Battery replacement control method for mining wide-body vehicle

Abstract

The invention provides a mining wide-body vehicle battery replacement control method which comprises the following steps: S1, detecting the state of a battery replacement switch; s2, obtaining the state of the whole vehicle; s3, the vehicle control unit obtains a position signal through a CAN bus; s4, the vehicle control unit judges whether the position signal meets a preset requirement or not, if yes, the step S6 is executed, and if not, the step S5 is executed; s5, the vehicle control unit controls an electromagnetic reversing valve, so that a cylinder rod of the air cylinder moves in place according to preset requirements; s3 to S4 are executed again until the position signal meets the preset requirement, and S6 is executed; s6, observing whether the states of the locking air cylinder and the lifting air cylinder displayed by an instrument indicating lamp meet preset requirements or not, if yes, executing S7, and if not, returning to S4; and S7, executing a battery replacement or power-on process. According to the invention, rapid battery replacement can be realized, the method is suitable for the battery replacement operation of the mining vehicle in a severe environment, the input cost of use of the mining vehicle is reduced, and the battery replacement convenience of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mining electric vehicles, and in particular to a battery replacement control method for a mining wide-body vehicle. Background Art

[0002] Wide-body mining vehicles are wider than traditional vehicles, which can improve the stability and safety of mining transportation. Traditional wide-body mining vehicles are driven by fuel engines, but this method easily emits a large amount of exhaust gas, causing great pollution to the environment, and the cost of fuel is very high. Due to the high-intensity use of transportation vehicles, the cost of use is high. Therefore, wide-body mining vehicles are gradually using electric vehicles for transportation.

[0003] At present, most large electric vehicles use the whole-vehicle battery replacement mode to replace batteries. When the vehicle enters the battery replacement station, the vehicle monitoring host and the battery replacement server establish a communication connection, and forward the handshake message, identification message and battery replacement request message sent by the whole-vehicle controller to the battery replacement server. At the same time, it receives feedback information from the battery replacement server and forwards it to the whole-vehicle controller; the whole-vehicle controller generates and sends the handshake message, identification message and battery replacement request message to the battery replacement server, and controls the battery replacement process according to the feedback information.

[0004] However, the above charging method is not suitable for mining vehicles, because the battery replacement of vehicles requires a battery replacement station, which needs to have special equipment to support the battery replacement process, but the conditions in the mining area are not sufficient to support the construction of a battery replacement station. In addition, multiple controllers need to work together during the battery replacement process, such as the vehicle monitoring host responsible for real-time monitoring of vehicle status information, the battery replacement server that receives status information sent by the vehicle monitoring host, the vehicle controller responsible for controlling vehicle driving, energy recovery, fault diagnosis and other functions, and the battery replacement controller.

[0005] The specific process is that the vehicle monitoring host collects the vehicle status information in real time and sends it to the vehicle controller and battery management system through the CAN bus. The vehicle controller and battery management system then pass the information to the battery swap controller through the CAN bus. The battery swap controller sends the battery swap request to the battery swap server. After processing the request, the battery swap server sends instructions to the battery swap controller to complete the battery replacement.

[0006] As mentioned above, before the vehicle replaces the battery, the vehicle controller first receives the driver's control signal, parking signal, KEY ON signal, battery manager signal, and power battery main contactor status signal light to identify the driver's intention, and through control strategy and logical judgment, realizes the control and monitoring of the vehicle's battery replacement system, and then judges whether the vehicle status meets the conditions for battery replacement. If the conditions are met, the cylinder is controlled to release the lock on the battery replacement rack, and then enters the waiting mode to prepare for battery replacement. This method results in a long preparation time for battery replacement, which is not conducive to the high-intensity use of mining vehicles. Summary of the invention

[0007] In view of this, the present invention aims to propose a battery replacement control method for wide-body mining vehicles to reduce the execution process, realize the need for simple battery replacement in harsh environmental areas, provide convenience for convenient and fast replacement of battery boxes, effectively improve the battery replacement process, and meet vehicle use needs.

