Lifting control method and device, electronic equipment and computer storage medium

Abstract

The invention discloses a lifting control method and device, electronic equipment and a computer storage medium, and belongs to the field of battery replacement lifting. The method comprises the following steps: controlling a lifting mechanism to lift equipment to be subjected to battery replacement based on a target signal sent by a clamping mechanism; the target signal is used for indicating that the to-be-replaced equipment is in an in-place state and the to-be-replaced equipment is clamped by the clamping mechanism; in the process of lifting the to-be-replaced equipment, under the condition that it is determined that the lifting mechanism is located at the separation platform position of the to-be-replaced equipment, the extraction torque of the lifting mechanism is compared with the gravity of the to-be-replaced equipment; under the condition that the extraction torque is larger than the gravity, the lifting mechanism is controlled to continue to lift the to-be-replaced equipment so as to replace the battery pack for the to-be-replaced equipment, the to-be-replaced equipment is effectively prevented from displacement or misalignment in the lifting process based on lifting of the target signal, the reliability of the to-be-replaced equipment is improved, and the battery replacement efficiency is improved. And under the condition that the equipment to be subjected to battery replacement is completely carried on the lifting mechanism, lifting continues, and the reliability and safety of the battery replacement process are further improved.

Description

Technical Field

[0001] This application belongs to the field of battery swapping and lifting, and in particular relates to a lifting control method, device, electronic device, and computer storage medium. Background Art

[0002] A battery swapping station is a facility that provides fast battery swapping services for devices to be battery-swapped (such as new energy vehicles). Through the battery swapping station, the first battery pack (such as a low-power battery pack) of the device to be battery-swapped can be replaced with a second battery pack (such as a fully-charged battery pack) taken out from the battery compartment, thereby saving charging time and improving the convenience of vehicle charging.

[0003] In the related art, after detecting that the device to be battery-swapped is in place, the lifting mechanism immediately lifts the device to be battery-swapped. However, the device to be battery-swapped may not be fully carried on the lifting mechanism, and may tilt or displace during the lifting process. In this case, directly lifting through the lifting mechanism is likely to damage the lifting mechanism and also result in unreliable lifting. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the related art. Therefore, this application provides a lifting control method, device, electronic device, and computer storage medium, which improves the reliability of the battery swapping device.

[0005] In a first aspect, this application provides a lifting control method, which includes:

[0006] Controlling a lifting mechanism to lift a device to be battery-swapped based on a target signal sent by a clamping mechanism; the target signal is used to indicate that the device to be battery-swapped is in place and the clamping mechanism has clamped the device to be battery-swapped;

[0007] During the process of lifting the device to be battery-swapped, when it is determined that the lifting mechanism is at the detachment platform position of the battery swapping device according to the lifting height of the lifting mechanism, compare the extraction torque of the lifting mechanism with the gravity of the device to be battery-swapped;

[0008] When the extraction torque is greater than the gravity, control the lifting mechanism to continue lifting the device to be battery-swapped to replace the battery pack of the device to be battery-swapped.

[0009] According to the lifting control method of this application, by controlling the lifting mechanism to lift the device to be battery-swapped based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be battery-swapped is in place and the clamping mechanism has clamped the device to be battery-swapped, that is, controlling the lifting mechanism to lift the device to be battery-swapped when receiving the target signal, it can effectively fix the device to be battery-swapped, effectively avoid displacement or misalignment of the device to be battery-swapped during the lifting process, and improve the reliability of the battery swapping device.

[0010] In addition, during the process of lifting the power device to be replaced, when the lifting mechanism is at the detachment platform position of the power device to be replaced and the extraction torque of the lifting mechanism is equal to the gravity of the power device to be replaced, it can be determined that the power device to be replaced is fully carried on the lifting mechanism. In this case, the lifting mechanism is further controlled to continue lifting the power device to be replaced, which further improves the reliability and safety of the power replacement process and also avoids damaging the lifting mechanism.

[0011] According to an embodiment of the present application, after comparing the extraction torque of the lifting mechanism with the gravity of the power device to be replaced, the method further includes:

[0012] When the extraction torque is not greater than the gravity, control the lifting mechanism to stop moving to stop lifting the power device to be replaced;

[0013] Output an alarm message; the alarm message is used to indicate that the power device to be replaced is not fully carried on the lifting mechanism.

