Automatic control method, device and system for battery changing vehicle

Abstract

The invention relates to the technical field of vehicle control, in particular to an automatic control method, device and system for a battery replacing vehicle, and the method comprises the steps that after a battery replacing mode is started, a lifting gas circuit in a gas circuit module is conducted to lift a container; and after receiving the lifting in-place signal, the lifting gas circuit is blocked to enable the container to suspend, and battery replacement is carried out under the safety conditions of cutting off the high-voltage electricity of the whole vehicle and unlocking the battery. Therefore, the labor intensity of workers can be reduced, potential safety hazards caused by manual lifting are reduced, and the battery replacement efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an automatic control method, device and system for a battery-swap vehicle. Background Art

[0002] In the current environment of promoting new energy electric vehicles, pure electric dump trucks are gradually emerging. However, it takes nearly an hour to charge a rechargeable dump truck, which has a great impact on transportation efficiency. The battery replacement model can greatly improve it.

[0003] However, the control of the cargo box posture during the battery swap process is a relatively important issue. At present, when the battery swap dump truck needs to lift the cargo box during the battery swap process, the cargo box is lifted by manually operating the gas-controlled lifting handle. The cargo box is lifted to a certain angle based on observation and experience, and then the battery swap is started. After the battery swap is completed, the cargo box is manually operated with the gas-controlled lifting handle to lower back to its original position. In this process, there are safety hazards caused by operational errors, and the battery swap speed is affected. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an automatic control method, device and system for a battery-swap vehicle.

[0005] In a first aspect, an embodiment of the present invention provides an automatic control method for a battery-swap vehicle, the method being applied to a controller of a battery-swap vehicle, the method comprising: After the vehicle reaches the designated battery swap location, the vehicle is controlled to operate in the battery swap mode in response to the battery swap command sent by the battery swap station; Control the operation of the power take-off to provide high-pressure oil, and open the lifting air circuit in the air circuit module to lift the cargo box of the vehicle; Determine whether a lifting in place signal sent by a flip in place detection terminal is received; If so, control the lifting air path to block so that the cargo box is suspended; Control the vehicle's high voltage power cut-off and battery unlocking; Send a battery swap request to the battery swap station.

[0006] In combination with the first aspect, after the step of controlling the vehicle's high voltage power to be cut off and the battery to be unlocked, and sending a battery swap request to the battery swap station, the method further includes: After the battery is replaced, in response to the battery replacement completion signal from the battery swap station, the battery is locked and connected to the high voltage power of the vehicle; Determine whether the high voltage of the vehicle is successfully connected; If yes, open the descending air path in the air path module to lower the cargo box; Determine whether a falling position signal sent by a flip position detection terminal is received; If so, make sure the cargo box is lowered into place and exit the battery swap mode.

[0007] In combination with the first aspect, after the vehicle drives to the designated battery swapping position, in response to receiving a battery swapping instruction sent by the battery swapping station, after the step of controlling the vehicle to operate in the battery swapping mode, the method further includes: Get the current running mode; Determine whether the current operating mode is the battery replacement mode; If not, it is determined that the battery swap mode switch has failed and the vehicle is controlled to stop running.

[0008] In combination with the first aspect, after the step of determining whether a lifting-in-place signal sent by the flip-in-place detection terminal is received, the method further includes: If not, continue to open the lifting air circuit to lift the cargo box of the vehicle until a lifting-in-place signal is received.

[0009] In combination with the first aspect, after the step of determining whether the high voltage power of the vehicle is successfully connected, the following steps are also included: If not, reconnect the high voltage of the vehicle and accumulate the number of connections; If the number of connections reaches the preset threshold, a fault signal is generated and returned.

[0010] In combination with the first aspect, after the step of determining whether a falling position signal sent by the flip position detection terminal is received, the method further includes: If not, the descending gas path in the gas path module is continuously opened until a descending position signal sent by the flipping position detection terminal is received, and the gas path module is blocked.

[0011] In a second aspect, an embodiment of the present application provides another automatic control method for a battery swapping vehicle, which is applied to a battery swapping station, and the method includes: Determine whether there is a vehicle to be replaced at the designated battery replacement location; If so, send a battery replacement instruction to the vehicle to be replaced; Receiving a battery replacement request sent by a vehicle to be replaced; After the battery replacement is completed, a battery replacement completion signal is sent to the vehicle to be replaced.

[0012] In a third aspect, an embodiment of the present application provides another automatic control method for a battery swapping vehicle, which is applied to a flip-in-place detection terminal, and the method includes: Obtain flip position detection data; Determine the current flipping position according to the comparison relationship between the position detection data and a plurality of preset threshold values; If the current flipping position reaches the preset lifting limit position, a lifting position signal is sent to the controller; If the current flipping position drops to the preset drop limit position, a drop position signal is sent to the controller.