[0008] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0009] A method for controlling battery replacement of a wide-body mining vehicle comprises the following steps:

[0010] S1, detect the status of the battery replacement switch;

[0011] S2, the vehicle controller obtains the battery replacement switch signal from S1 to obtain the vehicle status;

[0012] S3, after obtaining the vehicle status, the body controller BCM obtains the cylinder rod position signals of the locking cylinder and the converter lifting cylinder, and sends the position signals to the CAN bus, and the vehicle controller obtains the position signals through the CAN bus;

[0013] S4, the vehicle controller determines whether the position signal meets the preset requirements, if yes, executes S6, if not, executes S5;

[0014] S5, the vehicle controller controls the electromagnetic reversing valves of the locking cylinder and the converter lifting cylinder to drive the cylinder rods of the locking cylinder and the converter lifting cylinder to move to the position according to the preset requirements; execute S3 to S4 again until the position signal meets the preset requirements, and execute S6;

[0015] S6, observing whether the states of the locking cylinder and the lifting cylinder displayed by the instrument indicator light meet the preset requirements, if yes, executing S7, if not, returning to S4;

[0016] S7. Execute the battery replacement or power-on process.

[0017] Furthermore, the battery replacement demand includes the power-off state of the whole vehicle before the battery replacement, and the power-on state of the whole vehicle after the battery replacement.

[0018] Furthermore, when the whole vehicle is in a power-off state before the battery replacement, the battery replacement control method for a wide-body mining vehicle includes the following steps:

[0019] A1. After the vehicle stops at the designated battery replacement location, the key is turned off and the vehicle is powered off;

[0020] A2: The vehicle controller obtains the battery swap switch signal as high effective, and the D pin input to the vehicle controller is high effective;

[0021] A3. After the vehicle controller receives the power-swap switch signal as high and effective, it executes the vehicle power-off process;

[0022] A4, the vehicle controller detects whether the vehicle high voltage is disconnected. If not, continue to execute A3; if it is disconnected, execute A5;

[0023] A5. The body controller BCM constantly monitors the cylinder rod positions of the locking cylinder and the converter lifting cylinder through a displacement sensor, and sends a message of the position information to the vehicle controller through the CAN bus;

[0024] A6. The vehicle controller determines whether the locking cylinder rod is disengaged from the locking seat and whether the electric changer lifting cylinder is disengaged from the upper electric changer of the battery by analyzing the message sent by the body controller BCM; if the cylinder rod is in place, execute A8; if not, execute A7;

[0025] A7, the vehicle controller controls the corresponding electromagnetic reversing valve connected to the locking cylinder and the converter lifting cylinder to drive the locking cylinder rod to disengage from the locking seat and drive the converter lifting cylinder to disengage from the upper converter of the battery; execute A5 to A7 again until the position signal meets the preset requirements, and execute A8;

[0026] A8. Observe the indicator lights on the instrument panel to determine whether the locking cylinder and the lifting cylinder are in place. If yes, proceed to A9. If not, return to A6.

[0027] A9. Replace the left and right battery of the vehicle by using tools such as a stacker or AGV vehicle;

[0028] A10, end the battery replacement process;

[0029] A11. Execute other vehicle power-off procedures.

[0030] Furthermore, when the whole vehicle is powered on before the battery replacement, the battery replacement control method for a wide-body mining vehicle includes the following steps:

[0031] B1. Turn on the key and power on the vehicle;

[0032] B2. Turn off the battery swap switch, the signal is not high valid, and the D pin input to the vehicle controller is not high valid;

[0033] B3, the body controller BCM constantly monitors the cylinder rod positions of the locking cylinder and the converter lifting cylinder through the displacement sensor, and sends the position information to the vehicle controller through the CAN bus;

[0034] B4, the vehicle controller determines whether the locking cylinder rod is locked on the locking seat and whether the output end of the converter lifting cylinder rises to the bottom of the upper converter of the battery and engages by analyzing the message sent by the body controller BCM; if the cylinder rod is in place, execute B6; if not, execute B3;

[0035] B5. The vehicle controller controls the corresponding electromagnetic reversing valve connected to the locking cylinder and the converter lifting cylinder to drive the locking cylinder rod to lock on the locking seat, and drive the output end of the converter lifting cylinder to rise to the bottom of the upper converter of the battery to engage; execute B3 to B4 again until the position signal meets the preset requirements, and execute B6;

[0036] B6. Check whether the BMS communication is normal and whether the battery swap connector is correctly connected. If the battery swap connector is correctly connected, execute B6; if the battery swap connector is incorrectly connected, execute step B3;

[0037] B7. Observe the indicator lights on the instrument to determine whether the locking cylinder and the lifting cylinder are in place. If yes, execute B7. If not, return to B3.