[0014] According to an embodiment of the present application, controlling the lifting mechanism to continue lifting the power device to be replaced includes:

[0015] Obtain the lifting height of the lifting mechanism in real time;

[0016] When it is determined based on the lifting height that the lifting mechanism is at the no-battery-pack shuttle position, control the transfer vehicle without a battery pack to drive out below the power device to be replaced; the first height between the no-battery-pack shuttle position and the transfer vehicle track is higher than the height of the transfer vehicle without a battery pack;

[0017] When the transfer vehicle without a battery pack is below the power device to be replaced and it is determined based on the lifting height that the lifting mechanism is at the unpacking position, control the transfer vehicle to remove the first battery pack of the power device to be replaced;

[0018] When it is determined based on the lifting height that the lifting mechanism is at the with-battery-pack shuttle position, control the transfer vehicle carrying the second battery pack from the battery compartment to drive out below the power device to be replaced; the second height between the with-battery-pack shuttle position and the transfer vehicle track is higher than the height of the transfer vehicle carrying a battery pack;

[0019] When the transfer vehicle carrying the second battery pack is below the power device to be replaced and it is determined based on the lifting height that the lifting mechanism is at the battery-pack installation position, control the transfer vehicle to install the second battery pack on the power device to be replaced to replace the battery pack of the power device to be replaced.

[0020] According to an embodiment of the present application, before controlling the transfer vehicle without a battery pack to drive out below the power device to be replaced when it is determined based on the lifting height that the lifting mechanism is at the no-battery-pack shuttle position, the method further includes:

[0021] Control the lifting mechanism to move from the standby position upward through the lifting deceleration position and the detachment platform position of the power device to be replaced to the no-battery-pack shuttle position;

[0022] Among them, when the lifting mechanism moves from the standby position to the lifting deceleration position, it performs an accelerating motion; when the lifting mechanism moves from the lifting deceleration position to the detachment platform position of the battery swapping device, it performs a uniform motion; when the lifting mechanism moves from the detachment platform position of the battery swapping device to the no-battery shuttle position, it performs a decelerating motion.

[0023] According to an embodiment of the present application, before controlling the transfer vehicle to remove the first battery pack of the battery swapping device when the transfer vehicle without a battery pack is located below the battery swapping device and it is determined that the lifting mechanism is at the unpacking position based on the lifting height, the method further includes:

[0024] Controlling the lifting mechanism to move downward from the no-battery shuttle position through the unpacking deceleration position to the unpacking position;

[0025] When the lifting mechanism moves from the no-battery shuttle position to the unpacking deceleration position, it performs a uniform motion; when the lifting mechanism moves from the unpacking deceleration position to the unpacking position, it performs a decelerating motion.

[0026] According to an embodiment of the present application, after controlling the transfer vehicle to remove the first battery pack of the battery swapping device, the method further includes:

[0027] Controlling the lifting mechanism to move upward from the unpacking position to the with-battery shuttle position;

[0028] When the lifting mechanism moves from the unpacking position to the with-battery shuttle position, it sequentially performs an accelerating motion, a uniform motion, and a decelerating motion, or sequentially performs an accelerating motion and a decelerating motion.

[0029] According to an embodiment of the present application, before controlling the transfer vehicle to install the second battery pack on the battery swapping device when the transfer vehicle carrying the second battery pack is located below the battery swapping device and it is determined that the lifting mechanism is at the packing position based on the lifting height, the method further includes:

[0030] Controlling the lifting mechanism to move downward from the with-battery shuttle position through the packing deceleration position to the packing position;

[0031] When the lifting mechanism moves from the with-battery shuttle position to the packing deceleration position, it performs an accelerating motion, or sequentially performs an accelerating motion and a uniform motion;

[0032] When the lifting mechanism moves from the packing deceleration position to the packing position, it performs a decelerating motion, or sequentially performs a uniform motion and a decelerating motion.

[0033] According to an embodiment of the present application, after controlling the transfer vehicle to install the second battery pack on the battery swapping device, the method further includes:

[0034] Controlling the lifting mechanism to move upward from the packing position to the no-battery shuttle position;

[0035] When it is determined that the lifting mechanism is in the battery - less shuttle position based on the lifting height, control the transfer vehicle without a battery pack to drive away from under the battery - swapping device.

[0036] When the transfer vehicle moves out from under the battery - swapping device, control the lifting mechanism to move downward from the battery - less shuttle position to the standby position so that the battery - swapping device can drive away.

[0037] When the lifting mechanism moves from the battery - loading position to the battery - less shuttle position, it successively performs an acceleration motion, a uniform - speed motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion; when the lifting mechanism moves from the battery - less shuttle position to the standby position, it successively performs an acceleration motion, a uniform - speed motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion.

[0038] According to an embodiment of the present application, the lifting mechanism includes a first motor and a second motor; the first motor is used to drive the left side of the lifting mechanism to lift; the second motor is used to drive the right side of the lifting mechanism to lift.

[0039] Controlling the lifting mechanism to lift the device to be battery - swapped includes:

[0040] Control the electronic gears corresponding to the first motor and the second motor to be synchronized and rotate at the same speed, so that the left and right sides of the lifting mechanism synchronously lift the device to be battery - swapped.

[0041] In a second aspect, the present application provides a lifting control device, and the device includes:

[0042] A control module, configured to control the lifting mechanism to lift the device to be battery - swapped based on a target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be battery - swapped is in the in - place state and the clamping mechanism has clamped the device to be battery - swapped.