[0013] In a fourth aspect, an embodiment of the present application provides an automatic control device for a battery-swap vehicle, which is applied to a controller of a battery-swap vehicle, and includes: A response module, used to control the vehicle to operate in a battery swap mode in response to a battery swap command sent by the battery swap station after the vehicle drives to a designated battery swap location; A lifting conduction module is used to control the operation of the power take-off to provide high-pressure oil and conduct the lifting air circuit in the air circuit module to lift the cargo box of the vehicle; A lifting-in-place judgment module is used to judge whether a lifting-in-place signal sent by a flipping-in-place detection terminal is received; The hovering module is used to control the blocking of the lifting air path to make the cargo box hover when receiving the lifting position signal; A control module, used to control the vehicle's high voltage power cut-off and battery unlocking; The battery swap request sending module is used to send a battery swap request to a battery swap station.

[0014] In a fifth aspect, an embodiment of the present application provides an automatic control device for a battery swapping vehicle, the automatic control device for a battery swapping vehicle being applied to a battery swapping station, the device comprising: A vehicle determination module is used to determine whether there is a vehicle to be replaced at a designated battery replacement location; A battery swap instruction sending module, used for sending a battery swap instruction to the vehicle to be swapped when there is a vehicle to be swapped at a designated battery swap position; A battery replacement request receiving module, used to receive a battery replacement request sent by a vehicle to be replaced; The battery replacement completion signal sending module is used to send a battery replacement completion signal to the vehicle to be replaced after the battery replacement is completed.

[0015] In a sixth aspect, an embodiment of the present application provides an automatic control device for a battery-swapping vehicle, which is applied to a flip-in-place detection terminal, and the device includes: An acquisition module, used for acquiring flip position detection data; A determination module, used to determine the current flipping position according to a comparison relationship between the position detection data and a plurality of preset threshold values; A lifting-in-place signal sending module is used to send a lifting-in-place signal to the controller when the current flipping position reaches a preset lifting limit position; The descent-to-position signal sending module is used to send a descent-to-position signal to the controller when the current flip position descends to a preset descent limit position.

[0016] In the seventh aspect, an embodiment of the present application provides an automatic control system for a battery swapping vehicle, including: a vehicle, a battery swapping station and a flipping detection terminal, which is arranged on the vehicle; the battery swapping station and the flipping detection terminal are respectively communicated with the vehicle's controller, and the controller is used to execute the method as described above.

[0017] In conjunction with the seventh aspect, the vehicle includes a cab, an oil storage tank, a cargo box, a flip-in-place detection terminal, and a lifting cylinder; the oil storage tank stores hydraulic oil, the oil storage tank is arranged below the frame, the front side of the frame is provided with a cab, the rear side is provided with a cargo box, the bottom of the cargo box is connected to the lifting cylinder, and the lifting cylinder is used to achieve lifting or lowering action by moving an internal piston; the lifting cylinder is connected to an air path module inside the vehicle, when the lifting air path in the air path module is connected, the lifting cylinder pushes the cargo box to rise; when the descending air path in the air path module is connected, the lifting cylinder drives the cargo box to descend; A flip-in-place detection terminal is also provided at the rear of the vehicle frame to monitor the position of the cargo box and determine whether it has reached a preset lifting limit position and a lowering limit position.

[0018] In combination with the seventh aspect, the vehicle also includes: a power take-off, which is connected to the controller, and the power take-off is started to pass high-pressure oil into the air circuit module to drive the lifting cylinder to lift or lower the cargo box.

[0019] In combination with the seventh aspect, the flip-in-place detection terminal is connected to a plurality of display modules, and the plurality of display modules are respectively connected to the controller.

[0020] The embodiments of the present invention bring the following beneficial effects: the automatic control method, device and system of the battery-swap vehicle provided by the present application, after entering the battery-swap mode, conducts the lifting air path in the air path module to lift the cargo box, and blocks the lifting air path to suspend the cargo box after receiving the lifting signal, and performs battery swapping in the safe condition of cutting off the high voltage of the whole vehicle and unlocking the battery. In this way, the intensity of manual labor and the safety risks caused by manual lifting can be reduced, and the efficiency of battery swapping can be improved.