[0038] B8. Follow the high-voltage process on the vehicle;

[0039] B9. Vehicle is in Ready status.

[0040] Furthermore, in step S3, the body controller BCM also collects position signals indicating whether the battery frame and the battery are in place;

[0041] The battery frame is provided with an in-place switch for monitoring whether the battery is installed in place.

[0042] Further, the locking cylinder includes a left-side electric-changing cylinder and a right-side electric-changing cylinder;

[0043] The battery changer lifting cylinder includes a left battery changer socket cylinder and a right battery changer socket cylinder.

[0044] Furthermore, the left-side electric cylinder controls the reversing through the left-side solenoid valve to achieve locking or disengagement of the locking mechanism;

[0045] The right-side electric cylinder controls the reversing through the right-side solenoid valve to achieve locking or disengagement of the locking mechanism;

[0046] The converter lifting cylinder is switched by the lifting solenoid valve to achieve the engagement or disengagement of the converter;

[0047] The left solenoid valve, the right solenoid valve and the lifting solenoid valve are all electrically connected to the vehicle controller.

[0048] Further, the air path of the locking cylinder includes a first pressure sensor;

[0049] A second pressure sensor is provided on the gas path of the lifting cylinder of the converter;

[0050] The first pressure sensor and the second pressure sensor are electrically connected to the body controller BCM.

[0051] Furthermore, the vehicle controller adopts VCU.

[0052] Compared with the prior art, the present invention has the following advantages:

[0053] The battery replacement control method for wide-body mining vehicles of the present invention first detects whether the state of the battery replacement switch is high and effective when the vehicle needs to replace the battery, and uses the state of the battery replacement switch as the only input source for control. Then, the cylinder rod position signals of the locking cylinder and the lifting cylinder of the electric converter are monitored by the body controller BCM, and the position signal is sent to the analysis module of the whole vehicle controller through the CAN bus to determine whether it meets the preset requirements. If it does not meet the requirements, the locking cylinder and the lifting cylinder of the electric converter are driven by the whole vehicle controller to make adjustments. If it meets the requirements, the battery replacement or power-on operation can be performed. When the battery replacement control method for wide-body mining vehicles of the present invention is used for battery replacement, it is only necessary to detect the state of the battery replacement switch and the cylinder rod position of the locking cylinder and the lifting cylinder of the electric converter. There is no need to monitor multiple system signals as in the prior art, and there is no need to configure special equipment such as a battery replacement station. Rapid battery replacement can be achieved, which is suitable for battery replacement operations of mining vehicles in harsh environments, reducing the investment cost of using mining vehicles and the convenience of vehicle battery replacement.

[0054] In addition, by setting instrument indicator lights, after the locking cylinder and the power converter lifting cylinder are adjusted and the BCM confirms, the status of the locking cylinder and the power converter lifting cylinder is visually checked to increase the safety of the vehicle's battery replacement and ensure effective battery replacement.

[0055] In addition, through step S3, the body controller BCM also collects position signals of whether the battery frame and the battery are in place. The battery frame is provided with an in-place switch for monitoring whether the battery is installed in place, which increases the accuracy of monitoring and ensures the smooth implementation of the battery replacement state. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0057] Figure 1 This is a flow chart of a battery replacement control method for a wide-body mining vehicle according to an embodiment of the present invention;

[0058] Figure 2 It is a flow chart of the whole vehicle power-off state before power replacement in the power replacement control method for wide-body mining vehicles according to an embodiment of the present invention;

[0059] Figure 3 It is a flow chart of the whole vehicle power-on state after battery replacement in the battery replacement control method for a wide-body mining vehicle according to an embodiment of the present invention;

[0060] Figure 4 It is a gas circuit diagram of the battery replacement control method for a wide-body mining vehicle according to an embodiment of the present invention;

[0061] Figure 5 This is the electrical control diagram of the body controller BCM, the locking cylinder and the converter lifting cylinder described in an embodiment of the present invention.