[0043] A first processing module, configured to compare the extraction torque of the lifting mechanism with the gravity of the device to be battery - swapped when, according to the lifting height of the lifting mechanism, it is determined that the lifting mechanism is in the disengagement platform position of the battery - swapping device during the process of lifting the device to be battery - swapped.

[0044] The control module is further configured to control the lifting mechanism to continue lifting the device to be battery - swapped when the extraction torque is greater than the gravity, in order to replace the battery pack of the device to be battery - swapped.

[0045] According to the lifting control device of the present application, by controlling the lifting mechanism to lift the device to be battery - swapped based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be battery - swapped is in the in - place state and the clamping mechanism has clamped the device to be battery - swapped, that is, controlling the lifting mechanism to lift the device to be battery - swapped when receiving the target signal, it can effectively fix the device to be battery - swapped, effectively avoid the displacement or misalignment of the device to be battery - swapped during the lifting process, and improve the reliability of the battery - swapping device.

[0046] In addition, during the process of lifting the power supply device to be replaced, when the lifting mechanism is in the detachment platform position of the power supply replacement device and the extraction torque of the lifting mechanism is equal to the gravity of the power supply device to be replaced, it can be determined that the power supply device to be replaced is fully carried on the lifting mechanism. In this case, controlling the lifting mechanism to continue lifting the power supply device to be replaced further improves the reliability and safety of the power supply replacement process, and also avoids damaging the lifting mechanism.

[0047] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the lifting control method provided in the first aspect as described above is implemented.

[0048] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the lifting control method provided in the first aspect as described above is implemented.

[0049] In a fifth aspect, the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run a program or an instruction to implement the lifting control method provided in the first aspect.

[0050] In a sixth aspect, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the lifting control method provided in the first aspect as described above is implemented.

[0051] One or more of the above technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0052] By controlling the lifting mechanism to lift the power supply device to be replaced based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the power supply device to be replaced is in the in-place state and the clamping mechanism has clamped the power supply device to be replaced. That is, when the target signal is received, controlling the lifting mechanism to lift the power supply device to be replaced can effectively fix the power supply device to be replaced, effectively avoid displacement or misalignment of the power supply device to be replaced during the lifting process, and improve the reliability of the power supply replacement device.

[0053] In addition, during the process of lifting the power supply device to be replaced, when the lifting mechanism is in the detachment platform position of the power supply replacement device and the extraction torque of the lifting mechanism is equal to the gravity of the power supply device to be replaced, it can be determined that the power supply device to be replaced is fully carried on the lifting mechanism. In this case, controlling the lifting mechanism to continue lifting the power supply device to be replaced further improves the reliability and safety of the power supply replacement process, and also avoids damaging the lifting mechanism.

[0054] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0055] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0056] Figure 1 is one of the schematic flowcharts of the lifting control method provided by the embodiment of the present application;

[0057] Figure 2 is a schematic diagram of the fixed-point positions of the lifting mechanism provided by the embodiment of the present application;

[0058] Figure 3 is a schematic structural diagram of the lifting control device provided by the embodiment of the present application;

[0059] Figure 4 is a schematic structural diagram of the electronic device provided by the embodiment of the present application. Detailed Embodiments

[0060] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application belong to the scope of protection of the present application.

[0061] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. generally belong to the same category, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the related objects before and after.

[0062] Next, in conjunction with the drawings, the lifting control method, lifting control device, electronic device, and readable storage medium provided by the embodiments of the present application will be described in detail through specific embodiments and their application scenarios.

[0063] For the lifting control method provided by the embodiment of the present application, the execution subject can be a controller, specifically, a Programmable Logic Controller (PLC). The PLC is specially designed to replace the traditional relay control system and has the characteristics of high reliability, programming flexibility, and easy maintenance.

[0064] Such as Figure 1As shown in the figure, the lifting control method includes: step 110, step 120, and step 130.

[0065] Step 110: Control the lifting mechanism to lift the device to be battery - replaced based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be battery - replaced is in the in - place state and the clamping mechanism has clamped the device to be battery - replaced.

[0066] In the embodiments of the present application, the device to be battery - replaced refers to a device with a detachable battery pack that needs to have its battery pack replaced. In the field of new - energy vehicles, the device to be battery - replaced can be a new - energy vehicle.

[0067] The lifting mechanism (also known as the lifting device) is a key component in the battery - swapping station system. It is responsible for lifting the electric vehicle to an appropriate height by moving up and down during the battery - swapping process to facilitate the replacement of the battery pack.

[0068] In the embodiments of the present application, multiple fixed - point positions are set for the lifting mechanism. With the ground as a reference, in ascending order, the multiple fixed - point positions are: lower hard - pole limit, lower soft - pole limit, standby position, lifting deceleration position, off - platform position, battery - loading position, battery - unloading position, battery - loading deceleration position, battery - unloading deceleration position, empty - battery shuttle position, full - battery shuttle position, upper soft - pole limit, upper hard - pole limit. Among them,

[0069] The lower hard - pole limit is the lowest position that the lifting mechanism cannot break through. It belongs to the physical pole limit. Once reaching this position, the lifting mechanism will not be able to move further.