[0021] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A flowchart of an automatic control method for a battery-swapping vehicle provided in Example 1 of the present invention; Figure 2 A flowchart of another automatic control method for a battery-swapping vehicle provided in Embodiment 1 of the present invention; Figure 3 A flowchart of an automatic control method for a battery-swapping vehicle provided in Embodiment 2 of the present invention; Figure 4 A flowchart of an automatic control method for a battery-swapping vehicle provided in Embodiment 3 of the present invention; Figure 5 A schematic diagram of an automatic control device for a battery-swapping vehicle provided in Embodiment 4 of the present invention; Figure 6 A schematic diagram of an automatic control device for a battery-swapping vehicle provided in Embodiment 5 of the present invention; Figure 7 A schematic diagram of an automatic control device for a battery-swapping vehicle provided in Example 6 of the present invention; Figure 8 A schematic diagram of the structure of a vehicle provided by an embodiment of the present invention; Fig. 9 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0025] Reference numerals: 1- cab, 2- oil tank, 3- lifting cylinder, 4- flip in place detection terminal, 5- controller; 10-response module, 20-lifting conduction module, 30-lifting in place judgment module, 40-hovering module, 50-control module, 60-battery replacement request sending module; 100- vehicle judgment module, 200- battery replacement instruction sending module, 300- battery replacement request receiving module, 400- battery replacement completion signal sending module; 500-acquisition module, 600-determination module, 700-lifting in place signal sending module, 800-lowering in place signal sending module; 130 - processor, 131 - memory, 132 - bus, 133 - communication interface. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] In order to facilitate the understanding of this embodiment, the application scenarios and design concepts of the embodiments of the present application are briefly introduced below.

[0028] At present, when the battery-swapping dump truck needs to lift the cargo box during the battery-swapping process, the cargo box is lifted by manually operating the gas-controlled lifting handle. The cargo box is lifted to a certain angle based on observation and experience, and then the battery swap is started. After the battery swap is completed, the cargo box is lowered back to its original position by manually operating the gas-controlled lifting handle. In this process, there are safety hazards caused by operational errors, and the battery swap speed is affected.

[0029] Based on this, an embodiment of the present application provides an automatic control method, device and system for a battery swap vehicle. The method is applied to an automatic control system of a battery swap vehicle. The system includes: a vehicle, a battery swap station and a flip-in-place detection terminal. The flip-in-place detection terminal is arranged on the vehicle; the battery swap station and the flip-in-place detection terminal are respectively communicatively connected to the vehicle's controller 5.

[0030] Example 1 The present application provides an automatic control method for a battery-swapping vehicle, which is applied to a controller 5 in a battery-swapping vehicle. Figure 1 As shown, the method includes: S110, after the vehicle drives to the designated battery swapping location, in response to the battery swapping instruction sent by the battery swapping station, the vehicle is controlled to operate in the battery swapping mode.

[0031] S120, controlling the operation of the power take-off and conducting the lifting air path in the air path module to lift the cargo box of the vehicle.

[0032] S130, determining whether a lifting-in-place signal sent by a flip-in-place detection terminal is received.

[0033] If so, execute step S140.

[0034] S140, controlling the lifting air path to be blocked so that the cargo box is suspended.

[0035] S150, controlling the vehicle's entire high voltage power supply to be cut off and controlling the battery to be unlocked.

[0036] S160, sending a battery replacement request to the battery replacement station.

[0037] The automatic control method of the battery swap vehicle provided in the present application is that after the vehicle drives to the designated battery swap position, it enters the battery swap mode in response to the battery swap command sent by the battery swap station, opens the lifting gas path in the gas path module to lift the cargo box, and blocks the lifting gas path to make the cargo box hover after receiving the lifting in place signal, and performs battery swapping in the safe condition of cutting off the high voltage of the whole vehicle and unlocking the battery. In this way, it is judged whether the battery swap can be performed through the lifting in place detection, and the high voltage of the whole vehicle is automatically cut off to provide a safe battery swap environment when the battery swap can be performed. The degree of automation is high, which can reduce the intensity of manual labor, reduce the safety hazards caused by manual lifting, and improve the efficiency of battery swapping.

[0038] It can be understood that the "designated battery swapping position" in step S110 can be understood as a parking space, queuing area, etc. in the battery swapping station or the designated battery swapping area. The designated battery swapping position is a pre-planned position suitable for the vehicle model. That is, there can be multiple "designated battery swapping positions" in a battery swapping station, such as position A, position B, position C...position G. These "designated battery swapping positions" can correspond to the same vehicle model, or can correspond to multiple vehicle models according to actual needs. This is only an example and is not limited.

[0039] A detection device should be provided in the battery swap station to monitor whether there are vehicles entering each "designated battery swap position". When a vehicle is detected to enter a "designated battery swap position" (for example, position C), a battery swap command is sent to the vehicle in the "designated battery swap position". That is, a battery swap command is sent to the vehicle in position C (marked as vehicle C). At this time, the controller 5 in vehicle C switches vehicle C to the battery swap mode.