[0062] Description of reference numerals:

[0063] 1. Locking cylinder; 2. Changer lifting cylinder; 3. In-position switch; 4. Left solenoid valve; 5. Right solenoid valve; 6. First pressure sensor; 7. Second pressure sensor; 8. Lifting solenoid valve. DETAILED DESCRIPTION

[0064] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0065] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "back", etc. are based on the directions or positional relationships 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0066] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installed", "connected", "connected", and "connector" 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0067] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0068] This embodiment relates to a battery replacement control method for a wide-body mining vehicle, such as Figure 1 As shown, the control method includes the following steps:

[0069] S1, detect the status of the battery replacement switch;

[0070] S2, the vehicle controller obtains the battery replacement switch signal from S1 and obtains the vehicle status;

[0071] S3. After judging the vehicle status, the body controller BCM obtains the cylinder rod position signals of the locking cylinder and the electric converter lifting cylinder, and sends the position signals to the CAN bus. The vehicle controller obtains the position signals through the CAN bus.

[0072] Specifically, Figure 4 As shown, in step S3, the body controller BCM also collects the position signal of whether the battery frame and the battery are in place, and the battery frame is provided with an in-place switch for monitoring whether the battery is installed in place. Through step S3, the body controller BCM also collects the position signal of whether the battery frame and the battery are in place, and the battery frame is provided with an in-place switch for monitoring whether the battery is installed in place, which increases the accuracy of monitoring and ensures the smooth implementation of the battery replacement state.

[0073] S4, the vehicle controller determines whether the position signal meets the preset requirements, if yes, executes S6, if not, executes S5;

[0074] S5, the vehicle controller controls the electromagnetic reversing valves of the locking cylinder and the converter lifting cylinder to drive the cylinder rods of the locking cylinder and the converter lifting cylinder to move to the position according to the preset requirements; execute S3 to S4 again until the position signal meets the preset requirements, and execute S6;

[0075] S6. Observe whether the status of the locking cylinder and the lifting cylinder displayed by the instrument indicator light meets the preset requirements. If yes, execute S7; if not, return to S4;

[0076] S7. Execute the battery replacement or power-on process.

[0077] The battery replacement control method for wide-body mining vehicles described in this embodiment first detects whether the state of the battery replacement switch is high and effective when the vehicle needs to replace the battery, and uses the state of the battery replacement switch as the only input source for control. Then, the body controller BCM monitors the cylinder rod position signals of the locking cylinder and the electric converter lifting cylinder, and sends the position signal to the analysis module of the vehicle controller through the CAN bus to determine whether it meets the preset requirements. If it does not meet the requirements, the locking cylinder and the electric converter lifting cylinder are driven by the vehicle controller to make adjustments. If it meets the requirements, the battery replacement or power-on operation can be performed. When the battery replacement control method for wide-body mining vehicles of the present invention is used for battery replacement, it only needs to detect the state of the battery replacement switch and the cylinder rod position of the locking cylinder and the electric converter lifting cylinder. There is no need to monitor multiple system signals as in the prior art, and there is no need to configure special equipment such as a battery replacement station. Rapid battery replacement can be achieved, which is suitable for battery replacement operations of mining vehicles in harsh environments, reducing the investment cost of using mining vehicles and the convenience of vehicle battery replacement.

[0078] In this embodiment, an instrument indicator light is set. After the locking cylinder and the power converter lifting cylinder are adjusted and the BCM confirms, the status of the locking cylinder and the power converter lifting cylinder is visually checked to increase the safety of the vehicle's battery replacement and ensure effective battery replacement.

[0079] Furthermore, if Figure 4 As shown, the locking cylinder includes a left battery changing cylinder and a right battery changing cylinder, and the battery changing lifting cylinder includes a left battery changing socket cylinder and a right battery changing socket cylinder. Among them, three left battery changing cylinders and three right battery changing cylinders are respectively provided, so that the left battery and the right battery can be changed at the same time to improve the locking effect.

[0080] In addition, if Figure 4 As shown, the left power-changing cylinder controls the switching through the left solenoid valve to achieve locking or disengagement of the locking mechanism; the right power-changing cylinder controls the switching through the right solenoid valve to achieve locking or disengagement of the locking mechanism; the power-changing lifting cylinder controls the switching through the lifting solenoid valve to achieve engagement or disengagement of the power-changing; the left solenoid valve, the right solenoid valve, and the lifting solenoid valve are all electrically connected to the vehicle controller.