[0070] The upper hard - pole limit is the highest position that the lifting mechanism cannot break through. It belongs to the physical pole limit. Once reaching this position, the lifting mechanism will not be able to move further.

[0071] The lower soft - pole limit is not a hard limit, but when the lifting mechanism reaches the lower soft - pole limit, it will trigger a warning, pre - warning, or take protective measures to prevent the lifting mechanism from moving below the lower soft - pole limit.

[0072] The upper soft - pole limit is also not a hard limit, but when the lifting mechanism reaches the upper soft - pole limit, it will trigger a warning, pre - warning, or take protective measures to prevent the lifting mechanism from moving above the upper soft - pole limit.

[0073] Generally, the operable range of the lifting mechanism is between the lower soft - pole limit and the upper soft - pole limit. Moving below the lower soft - pole limit or above the upper soft - pole limit is an illegal movement that will trigger an alarm.

[0074] The standby position refers to the position where the lifting mechanism temporarily parks in the battery - swapping station before battery replacement or charging. When the lifting mechanism is at the standby position, it is not in contact with the device to be battery - replaced.

[0075] The lifting deceleration position refers to the position where deceleration begins during the movement from the standby position to the off-platform position. When the lifting mechanism is at the lifting deceleration position, it has not yet come into contact with the device to be battery-swapped, or has just come into contact with the device to be battery-swapped. In a new energy vehicle battery swapping station, the lifting deceleration position is also called the "vehicle body lifting deceleration position". When the lifting mechanism reaches the vehicle body lifting deceleration position, it starts to decelerate, making the battery swapping process more stable and smooth, and avoiding discomfort or a sense of insecurity caused by the excessive speed of the lifting mechanism.

[0076] The off-platform position refers to the position of the platform where the battery swapping device is located. When the lifting mechanism is at the off-platform position, it comes into contact with the device to be battery-swapped, and the device to be battery-swapped is lifted by the lifting mechanism and separated from the parking platform where it is located.

[0077] The position of the shuttle without battery pack refers to the position where the lifting mechanism needs to be when the transporter without a battery pack is located on the transporter track below the device to be battery-swapped. The first height between the position of the shuttle without battery pack and the transporter track is higher than the height of the transporter without a battery pack.

[0078] The position of the shuttle with battery pack refers to the position where the lifting mechanism needs to be when the transporter with a battery pack is located on the transporter track below the device to be battery-swapped. The second height between the position of the shuttle with battery pack and the transporter track is higher than the height of the transporter with a battery pack.

[0079] The unpacking position refers to the position in the battery swapping station for disassembling and removing the battery pack of the device to be battery-swapped.

[0080] The unpacking deceleration position refers to the position where the lifting mechanism starts to decelerate when moving from a position below the unpacking deceleration position to the unpacking position. When the lifting mechanism reaches the unpacking deceleration position, it starts to decelerate, making the battery swapping process more stable and smooth.

[0081] The packing position refers to the position in the battery swapping station for installing a new battery pack for the device to be battery-swapped.

[0082] The packing deceleration position refers to the position where the lifting mechanism starts to decelerate when moving from a position below the packing deceleration position to the packing position. When the lifting mechanism reaches the packing deceleration position, it starts to decelerate, making the battery swapping process more stable and smooth.

[0083] During the battery swapping process, the lifting mechanism can perform fixed-point movement based on the above fixed-point positions to swap the battery for the device to be battery-swapped.

[0084] The clamping mechanism (also called the clamping device) refers to a device used to fix and clamp the device to be battery-swapped. For a new energy vehicle battery swapping station, the clamping mechanism can be a wheel clamping mechanism. Each wheel has a corresponding wheel clamping mechanism, and this wheel clamping mechanism can clamp each wheel of the new energy vehicle to ensure the stability of the new energy vehicle during battery swapping, prevent displacement or misalignment, and thus ensure the smooth progress of the battery pack replacement process.

[0085] The lifting mechanism and the clamping mechanism of the embodiments of the present application are provided with an interlock mechanism. Specifically, after the controller obtains the target signal sent by the clamping mechanism, it starts to control the lifting mechanism to lift the equipment to be battery-swapped. That is, the premise for controlling the lifting mechanism to lift is to receive the target signal of the clamping mechanism. This target signal is used to indicate that the equipment to be battery-swapped is in the in-place state (located on the parking platform), and the clamping mechanism has clamped the equipment to be battery-swapped.

[0086] Step 120: During the process of lifting the equipment to be battery-swapped, when it is determined that the lifting mechanism is at the detachment platform position of the battery-swapping equipment according to the lifting height of the lifting mechanism, compare the extraction torque of the lifting mechanism with the gravity of the equipment to be battery-swapped.

[0087] In the process of the lifting mechanism of the embodiments of the present application lifting the equipment to be battery-swapped, the lifting height of the lifting mechanism will be detected in real time. Specifically, an optoelectronic sensor can be set in the lifting mechanism, and the lifting height can be detected through this optoelectronic sensor.

