane and determining whether the actual height reaches a first intermediate height; in a case where the determination result is yes, controlling the loading plane to be raised or lowered at a second speed, which is less than the first speed; again acquiring the actual height of the loading plane and determining whether the actual height reaches a second intermediate height; in a case where the determination result is yes, controlling the loading plane to decelerate and stop at the target height; the vehicle loading platform further comprises a lifting mechanism, and the loading plane is driven to be raised or lowered by a cylinder of the lifting mechanism; in the step of controlling the loading plane to decelerate and stop at the target height, comprising: acquiring a current speed of the cylinder and the actual height of the loading plane; adjusting the current speed of the cylinder according to a preset third speed curve to make the cylinder drive the loading plane to decelerate and stop at the target height, and the preset third speed curve represents a corresponding relationship between the second speed and the height.

2. The vehicle platform control method according to claim 1, wherein 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.

3. The method of claim 1, wherein, the vehicle loading platform further comprises a lifting mechanism, and the loading plane is driven to be raised or lowered by a cylinder of the lifting mechanism; in the step of controlling the loading plane to accelerate from a static state to a first speed and start to be raised or lowered from the initial height, comprising: acquiring a current speed of the cylinder and the actual height of the loading plane; adjusting the current speed of the cylinder according to a preset first speed curve to make the cylinder drive the loading plane to be raised or lowered from the initial height to a first intermediate height at the first speed, and the preset first speed curve represents a corresponding relationship between the first speed and the height.

4. The method of claim 3, wherein, in the step of adjusting the current speed of the cylinder according to the preset first speed curve, comprising: determining whether the absolute value of the difference between the actual height of the loading plane and the corresponding preset height on the preset first speed curve is greater than a first threshold value; in a case where the determination result is yes, controlling the loading plane to stop being raised or lowered.

5. The method of claim 4, wherein, after the step of determining whether the absolute value of the difference between the actual height of the loading plane and the corresponding preset height on the preset first speed curve is greater than a first threshold value, comprising: in a case where the determination result is no, determining whether the actual height of the loading plane is greater than the corresponding preset height on the first speed curve; in a case where the determination result is that the actual height of the loading plane is greater than the corresponding preset height on the first speed curve and the loading plane is in a rising stage, reducing the current speed of the loading plane; in a case where the determination result is that the actual height of the loading plane is less than the corresponding preset height on the first speed curve and the loading plane is in a rising stage, increasing the current speed of the loading plane; if the actual height of the vehicle loading platform is greater than the preset height corresponding to the first speed curve and the vehicle loading platform is in the rising stage, the current speed of the vehicle loading platform is reduced; if the actual height of the vehicle loading platform is less than the preset height corresponding to the first speed curve and the vehicle loading platform is in the falling stage, the current speed of the vehicle loading platform is increased.

6. The method of claim 1, wherein, The vehicle loading platform further comprises a lifting mechanism, and the vehicle loading platform is driven to be raised or lowered by a cylinder of the lifting mechanism. In the process of controlling the vehicle loading platform to be raised or lowered at the second speed, the following steps are included: obtaining the current speed of the cylinder and the actual height of the vehicle loading platform; adjusting the current speed of the cylinder according to a preset second speed curve, so that the cylinder drives the vehicle loading platform to be raised or lowered from the first intermediate height to the second intermediate height at the second speed, and the preset second speed curve represents the corresponding relationship between the second speed and the height.

7. The method of claim 6, wherein the step of determining the load of the vehicle platform comprises: In the process of adjusting the current speed of the cylinder according to the preset second speed curve, the following steps are included: judging whether the absolute value of the difference between the actual height of the vehicle loading platform and the preset height corresponding to the second speed curve is greater than a second threshold value; if the result of the judgment is yes, controlling the vehicle loading platform to stop being raised or lowered.

8. The method of claim 7, wherein the step of determining the load of the vehicle platform comprises: After the step of judging whether the absolute value of the difference between the actual height of the vehicle loading platform and the preset height corresponding to the second speed curve is greater than a second threshold value, the following steps are included: if the result of the judgment is no, judging the actual height of the vehicle loading platform and the preset height corresponding to the second speed curve; if the actual height of the vehicle loading platform is greater than the preset height corresponding to the second speed curve and the vehicle loading platform is in the rising stage, the current speed of the vehicle loading platform is reduced; if the actual height of the vehicle loading platform is less than the preset height corresponding to the second speed curve and the vehicle loading platform is in the falling stage, the current speed of the vehicle loading platform is increased. if the actual height of the vehicle loading platform is greater than the preset height corresponding to the second speed curve and the vehicle loading platform is in the rising stage, the current speed of the vehicle loading platform is reduced; if the actual height of the vehicle loading platform is less than the preset height corresponding to the second speed curve and the vehicle loading platform is in the falling stage, the current speed of the vehicle loading platform is increased.

9. The vehicle loading platform control method of claim 1, wherein In the process of adjusting the current speed of the cylinder according to the preset third speed curve, the following steps are included: judging whether the absolute value of the difference between the actual height of the vehicle loading platform and the preset height corresponding to the third speed curve is greater than a third threshold value; if the result of the judgment is yes, controlling the vehicle loading platform to stop being raised or lowered.