[0081] Furthermore, if Figures 4 to 5 As shown, the air circuit of the locking cylinder includes a first pressure sensor, and the air circuit of the electric converter lifting cylinder is provided with a second pressure sensor, and the first pressure sensor and the second pressure sensor are connected to the body controller BCM by electrical signals. The body controller BCM also collects signals from the first pressure sensor and the second pressure sensor, so as to judge the status of the locking cylinder and the electric converter lifting cylinder by the pressure of the air circuit, thereby improving the monitoring accuracy of the BCM and facilitating the smooth realization of the battery replacement.

[0082] Preferably, the vehicle controller adopts VCU.

[0083] More specifically, the above-mentioned vehicle status includes the vehicle power-off status before battery replacement, and the vehicle power-on status after battery replacement.

[0084] Preferably, if Figure 2 As shown, when the whole vehicle is in a power-off state before power replacement, the power replacement control method for a wide-body mining vehicle includes the following steps:

[0085] A1. After the vehicle stops at the designated battery replacement location, the key is turned off and the vehicle is powered off;

[0086] A2. The vehicle controller receives the power-swap switch signal as high-effective, and the D pin input to the vehicle controller is high-effective;

[0087] A3. After the vehicle controller receives the high-effective signal from the battery replacement switch, it executes the vehicle power-off process;

[0088] A4. The vehicle controller detects whether the vehicle high voltage is disconnected. If not, continue to execute A3. If it is disconnected, execute A5.

[0089] A5. The body controller BCM constantly monitors the cylinder rod position of the locking cylinder and the electric converter lifting cylinder through the displacement sensor, and sends the position information to the vehicle controller through the CAN bus;

[0090] A6. The vehicle controller determines whether the locking cylinder rod is disengaged from the locking seat and whether the electric changer lifting cylinder is disengaged from the upper electric changer of the battery by analyzing the message sent by the body controller BCM; if the cylinder rod is in place, execute A8; if not, execute A7;

[0091] A7. The vehicle controller controls the corresponding electromagnetic reversing valve connected to the locking cylinder and the electric converter lifting cylinder to drive the locking cylinder rod to disengage from the locking seat and drive the electric converter lifting cylinder to disengage from the upper electric converter of the battery; execute A5 to A7 again until the position signal meets the preset requirements, and execute A8;

[0092] Specifically, Figure 2 and Figure 4 As shown, the B pin of the vehicle controller outputs a high level, the control socket disconnects the relay J2 and the A pin does not output a high level, the control socket combined with the relay J1 is disconnected, thereby controlling the valve core of the lifting solenoid valve to the left position, and the rod chambers of the lifting cylinders 1 and 2 are ventilated and the rodless chambers are deflated, pushing the cylinder rods to retract, and executing the logic control of the battery replacement socket being disengaged.

[0093] Still Figure 2 and Figure 4As shown, at the same time, the vehicle controller C pin outputs a high level, controls the locking cylinder relay J3 to pull in, the left and right solenoid valves are energized, the rod chambers of all locking cylinders are ventilated and the rodless chambers are deflated, pushing the cylinder rods to retract, and executing the locking mechanism disengagement logic control. This is until the body controller BCM sends all CAN messages to monitor that all cylinders are retracted and in place.

[0094] A8. Observe the indicator lights on the instrument panel to determine whether the locking cylinder and lifting cylinder are in place. If yes, proceed to A9. If not, return to A6.

[0095] A9. Replace the left and right battery of the vehicle by using tools such as a stacker or AGV vehicle;

[0096] A10, end the battery replacement process;

[0097] A11. Execute other vehicle power-off procedures.