[0088] The lifting of the lifting mechanism of the embodiments of the present application starts to move upward from the standby position, passes through the lifting deceleration position above the standby position to reach the detachment platform position. When it is determined that the lifting mechanism is at the detachment platform position of the battery-swapping equipment, the extraction torque of the lifting mechanism will be compared with the gravity of the equipment to be battery-swapped.

[0089] The extraction torque of the lifting mechanism is a force with an upward direction and can be obtained through a torque sensor.

[0090] Gravity is a force with a downward direction. When the equipment to be battery-swapped is on the platform, the gravity of the equipment to be battery-swapped can be obtained through the gravity sensor in the platform.

[0091] Step 130: When the extraction torque is greater than the gravity, control the lifting mechanism to continue lifting the equipment to be battery-swapped to replace the battery pack for the equipment to be battery-swapped.

[0092] It can be understood that the detachment platform position is the position where the equipment to be battery-swapped just detaches from the platform it is on (for example, 30 millimeters away from the platform). If the equipment to be battery-swapped is fully carried on the lifting arm of the lifting mechanism or safely lifted by the lifting mechanism at the detachment platform position, in this case, the extraction torque of the lifting mechanism is greater than the gravity of the equipment to be battery-swapped. In this situation, the lifting mechanism can be further controlled to continue lifting the equipment to be battery-swapped, so as to replace the battery pack for the equipment to be battery-swapped.

[0093] The embodiment of the present application controls the lifting mechanism to lift the power replacement device to be replaced based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the power replacement device to be replaced is in the in-place state and the clamping mechanism has clamped the power replacement device to be replaced. That is, when receiving the target signal, the lifting mechanism is controlled to lift the power replacement device to be replaced, which can effectively fix the power replacement device to be replaced, effectively avoid the displacement or misalignment of the power replacement device to be replaced during the lifting process, and improve the reliability of the power replacement device.

[0094] In addition, during the process of lifting the power replacement device to be replaced, when the lifting mechanism is at the detachment platform position of the power replacement device and the extraction torque of the lifting mechanism is equal to the gravity of the power replacement device to be replaced, it can be determined that the power replacement device to be replaced is fully carried on the lifting mechanism. In this case, the lifting mechanism is then controlled to continue lifting the power replacement device to be replaced, which further improves the reliability and safety of the power replacement process and can also avoid damaging the lifting mechanism.

[0095] In some embodiments, after comparing the extraction torque of the lifting mechanism with the gravity of the power replacement device to be replaced, the method further includes:

[0096] When the extraction torque is not greater than the gravity, control the lifting mechanism to stop moving to stop lifting the power replacement device to be replaced;

[0097] Output an alarm message; the alarm message is used to indicate that the power replacement device to be replaced is not fully carried on the lifting mechanism.

[0098] The foregoing embodiments have illustrated that when the extraction torque is greater than the gravity, it indicates that the power replacement device to be replaced is fully carried on the lifting arm of the lifting mechanism. On the contrary, when the extraction torque is not greater than the gravity, it indicates that the power replacement device to be replaced is not fully carried on the lifting mechanism. In this case, for the sake of reliability and safety, the lifting mechanism can be controlled to stop moving, thereby stopping the lifting of the power replacement device to be replaced, and an alarm message is output to prompt the alarm personnel. The alarm message is used to indicate that the power replacement device to be replaced is not fully carried on the lifting mechanism.

[0099] The ways of outputting the alarm message include, but are not limited to, display on the display screen, voice output, indicator light output, etc.

[0100] In some embodiments, controlling the lifting mechanism to continue lifting the power replacement device to be replaced includes:

[0101] Obtain the lifting height of the lifting mechanism in real time;

[0102] When it is determined based on the lifting height that the lifting mechanism is at the no-battery shuttle position, control the transfer vehicle without a battery pack to drive out below the power replacement device to be replaced; the first height between the no-battery shuttle position and the transfer vehicle track is higher than the height of the transfer vehicle without a battery pack;

[0103] When the transporter without a battery pack is located below the device to be battery - replaced and, based on the lifting height, it is determined that the lifting mechanism is at the unpacking position, control the transporter to remove the first battery pack of the device to be battery - replaced.

[0104] When, based on the lifting height, it is determined that the lifting mechanism is at the battery - carrying shuttle position, control the transporter that has carried the second battery pack from the battery compartment to drive out and be located below the device to be battery - replaced; the second height between the battery - carrying shuttle position and the transporter track is higher than the height of the transporter carrying the battery pack.

[0105] When the transporter carrying the second battery pack is located below the device to be battery - replaced and, based on the lifting height, it is determined that the lifting mechanism is at the packing position, control the transporter to install the second battery pack on the device to be battery - replaced, so as to replace the battery pack for the device to be battery - replaced.