[0040] Step S120 controls the operation of the power take-off (i.e., switches the control switch of the power take-off to the "engaged" position to start the power take-off). At this time, the power take-off will obtain power from the engine and generate high-pressure oil through the hydraulic pump, and open the lifting air path in the air path module to allow the high-pressure oil to enter the lifting cylinder 3. With the entry of the high-pressure oil, the lifting power is provided to the lifting cylinder 3, thereby pushing the cargo box to gradually rise.

[0041] Combination Figure 8 As shown, a flipping detection terminal is installed on the rear side of the vehicle, and the flipping detection terminal is used to detect whether the flipping of the cargo box reaches the specified position. It can be understood that the flipping detection terminal can adopt a proximity switch, a travel switch or a photoelectric sensor. In this embodiment, there are two specified positions, one is a lifting specified position, and the other is a lowering specified position. Preferably, additional specified positions can be provided for different battery swapping scenarios, so that after the battery swapping scenario is determined, the target lifting specified position and the target lowering specified position corresponding to the battery swapping scenario can be retrieved, and the vehicle control steps such as steps S130-S160 can be performed based on the retrieved target lifting specified position and target lowering specified position.

[0042] In step S130, the flipping detection terminal monitors the lifting position of the cargo box in real time and compares it with the lifting limit position to determine whether the lifting limit position has been reached. If so, the flipping detection terminal generates and sends a lifting signal to the vehicle controller 5. If not, the monitoring continues.

[0043] After receiving the lifting signal (that is, the cargo box has reached the expected lifting limit position), step S140 blocks the lifting air circuit, which will cause the high-pressure oil to remain in the lifting cylinder 3, so that the cargo box is suspended in the current position. Then, step S150 switches the high-voltage power cut-off switch to the "off" position to cut off the high-voltage power supply of the entire vehicle, and switches the battery unlocking switch to the "unlocked" position so that the battery can be removed or replaced. At this point, it is in a safe environment for battery replacement. Subsequently, step S160 sends a battery replacement request to the battery swap station to convey to the battery swap station the information that it is currently in a safe battery swap environment and that the battery can be replaced.

[0044] In combination with the first aspect, after step S160, in combination with Figure 2 Also shown are: S210, after the battery is replaced, in response to the battery replacement completion signal from the battery replacement station, the battery is controlled to be locked and connected to the high voltage power of the entire vehicle.

[0045] S220, determining whether the high voltage power of the entire vehicle is successfully connected.

[0046] If so, execute step S230.

[0047] S230, opening the descending air path in the air path module to lower the cargo box.

[0048] S240, determining whether a falling in place signal sent by the flipping in place detection terminal is received.

[0049] If so, execute step S250.

[0050] S250, confirm that the cargo box is lowered into place and exit the battery replacement mode.

[0051] After the battery is replaced manually or through automated equipment, the battery swap station sends a battery replacement completion signal to the vehicle's controller 5. At this time, the controller 5 locks the battery to fix the battery in the battery compartment to prevent unauthorized movement or replacement, and connects the high voltage power of the entire vehicle.

[0052] Afterwards, monitor whether the high voltage power of the whole vehicle is successfully connected to ensure that the vehicle can operate safely and reliably. Specifically, as an implementable method, measure between the positive and negative poles of the battery, or at a test point in the high voltage power system of the vehicle. Specifically, connect the positive pole (red probe) of the voltmeter to the positive pole of the battery or the positive test point of the high voltage power system, and connect the negative pole (black probe) to the negative pole of the battery or the negative test point of the high voltage power system. Read the voltmeter reading. If the reading is consistent with the nominal voltage of the vehicle battery, it means that the high voltage power has been successfully connected.

[0053] As another feasible method, use the vehicle diagnostic tool OBD to connect to the vehicle's diagnostic interface, and read the vehicle's fault code and system status. If there is no fault code related to the high-voltage electrical system and the system status is normal, it means that the high-voltage power has been successfully connected.

[0054] As another feasible method, try to start the vehicle and check whether the various functions of the vehicle are working properly, such as the steering oil pump, air pump, etc. If these functions can work properly, it means that the high voltage has been successfully connected.

[0055] The above methods can be selected according to usage requirements. In this embodiment, in order to improve the safety of battery replacement, OBD diagnosis method is used for judgment.