[0098] Preferably, if Figure 3 As shown, when the whole vehicle is powered on before battery replacement, the battery replacement control method for a wide-body mining vehicle includes the following steps:

[0099] B1. Turn on the key and power on the vehicle;

[0100] B2. Turn off the battery swap switch, the signal is not high valid, and the D pin input to the vehicle controller is not high valid;

[0101] B3, the body controller BCM constantly monitors the cylinder rod position of the locking cylinder and the electric converter lifting cylinder through the displacement sensor, and sends the position information to the vehicle controller through the CAN bus;

[0102] B4. The vehicle controller determines whether the locking cylinder rod is locked on the locking seat and whether the output end of the battery lift cylinder rises to the lower part of the upper battery and engages with the battery by analyzing the message sent by the body controller BCM; if the cylinder rod is in place, execute B6; if not, execute B3;

[0103] B5. The vehicle controller controls the corresponding electromagnetic reversing valve connected to the locking cylinder and the converter lifting cylinder to drive the locking cylinder rod to lock on the locking seat, and drive the output end of the converter lifting cylinder to rise to the bottom of the upper converter of the battery to engage; execute B3 to B4 again until the position signal meets the preset requirements, and execute B6;

[0104] Specifically, Figure 3 and Figure 4As shown, the B pin of the vehicle controller does not output a high level, the control socket disconnect relay J2 is disconnected, and the A pin outputs a high level, the control socket combined relay J1 is disconnected, thereby controlling the valve core of the lifting solenoid valve to the right position, and the rod chamber of the lifting cylinder 1 and the rodless chamber of the lifting cylinder 2 are deflated, pushing the cylinder rod to extend, and executing the battery swap socket engagement logic control.

[0105] Still Figure 3 and Figure 4 As shown, the C pin of the vehicle controller does not output a high level at the same time, the control lock cylinder relay J3 is disconnected, the left and right solenoid valves are not energized, the rod chambers of all locking cylinders are ventilated and the rodless chambers are deflated, the cylinder rods are pushed out, and the locking logic control of the locking mechanism is executed. This is until the body controller BCM sends all CAN messages to monitor that all cylinders are retracted and in place.

[0106] B6. Check whether the BMS communication is normal and whether the battery swap connector is correctly connected. If the battery swap connector is correctly connected, execute B6; if the battery swap connector is incorrectly connected, execute step B3;

[0107] B7. Observe the indicator lights on the instrument to determine whether the locking cylinder and lifting cylinder are in place. If yes, proceed to B7. If not, return to B3.

[0108] B8. Follow the high-voltage process on the vehicle;

[0109] B9. Vehicle is in Ready status.

[0110] The battery replacement control method for wide-body mining vehicles in this embodiment completes the processes before and after the battery replacement through the cooperation of the above-mentioned components, and can also receive the message feedback from the BCM sent by the vehicle controller VCU after the actuator has executed, and perform delay processing to compensate for the error caused by the mechanical mechanism.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling battery replacement of a wide-body mining vehicle, characterized in that: The steps include: S1, detect the status of the battery replacement switch; S2, the vehicle controller obtains the battery replacement switch signal from S1 to obtain the vehicle status; S3, after judging the vehicle status, the body controller BCM obtains the cylinder rod position signals of the locking cylinder and the converter lifting cylinder, and sends the position signals to the CAN bus, and the vehicle controller obtains the position signals through the CAN bus; S4, the vehicle controller determines whether the position signal meets the preset requirements, if yes, executes S6, if not, executes S5; S5, the vehicle controller controls the electromagnetic reversing valves of the locking cylinder and the converter lifting cylinder to drive the cylinder rods of the locking cylinder and the converter lifting cylinder to move to the position according to the preset requirements; execute S3 to S4 again until the position signal meets the preset requirements, and execute S6; S6, observing whether the states of the locking cylinder and the lifting cylinder displayed by the instrument indicator light meet the preset requirements, if yes, executing S7, if not, returning to S4; S7. Execute the battery replacement or power-on process.

2. The battery replacement control method for a wide-body mining vehicle according to claim 1, characterized in that: The vehicle status includes the vehicle power-off status before battery replacement and the vehicle power-on status after battery replacement.