[0106] The transporter in the battery - swapping station can disassemble and install the battery pack for the device to be battery - replaced. The transporter usually runs on the transporter track and can move horizontally along the transporter track. In the battery - swapping station, the transporter can specifically be a Rail Guided Vehicle (RGV). The RGV is a part of the automated system in the battery - swapping station and is usually used to transport batteries or battery modules in the battery - swapping station. It automatically moves inside the battery - swapping station through a fixed track or a guiding system to replace the battery for the device to be battery - replaced.

[0107] It can be understood that the transporter moves horizontally along the track while the lifting mechanism moves up and down, and there is a probability of collision between the two. When the height between the lifting mechanism and the transporter track is higher than the height of the transporter, the lifting mechanism and the transporter will not collide. Therefore, to avoid the collision between the lifting mechanism and the transporter during the movement, it is necessary to detect the lifting height of the lifting mechanism in real - time.

[0108] In the embodiment of the present application, an unpacked - battery shuttle position is set for the lifting mechanism. The first height between the unpacked - battery shuttle position and the transporter track is higher than the height of the transporter without a battery pack. Then, when the lifting mechanism is at the unpacked - battery shuttle position, it is possible to control the transporter without a battery pack to drive out and be located below the device to be battery - replaced. This is because when the lifting mechanism is at the unpacked - battery shuttle position, the first height between the lifting mechanism and the transporter track is sufficient for the transporter to shuttle on the track, and the transporter will not collide with the lifting mechanism during the shuttling process.

[0109] When the transporter without a battery pack is located below the device to be battery - replaced, it is possible to control the lifting mechanism to descend from the unpacked - battery shuttle position to the unpacking position, and control the transporter to remove the first battery pack of the device to be battery - replaced. This first battery pack is usually a low - power battery pack. For example, a battery pack with a power less than 15% is a low - power battery pack. In some scenarios, the first battery pack can also be a defective battery pack.

[0110] After the transfer vehicle removes the first battery pack, it is necessary to transport the carried first battery pack to the battery compartment through the transfer vehicle track. At this time, a part of the transfer vehicle carrying the first battery pack and the device to be battery-replaced is chimeric. The height of the lifting mechanism between the unpacking position and the transfer vehicle track is not enough to support the transfer vehicle carrying the first battery pack to shuttle on the track. Based on this, the embodiment of the present application also sets a position for the lifting mechanism to shuttle with the battery pack.

[0111] The second height between the position for the lifting mechanism to shuttle with the battery pack and the transfer vehicle track in the embodiment of the present application is higher than the height of the transfer vehicle carrying the battery pack. When the lifting mechanism is in the position for the lifting mechanism to shuttle with the battery pack, the transfer vehicle carrying the first battery pack can be controlled to drive away from under the device to be battery-replaced. This is because when the lifting mechanism is in the position for the lifting mechanism to shuttle with the battery pack, the second height between the lifting mechanism and the transfer vehicle track is sufficient for the transfer vehicle carrying the first battery pack to shuttle on the track, and the transfer vehicle will not collide with the lifting mechanism during the shuttling process.

[0112] The transfer vehicle drives away from under the device to be battery-replaced and performs the movement of carrying the battery pack into the warehouse. During the movement of the transfer vehicle, the lifting height of the lifting mechanism is obtained in real time, and anti-collision interlock protection is performed in real time.

[0113] After the transfer vehicle puts the first battery pack into the battery compartment, it will take out the second battery pack from the battery compartment. The second battery pack is a high-power battery pack. For example, a battery pack with a power higher than 95% is a high-power battery pack. The second battery pack is usually a fully charged battery pack, that is, 100% power.

[0114] To enable the transfer vehicle carrying the second battery pack to shuttle on the track under the lifting mechanism, the lifting mechanism still needs to be in the position for the lifting mechanism to shuttle with the battery pack. In this case, the transfer vehicle that has carried the second battery pack from the battery compartment can be controlled to drive out under the device to be battery-replaced.

[0115] When the transfer vehicle carrying the second battery pack is under the device to be battery-replaced, the lifting mechanism can be controlled to descend from the position for the lifting mechanism to shuttle with the battery pack to the battery-pack loading position. When the lifting mechanism is in the battery-pack loading position, the transfer vehicle can be controlled to install the second battery pack on the device to be battery-replaced, so as to replace the battery pack for the device to be battery-replaced.

[0116] In some embodiments, when it is determined based on the lifting height that the lifting mechanism is in the position for the lifting mechanism to shuttle without the battery pack, before controlling the transfer vehicle without carrying the battery pack to drive out under the device to be battery-replaced, the method further includes:

[0117] Controlling the lifting mechanism to move from the standby position upward through the lifting deceleration position and the detachment platform position of the battery-replacement device to the position for the lifting mechanism to shuttle without the battery pack;

[0118] Among them, when the lifting mechanism moves from the standby position to the lifting deceleration position, it accelerates; when the lifting mechanism moves from the lifting deceleration position to the detachment platform position of the battery swapping device, it moves at a constant speed; when the lifting mechanism moves from the detachment platform position of the battery swapping device to the empty-battery shuttle position, it decelerates.