[0056] After the high-voltage electrical connection of the entire vehicle is successful, the descent control switch is switched to the "descend" position to generate a descent control signal and open the descending air path in the air path module. At this time, the high-pressure oil in the lifting cylinder 3 flows back to the oil storage tank 2 to lower the cargo box.

[0057] Then, the flipping in place detection terminal 4 monitors the lowering position of the cargo box in real time and compares it with the lowering limit position to determine whether the lowering limit position has been reached. If so, the flipping in place detection terminal generates and sends a lowering in place signal to the vehicle controller 5. If not, the monitoring continues.

[0058] The controller 5 exits the battery swap mode after receiving the signal of descending to the designated position, which indicates that the lifting, battery swapping and descending operations required for the battery swap have all been completed.

[0059] In combination with the first aspect, after step S110, the method further includes: S121, obtaining the current operation mode.

[0060] S122, determine whether the current operating mode is the battery replacement mode.

[0061] If not, execute step S123. If yes, execute steps S130-S160.

[0062] S123, determine that the battery replacement mode switch fails, and control the vehicle to stop running.

[0063] After the controller 5 switches the vehicle's operating mode to the battery swap mode, the mode after the switching operation is checked to determine whether the switching is successful. If the mode switching fails, the vehicle should be stopped in time to avoid safety hazards caused by battery swapping under abnormal vehicle conditions. If the mode switching is successful, the subsequent battery swap operation can be continued.

[0064] In combination with the first aspect, after step S130, the method further includes: If not, execute step S141.

[0065] S141, continuously conduct the lifting air circuit to lift the cargo box of the vehicle until a lifting-in-place signal is received.

[0066] During the lifting process, the flip-in-place detection terminal monitors the lifting position of the cargo box in real time until it reaches the lifting limit position and generates and sends a lifting in-place signal to the controller 5. The controller 5 stops conducting the lifting air path only after receiving the lifting in-place signal.

[0067] After step S220, the method further includes: If not, execute steps S231-S232.

[0068] S231, repeatedly connect the high voltage power of the whole vehicle and accumulate the number of connections.

[0069] S232: If the number of connections reaches a preset number threshold, a fault signal is generated and returned.

[0070] After the battery is replaced, the vehicle is connected to high voltage power while in hovering state and the number of connections is accumulated. If the number of repeated connections reaches the threshold and the connection is still not successful, a fault signal is returned to remind the operator to perform vehicle maintenance.

[0071] In combination with the first aspect, after step S240, the method further includes: If not, execute step S250.

[0072] S250, continuously conduct the descending gas path in the gas path module until receiving a descending position signal sent by the flipping position detection terminal, and blocking the gas path module.

[0073] During the descent process, the descent position of the cargo box is continuously monitored until the descent limit position is received, and the flip-in-place detection terminal 4 generates and sends a descent in-place signal to the controller 5. At this time, the controller 5 blocks the gas path module after receiving the descent in-place signal to stop driving the cargo box to descend. The descent limit position is usually the initial position of the cargo box.

[0074] Example 2 In a second aspect, the present application provides an automatic control method for a battery swapping vehicle, which is applied to a battery swapping station. Figure 3 , the method comprising: S310, determine whether there is a vehicle to be replaced at the designated battery replacement location.

[0075] If so, execute S320.

[0076] S320, sending a battery replacement instruction to the vehicle to be replaced.

[0077] S330, receiving a battery replacement request sent by the vehicle to be replaced.

[0078] S340: After the battery replacement is completed, a battery replacement completion signal is sent to the vehicle to be replaced.

[0079] In this embodiment, it is first determined whether there is a vehicle to be replaced that has entered the designated battery swapping position, and if there is a vehicle to be replaced that has entered, a battery swapping instruction is sent to the vehicle to be replaced, and the battery swapping vehicle is waited for to prepare for the battery swap. After receiving the battery swapping request sent by the vehicle to be replaced, it indicates that the vehicle to be replaced is ready. At this time, manual or automatic battery swapping can be performed according to the actual situation, and after the battery swapping is completed, a battery replacement completion signal is sent to the vehicle to be replaced, so as to prompt the vehicle to adjust its status and leave the designated battery swapping position as soon as possible.

[0080] Example 3 In a third aspect, the present application also provides an automatic control method for a battery-swapping vehicle, which is applied to the flip-in-place detection terminal 4. Figure 4 As shown, the method includes: S410, acquiring position detection data.

[0081] S420, determining a current flipping position according to a comparison relationship between the position detection data and a plurality of preset thresholds.

[0082] S430: If the current flipping position reaches the preset lifting limit position, a lifting position reaching signal is sent to the controller.

[0083] S440: If the current flipping position drops to the preset drop limit position, a drop position arrival signal is sent to the controller.