3. The battery replacement control method for wide-body mining vehicles according to claim 2 is characterized in that: When the whole vehicle is in a power-off state before the battery replacement, the battery replacement control method for a wide-body mining vehicle comprises the following steps: A1. After the vehicle stops at the designated battery replacement location, the key is turned off and the vehicle is powered off; A2: The vehicle controller obtains the battery swap switch signal as high effective, and the D pin input to the vehicle controller is high effective; A3. After the vehicle controller receives the power-swap switch signal as high and effective, it executes the vehicle power-off process; A4, the vehicle controller detects whether the vehicle high voltage is disconnected. If not, continue to execute A3; if it is disconnected, execute A5; A5. The body controller BCM constantly monitors the cylinder rod positions of the locking cylinder and the converter lifting cylinder through a displacement sensor, and sends a message of the position information to the vehicle controller through the CAN bus; A6. The vehicle controller determines whether the locking cylinder rod is disengaged from the locking seat and whether the electric changer lifting cylinder is disengaged from the upper electric changer of the battery by analyzing the message sent by the body controller BCM; if the cylinder rod is in place, execute A8; if not, execute A7; A7, the vehicle controller controls the corresponding electromagnetic reversing valve connected to the locking cylinder and the converter lifting cylinder to drive the locking cylinder rod to disengage from the locking seat and drive the converter lifting cylinder to disengage from the upper converter of the battery; execute A5 to A7 again until the position signal meets the preset requirements, and execute A8; A8. Observe the indicator lights on the instrument panel to determine whether the locking cylinder and the lifting cylinder are in place. If yes, proceed to A9. If not, return to A6. A9. Replace the left and right battery of the vehicle by using tools such as a stacker or AGV vehicle; A10, end the battery replacement process; A11. Execute other vehicle power-off procedures.

4. The battery replacement control method for a wide-body mining vehicle according to claim 2, characterized in that: When the whole vehicle is powered on before the battery replacement, the battery replacement control method for a wide-body mining vehicle comprises the following steps: B1. Turn on the key and power on the vehicle; B2. Turn off the battery swap switch, the signal is not high valid, and the D pin input to the vehicle controller is not high valid; B3, the body controller BCM constantly monitors the cylinder rod positions of the locking cylinder and the converter lifting cylinder through the displacement sensor, and sends the position information to the vehicle controller through the CAN bus; B4, the vehicle controller determines whether the locking cylinder rod is locked on the locking seat and whether the output end of the converter lifting cylinder rises to the bottom of the upper converter of the battery and engages by analyzing the message sent by the body controller BCM; if the cylinder rod is in place, execute B6; if not, execute B3; B5. The vehicle controller controls the corresponding electromagnetic reversing valve connected to the locking cylinder and the converter lifting cylinder to drive the locking cylinder rod to lock on the locking seat, and drive the output end of the converter lifting cylinder to rise to the bottom of the upper converter of the battery to engage; execute B3 to B4 again until the position signal meets the preset requirements, and execute B6; B6. Check whether the BMS communication is normal and whether the battery swap connector is correctly connected. If the battery swap connector is correctly connected, execute B6; if the battery swap connector is incorrectly connected, execute step B3; B7. Observe the indicator lights on the instrument to determine whether the locking cylinder and the lifting cylinder are in place. If yes, execute B7. If not, return to B3. B8. Follow the high-voltage process on the vehicle; B9. Vehicle is in Ready status.

5. The battery replacement control method for wide-body mining vehicles according to claim 1 is characterized in that: In step S3, the body controller BCM also collects position signals indicating whether the battery frame and the battery are in place; The battery frame is provided with an in-place switch for monitoring whether the battery is installed in place.

6. The battery replacement control method for wide-body mining vehicles according to claim 1 is characterized in that: The locking cylinder includes a left-side electric-changing cylinder and a right-side electric-changing cylinder; The battery changer lifting cylinder includes a left battery changer socket cylinder and a right battery changer socket cylinder.

7. The battery replacement control method for wide-body mining vehicles according to claim 5 is characterized in that: The left-side electric cylinder controls the reversing through the left-side solenoid valve to achieve locking or disengagement of the locking mechanism; The right-side electric cylinder controls the reversing through the right-side solenoid valve to achieve locking or disengagement of the locking mechanism; The converter lifting cylinder is switched by the lifting solenoid valve to achieve the engagement or disengagement of the converter; The left solenoid valve, the right solenoid valve and the lifting solenoid valve are all electrically connected to the vehicle controller.

8. The battery replacement control method for wide-body mining vehicles according to claim 5 is characterized in that: The air path of the locking cylinder includes a first pressure sensor; A second pressure sensor is provided on the gas path of the lifting cylinder of the converter; The first pressure sensor and the second pressure sensor are electrically connected to the vehicle body controller BCM.

9. The battery replacement control method for wide-body mining vehicles according to claim 3 is characterized in that: The vehicle controller adopts VCU.

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