[0119] As described in the foregoing embodiments, with the ground as a reference, the adjacent fixed-point position above the standby position is the lifting deceleration position, the adjacent fixed-point position above the lifting deceleration position is the detachment platform position, and the adjacent fixed-point position above the detachment platform position is the empty-battery shuttle position. That is, the movement process of the lifting mechanism from the standby position to the empty-battery shuttle position is actually that the lifting mechanism moves upward from the standby position through the lifting deceleration position and the detachment platform position of the battery swapping device to the empty-battery shuttle position. To make the lifting process smoother, when the lifting mechanism moves from the standby position to the lifting deceleration position, it accelerates; when the lifting mechanism moves from the lifting deceleration position to the detachment platform position of the battery swapping device, it moves at a constant speed; when the lifting mechanism moves from the detachment platform position of the battery swapping device to the empty-battery shuttle position, it decelerates, and the lifting mechanism stops at the empty-battery shuttle position.

[0120] In some embodiments, when the transporter without a battery pack is located below the battery swapping device to be replaced and it is determined based on the lifting height that the lifting mechanism is at the unpacking position, before controlling the transporter to remove the first battery pack of the battery swapping device to be replaced, the method further includes:

[0121] Controlling the lifting mechanism to move downward from the empty-battery shuttle position through the unpacking deceleration position to the unpacking position;

[0122] When the lifting mechanism moves from the empty-battery shuttle position to the unpacking deceleration position, it moves at a constant speed; when the lifting mechanism moves from the unpacking deceleration position to the unpacking position, it decelerates.

[0123] In the embodiments of the present application, an unpacking deceleration position is provided between the empty-battery shuttle position and the unpacking position. The unpacking deceleration position refers to the position where the lifting mechanism starts to decelerate when moving from a position below the unpacking deceleration position to the unpacking position. The downward movement process of the lifting mechanism from the empty-battery shuttle position to the unpacking position can be regarded as the lifting mechanism moving downward from the empty-battery shuttle position through the unpacking deceleration position to the unpacking position. When the lifting mechanism moves from the empty-battery shuttle position to the unpacking deceleration position, it moves at a constant speed; when the lifting mechanism moves from the unpacking deceleration position to the unpacking position, it decelerates. When the lifting mechanism reaches the unpacking deceleration position, it starts to decelerate, making the battery swapping process more stable and smooth. When it reaches the unpacking position, it stops moving, so as to remove the first battery pack at the unpacking position.

[0124] In some embodiments, after controlling the transporter to remove the first battery pack of the battery swapping device to be replaced, the method further includes:

[0125] Controlling the lifting mechanism to move upward from the unpacking position to the full-battery shuttle position;

[0126] When the lifting mechanism moves from the unpacking position to the battery-pack shuttle position, it successively performs an acceleration motion, a uniform motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion.

[0127] As described in the foregoing embodiments, the second height between the battery-pack shuttle position and the transporter track is higher than the height of the transporter carrying the battery pack. Therefore, after the transporter removes the first battery pack of the device to be battery-swapped, the lifting mechanism can be controlled to move upward from the unpacking position to the battery-pack shuttle position. When the lifting mechanism is in the battery-pack shuttle position, the transporter carrying the first battery pack can be controlled to drive away from below the device to be battery-swapped. When the lifting mechanism moves from the unpacking position to the battery-pack shuttle position, it successively performs an acceleration motion, a uniform motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion. When in the battery-pack shuttle position, the lifting mechanism stops moving.

[0128] When the lifting mechanism is in the battery-pack shuttle position, it is also necessary to control the transporter carrying the first battery pack to drive away from below the device to be battery-swapped and control the transporter to transfer the first battery pack to the battery compartment.

[0129] In some embodiments, when the transporter carrying the second battery pack is located below the device to be battery-swapped and it is determined based on the lifting height that the lifting mechanism is in the battery-pack loading position, before controlling the transporter to install the second battery pack on the device to be battery-swapped, the method further includes:

[0130] Controlling the lifting mechanism to move downward from the battery-pack shuttle position through the battery-pack loading deceleration position to the battery-pack loading position;

[0131] When the lifting mechanism moves from the battery-pack shuttle position to the battery-pack loading deceleration position, it performs an acceleration motion, or successively performs an acceleration motion and a uniform motion;

[0132] When the lifting mechanism moves from the battery-pack loading deceleration position to the battery-pack loading position, it performs a deceleration motion, or successively performs a uniform motion and a deceleration motion.

[0133] After the embodiment of the present application controls the transporter to transfer the first battery pack to the battery compartment, then it is also necessary to control the transporter to take out the second battery pack from the battery compartment, control the transporter carrying the second battery pack to drive out to below the device to be battery-swapped, and then control the lifting mechanism to move downward from the battery-pack shuttle position to the battery-pack loading position.