[0084] During the operation of the flipping position detection terminal 4, position detection data is acquired in real time, and the current flipping position is determined based on the acquired position detection data. When the current flipping position reaches the lifting limit position, a lifting position signal is generated and sent to the vehicle controller 5. When the current flipping position reaches the lowering limit position, a lowering position signal is generated and sent to the vehicle controller 5.

[0085] Example 4 In a fourth aspect, the present application provides an automatic control device for a battery-swapping vehicle, which is applied to a controller 5 of a battery-swapping vehicle, and is combined with Figure 5 As shown, the device includes: a response module 10, a lifting conduction module 20, a lifting in place judgment module 30, a hovering module 40, a control module 50 and a battery replacement request sending module 60.

[0086] The response module 10 is used to control the vehicle to operate in a battery swap mode in response to a battery swap instruction sent by the battery swap station after the vehicle travels to a designated battery swap location.

[0087] The lifting conduction module 20 is used to control the operation of the power take-off and conduct the lifting air circuit in the air circuit module to lift the cargo box of the vehicle.

[0088] The lifting-in-place judgment module 30 is used to judge whether a lifting-in-place signal sent by the flipping-in-place detection terminal is received.

[0089] The hovering module 40 is used to control the blocking of the lifting air path when receiving a lifting-in-place signal, so that the cargo box is hovered.

[0090] The control module 50 is used to control the high voltage power cut-off of the vehicle and control the battery unlocking.

[0091] The battery swap request sending module 60 is used to send a battery swap request to a battery swap station.

[0092] Example 5 In a fifth aspect, the present application also provides an automatic control device for a battery swap vehicle, which is applied to a battery swap station and is combined with Figure 6 As shown, the device includes: a vehicle judgment module 100, a battery replacement instruction sending module 200, a battery replacement request receiving module 300 and a battery replacement completion signal sending module 400.

[0093] The vehicle determination module 100 is used to determine whether there is a vehicle to be replaced at the designated battery replacement location.

[0094] The battery swap instruction sending module 200 is used to send a battery swap instruction to a vehicle to be swapped when there is a vehicle to be swapped at a designated battery swap location.

[0095] The battery swap request receiving module 300 is used to receive a battery swap request sent by a vehicle to be swapped.

[0096] The battery replacement completion signal sending module 400 is used to send a battery replacement completion signal to the vehicle to be replaced after the battery replacement is completed.

[0097] Example 6 In a sixth aspect, the present application provides an automatic control device for a battery-swapping vehicle, which is applied to a flip-in-place detection terminal, combined with Figure 7As shown, the device includes: an acquisition module 500, a determination module 600, a lift-to-position signal sending module 700 and a lowering-to-position signal sending module 800.

[0098] The acquisition module 500 is used to acquire flip position detection data.

[0099] The determination module 600 is used to determine the current flipping position according to the comparison relationship between the position detection data and a plurality of preset thresholds.

[0100] The lifting-to-position signal sending module 700 is used to send a lifting-to-position signal to the controller 5 when the current flipping position reaches a preset lifting limit position.

[0101] The descent-to-position signal sending module 800 is used to send a descent-to-position signal to the controller 5 when the current flip position descends to a preset descent limit position.

[0102] Example 6 In the seventh aspect, the embodiment of the present application also provides an automatic control system for a battery swapping vehicle, including: a vehicle, a battery swapping station and a flipping detection terminal 4, which is arranged on the vehicle; the battery swapping station and the flipping detection terminal 4 are respectively communicated with the vehicle's controller 5, and the controller 5 is used to execute the method as described above.

[0103] In conjunction with the seventh aspect, the vehicle includes: a cab 1, a fuel tank 2, a lifting cylinder 3, a flip-in-place detection terminal 4, and a controller 5.

[0104] Combination Figure 8 As shown, the oil storage tank 2 stores hydraulic oil, which is arranged below the vehicle frame, the front side of the vehicle frame is provided with a cab 1, and the rear side is provided with a cargo box, the bottom of the cargo box is connected to a lifting cylinder 3, and the lifting cylinder 3 is used to achieve lifting or lowering action by moving the internal piston; the lifting cylinder 3 is connected to the air path module inside the vehicle, and when the lifting air path in the air path module is connected, the lifting cylinder 3 pushes the cargo box to rise, and when the lowering air path in the air path module is connected, the lifting cylinder 3 drives the cargo box to fall, and a flip-in-place detection terminal 4 is arranged at the rear of the vehicle frame, which is used to monitor the position of the cargo box and determine whether it reaches the preset lifting limit position and lowering limit position. A controller 5 is arranged inside the vehicle, and the controller 5 is used to execute the above method.