10. The method of claim 9, wherein the step of determining the load of the vehicle platform comprises: After the step of judging whether the absolute value of the difference between the actual height of the vehicle loading platform and the preset height corresponding to the third speed curve is greater than a third threshold value, the following steps are included: if the actual height of the vehicle loading platform is greater than the preset height corresponding to the third speed curve and the vehicle loading platform is in the rising stage, increasing the current speed of the vehicle loading platform; if the actual height of the vehicle loading platform is less than the preset height corresponding to the third speed curve and the vehicle loading platform is in the rising stage, increasing the current speed of the vehicle loading platform; if the actual height of the vehicle loading platform is greater than the preset height corresponding to the third speed curve and the vehicle loading platform is in the falling stage, increasing the current speed of the vehicle loading platform; if the actual height of the vehicle loading platform is less than the preset height corresponding to the third speed curve and the vehicle loading platform is in the falling stage, decreasing the current speed of the vehicle loading platform. The oil cylinder is a one-way double-stage hydraulic cylinder vertically installed below the vehicle loading platform, and the one-way double-stage hydraulic cylinder comprises a cylinder barrel, a first-stage piston rod and a second-stage piston rod which are sequentially sleeved, and the highest height reached by the vehicle loading platform driven by the first-stage piston rod is the cylinder replacement height.

11. The method of claim 1, 3, or 6, wherein, The lifting mechanism further comprises a hydraulic station for supplying hydraulic oil to the one-way double-stage hydraulic cylinder, and the hydraulic station comprises a motor and a hydraulic pump, the hydraulic pump is linked with the output shaft of the motor, and the hydraulic pump supplies or extracts hydraulic oil to the one-way double-stage hydraulic cylinder through an oil pipe. During the control of the lifting or lowering of the vehicle loading platform, the actual height and the current speed of the vehicle loading platform are obtained, and it is judged whether the actual height of the vehicle loading platform is equal to the cylinder replacement height.

12. The method of claim 11, wherein: If the result of the judgment 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 vehicle loading platform driven by the motor before and after the adjustment is consistent. The flow rate provided by the hydraulic station is calculated according to the following formula:

13. The method of claim 12, wherein: wherein Q1 is the hydraulic flow rate provided to the first-stage piston rod, D1 is the inner diameter of the cylinder barrel, Q2 is the hydraulic flow rate provided to the second-stage piston rod, and D2 is the inner diameter of the first-stage piston rod.

14. The vehicle loading platform control method according to any one of claims 1, 3 and 6, characterized in that: the current speed of the oil cylinder is adjusted by controlling the hydraulic flow rate, and the hydraulic flow rate is controlled by adjusting the speed of the motor.

15. The vehicle loading platform control method according to claim 1, characterized in that: a walking plane for the battery replacement equipment used for disassembling and assembling battery packs is arranged on the vehicle loading platform; during the battery replacement process, the initial height and the target height are any two adjacent heights among the starting height, the disassembling battery height, the assembling battery height, the first operation height and the second operation height; the starting height is the height of the walking plane of the vehicle loading platform; the disassembling battery height is the height matched with the driving-in stage of the battery replacement equipment before the disassembling battery; the assembling battery height is the height matched with the driving-in stage of the battery replacement equipment before the assembling battery; the first operation height is the height when the battery replacement equipment disassembles the battery pack on the electric vehicle; ​ The second operation height is the height of the battery replacement device when the battery replacement device is replacing the battery pack on the electric vehicle.

16. The vehicle carrier platform control method of claim 15, wherein: The first operation height is set to be lower than the battery removal height, and when the vehicle carrier platform is at the first operation height, the relative height between the vehicle carrier platform and the walking platform satisfies the height condition for the battery replacement device to remove the battery pack. The second operation height is set to be lower than the battery installation height, and when the vehicle carrier platform is at the second operation height, the relative height between the vehicle carrier platform and the walking platform satisfies the height condition for the battery replacement device to install the battery pack.

17. A method of controlling a car carrier platform, characterized by The vehicle carrier platform has a vehicle carrier platform that can be raised or lowered to carry an electric vehicle, and the vehicle carrier platform is controlled to be raised or lowered from an initial height to a target height; The vehicle carrier platform control method comprises: The controller sends a start signal to the motor of the hydraulic station; The motor rotates at a first speed to drive the oil cylinder of the lifting mechanism to start extension and retraction, so that the vehicle carrier platform starts to accelerate from the initial height to a first speed; The height sensor obtains the actual height of the vehicle carrier platform and sends the actual height to the controller; The controller determines whether the actual height reaches a first intermediate height, and if the determination result is yes, sends a speed change signal to the motor of the hydraulic station; The motor rotates at a second speed to drive the oil cylinder of the lifting mechanism to continue extension and retraction, so that the vehicle carrier platform is raised or lowered at a second speed based on the second speed, the second speed being less than the first speed; The height sensor obtains the actual height of the vehicle carrier platform again and sends the actual height to the controller; The controller determines whether the actual height reaches a second intermediate height, and if the determination result is yes, sends a stop signal to the motor of the hydraulic station; The motor slows down and stops rotating to stop the extension and retraction of the oil cylinder of the lifting mechanism, so that the vehicle carrier platform slows down and stops at the target height; The vehicle carrier platform further has a lifting mechanism, and the vehicle carrier platform is raised or lowered by the oil cylinder of the lifting mechanism; In the process of controlling the vehicle carrier platform to slow down and stop at the target height, the following steps are included: The current speed of the oil cylinder and the actual height of the vehicle carrier platform are obtained; The current speed of the oil cylinder is adjusted according to a preset third speed curve to make the oil cylinder drive the vehicle carrier platform to slow down and stop at the target height, and the preset third speed curve represents the corresponding relationship between the second speed and the height.

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