[0105] In combination with the seventh aspect, the vehicle also includes: a power take-off (not shown in the figure) for converting power into hydraulic energy to pressurize the oil to provide high-pressure oil.

[0106] In combination with the seventh aspect, the vehicle also includes: a power take-off (not shown in the figure), which is connected to the controller 5. The power take-off is started to pass high-pressure oil into the air circuit module to drive the lifting cylinder 3 to lift or lower the cargo box.

[0107] In this embodiment, the controller 5 in the vehicle is connected to the flip-in-place detection terminal 4 and the air circuit control module. The air circuit control module includes a lifting air circuit and a descending air circuit through the air circuit. Under the action of the lifting signal sent by the controller 5, the switching state of the valves in the lifting air circuit and the descending air circuit is adjusted to connect the lifting air circuit or the descending air circuit. When the lifting air circuit is connected, the power take-off diverts the high-pressure liquid oil to the lifting air circuit to provide power to the lifting cylinder 3 to lift the cargo box; similarly, when the descending air circuit is connected, the high-pressure liquid oil in the lifting cylinder 3 flows back to the oil storage tank 2 and the lifting cylinder 3 drives the cargo box to descend.

[0108] In combination with the sixth aspect, the flipping detection terminal 4 is connected to multiple display modules, and the multiple display modules are respectively connected to the controller 5. Through the operation of different display modules, it is convenient to quickly determine the lifting or lowering state of the cargo box, and whether the lifting limit position and the lowering limit position have been reached.

[0109] In an eighth aspect, an embodiment of the present application provides an electronic device, Fig. 9 As shown, the electronic device includes a memory 131 and a processor 130. The memory 131 is used to store computer programs, and the processor 130 runs the computer programs to enable the electronic device to perform the above method.

[0110] Furthermore, combined with Fig. 9 The electronic device shown further includes a bus 132 and a communication interface 133 , and the processor 130 , the communication interface 133 and the memory 131 are connected via the bus 132 .

[0111] The memory 131 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 132 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0112] The processor 130 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 130. The above processor 130 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the above embodiment in combination with its hardware.

[0113] In a ninth aspect, an embodiment of the present application provides a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the above method is executed.

[0114] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0115] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0116] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0117] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0118] Finally, it should be noted that the above embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An automatic control method for a battery-swapping vehicle, characterized in that: The method is applied to a controller of a vehicle, and the method comprises: After the vehicle drives to the designated battery swapping location, in response to a battery swapping instruction sent by the battery swapping station, the vehicle is controlled to operate in a battery swapping mode; Controlling the operation of the power take-off and conducting the lifting air path in the air path module to lift the cargo box of the vehicle; Determine whether a lifting in place signal sent by a flip in place detection terminal is received; If yes, controlling the lifting air path to be blocked so that the cargo box is suspended; Controlling the vehicle's high voltage power cut-off and battery unlocking; A battery swap request is sent to the battery swap station.

2. The method according to claim 1, characterized in that After the steps of controlling the vehicle's high voltage power to be cut off and the battery to be unlocked, and sending a battery replacement request to the battery replacement station, the method further includes: After the battery is replaced, in response to the battery replacement completion signal from the battery replacement station, the battery is controlled to be locked and connected to the high voltage power of the whole vehicle; Determining whether the high voltage power of the whole vehicle is successfully connected; If yes, opening the descending air path in the air path module to lower the cargo box; Determine whether a falling in place signal sent by the flip in place detection terminal is received; If so, determine that the cargo box has been lowered into place and exit the battery replacement mode.

3. The method according to claim 1, characterized in that After the vehicle drives to the designated battery swapping position, in response to receiving a battery swapping instruction sent by the battery swapping station, after the step of controlling the vehicle to operate in the battery swapping mode, the method further includes: Get the current running mode; Determining whether the current operating mode is the battery replacement mode; If not, it is determined that the battery replacement mode switching has failed, and the vehicle is controlled to stop running.

4. The method according to claim 1, characterized in that: After the step of determining whether the lifting-in-place signal sent by the flip-in-place detection terminal is received, the method further includes: If not, the lifting air circuit is continuously opened to lift the cargo box of the vehicle until the lifting-in-place signal is received.

5. The method according to claim 2, characterized in that: After the step of determining whether the high voltage power of the vehicle is successfully connected, the method further includes: If not, reconnect the high voltage of the vehicle and accumulate the number of connections; If the connection times reach a preset times threshold, a fault signal is generated and returned.

6. The method according to claim 1, characterized in that After the step of determining whether the falling in place signal sent by the flip in place detection terminal is received, the method further includes: If not, the descending gas path in the gas path module is continuously conducted until a descending position signal sent by the flipping position detection terminal is received, and the gas path module is blocked.

7. An automatic control method for a battery-swapping vehicle, characterized in that: Applied to a battery swap station, the method comprises: Determine whether there is a vehicle to be replaced at the designated battery replacement location; If so, sending a battery replacement instruction to the vehicle to be replaced; Receiving a battery replacement request sent by the vehicle to be replaced; After the battery replacement is completed, a battery replacement completion signal is sent to the vehicle to be replaced.

8. An automatic control method for a battery-swapping vehicle, characterized in that: Applied to a flip-in-place detection terminal, characterized in that the method comprises: Obtain flip position detection data; Determining a current flipping position according to a comparison relationship between the position detection data and a plurality of preset thresholds; If the current flipping position reaches the preset lifting limit position, a lifting position reaching signal is sent to the controller; If the current flipping position drops to the preset drop limit position, a drop position arrival signal is sent to the controller.

9. An automatic control device for a battery-swapping vehicle, characterized in that: The device is applied to a controller of a vehicle, and the device comprises: A response module, configured to control the vehicle to operate in a battery swap mode in response to a battery swap instruction sent by a battery swap station after the vehicle has traveled to a designated battery swap location; A lifting conduction module, used to control the operation of the power take-off and conduct the lifting air path in the air path module to lift the cargo box of the vehicle; A lifting-in-place judgment module is used to judge whether a lifting-in-place signal sent by a flipping-in-place detection terminal is received; A hovering module, for controlling the blocking of the lifting air path to make the cargo box hover when receiving a lifting-in-place signal; A control module, used for controlling the high voltage power cut-off of the vehicle and controlling the battery unlocking; A battery swap request sending module is used to send a battery swap request to the battery swap station.

10. An automatic control device for a battery-swapping vehicle, characterized in that: Applied to a battery swap station, the device comprises: A vehicle determination module is used to determine whether there is a vehicle to be replaced at a designated battery replacement location; A battery swap instruction sending module, used for sending a battery swap instruction to the vehicle to be swapped when there is a vehicle to be swapped at a designated battery swap position; A battery replacement request receiving module, used to receive a battery replacement request sent by the vehicle to be replaced; The battery replacement completion signal sending module is used to send a battery replacement completion signal to the vehicle to be replaced after the battery replacement is completed.

11. An automatic control device for a battery-swapping vehicle, characterized in that: Applied to a flip-in-place detection terminal, characterized in that the device comprises: An acquisition module, used for acquiring flip position detection data; A determination module, used to determine the current flipping position according to a comparison relationship between the position detection data and a plurality of preset thresholds; A lifting-in-place signal sending module is used to send a lifting-in-place signal to the controller when the current flipping position reaches a preset lifting limit position; The descent-to-position signal sending module is used to send a descent-to-position signal to the controller when the current flip position descends to a preset descent limit position.

12. An automatic control system for a battery-swapping vehicle, characterized in that: include: A vehicle, a battery swap station and a flip-in-place detection terminal, wherein the flip-in-place detection terminal is arranged on the vehicle; the battery swap station and the flip-in-place detection terminal are respectively communicatively connected to a controller of the vehicle, and the controller is used to execute the method described in any one of claims 1-5.

13. The system according to claim 12, characterized in that The vehicle comprises a cab, an oil storage tank, a cargo box, a flip-in-place detection terminal, and a lifting cylinder; the oil storage tank stores hydraulic oil, the oil storage tank is arranged below the vehicle frame, the front side of the vehicle frame is provided with a cab, the rear side of the vehicle frame is provided with a cargo box, the bottom of the cargo box is connected to a lifting cylinder, and the lifting cylinder is used to achieve lifting or lowering action by moving an internal piston; the lifting cylinder is connected to an air circuit module inside the vehicle, when the lifting air circuit in the air circuit module is connected, the lifting cylinder pushes the cargo box to rise; when the descending air circuit in the air circuit module is connected, the lifting cylinder drives the cargo box to descend; A flip-in-place detection terminal is also provided at the rear of the vehicle frame, which is used to monitor the position of the cargo box and determine whether it has reached a preset lifting limit position and a lowering limit position.

14. The system according to claim 12, characterized in that The vehicle also includes: a power take-off, which is connected to the controller. The power take-off is started to pass high-pressure oil into the air circuit module to drive the lifting cylinder to lift or lower the cargo box.

15. The system according to claim 14, characterized in that The flip-in-place detection terminal is connected to a plurality of display modules, and the plurality of display modules are respectively connected to the controller.

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