[0134] The downward movement process of the lifting mechanism from the battery-pack shuttle position to the battery-pack loading position can be regarded as the lifting mechanism moving downward from the battery-pack shuttle position through the battery-pack loading deceleration position to the battery-pack loading position. When the lifting mechanism moves from the battery-pack shuttle position to the battery-pack loading deceleration position, it performs an acceleration motion, or successively performs an acceleration motion and a uniform motion; when the lifting mechanism moves from the battery-pack loading deceleration position to the battery-pack loading position, it performs a deceleration motion, or successively performs a uniform motion and a deceleration motion. That is, when the lifting mechanism reaches the battery-pack loading deceleration position, it starts to decelerate, making the battery swapping process more stable and smooth. When it reaches the battery-pack loading position, it stops moving, so as to install the second battery pack at the battery-pack loading position.

[0135] In some embodiments, after controlling the transfer vehicle to install the second battery pack on the device to be battery - replaced, the method further includes:

[0136] Controlling the lifting mechanism to move upward from the battery - loading position to the empty - shuttle position;

[0137] When it is determined that the lifting mechanism is at the empty - shuttle position based on the lifting height, controlling the transfer vehicle without a battery pack to drive out from under the battery - replaced device;

[0138] When the transfer vehicle moves out from under the battery - replaced device, controlling the lifting mechanism to move downward from the empty - shuttle position to the standby position, so that the battery - replaced device can drive away;

[0139] When the lifting mechanism moves from the battery - loading position to the empty - shuttle position, it successively performs an acceleration motion, a uniform - speed motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion; when the lifting mechanism moves from the empty - shuttle position to the standby position, it successively performs an acceleration motion, a uniform - speed motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion.

[0140] After the embodiment of the present application controls the transfer vehicle to install the second battery pack on the device to be battery - replaced, in order to have enough height between the lifting mechanism and the transfer vehicle track for the transfer vehicle to shuttle, it is necessary to control the lifting mechanism to move upward from the battery - loading position to the empty - shuttle position. When the lifting mechanism moves from the battery - loading position to the empty - shuttle position, it successively performs an acceleration motion, a uniform - speed motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion, and the lifting mechanism stops moving when it is at the empty - shuttle position.

[0141] When it is determined that the lifting mechanism is at the empty - shuttle position based on the lifting height, controlling the transfer vehicle without a battery pack to drive out from under the battery - replaced device and move to the battery compartment.

[0142] Then, when the transfer vehicle moves out from under the battery - replaced device, controlling the lifting mechanism to move downward from the empty - shuttle position to the standby position, so that the battery - replaced device can drive away. When the lifting mechanism moves from the empty - shuttle position to the standby position, it successively performs an acceleration motion, a uniform - speed motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion, and stops moving after descending to the standby position.

[0143] In some embodiments, the lifting mechanism includes a first motor and a second motor; the first motor is used to drive the left side of the lifting mechanism to lift; the second motor is used to drive the right side of the lifting mechanism to lift;

[0144] Controlling the lifting mechanism to lift the device to be battery - replaced includes:

[0145] Controlling the electronic gears corresponding to the first motor and the second motor to be synchronized and rotate at the same speed, so that the left and right sides of the lifting mechanism lift the device to be battery - replaced synchronously.

[0146] The left and right lifting arms of the lifting mechanism in the embodiments of the present application are respectively driven by a first motor and a second motor. Specifically, the first motor is used to drive the left side of the lifting mechanism to lift; the second motor is used to drive the right side of the lifting mechanism to lift. The first motor and the second motor can be servo motors. A servo motor is a type of motor that can precisely control angles, positions, speeds, and accelerations and is widely used in fields that require precise motion control.

[0147] In the embodiments of the present application, both the first motor and the second motor have corresponding electronic gears (Electronic Gearing). Electronic gears are a virtual gear drive implemented based on an electronic control system. It synchronizes or coordinates the motion speeds or positions of two or more motion systems through electronic control technology without relying on traditional mechanical gear drive methods.

[0148] When controlling the lifting mechanism to lift the power replacement device to be lifted, the corresponding electronic gears of the first motor and the second motor can be controlled to rotate synchronously and at the same speed, so that the left and right sides of the lifting mechanism can lift the power replacement device to be lifted synchronously without the need for secondary leveling operations.

[0149] Of course, in some non-synchronous scenarios (such as when the vehicle needs to be tilted), the corresponding electronic gears of the first motor and the second motor can be controlled to be non-synchronous and / or rotate at different speeds.

[0150] As Figure 2 shown, the embodiments of the present application provide schematic diagrams of the fixed-point positions of the lifting mechanism. The multiple fixed-point positions are respectively: ① lower hard limit position, ② lower soft limit position, ③ standby position, ④ lifting deceleration position, ⑤ platform detachment position, ⑥ no-pack shuttle position, ⑦ with-pack shuttle position, ⑧ unpacking position, ⑨ unpacking deceleration position, ⑩ packing position, packing deceleration position, upper soft limit position, upper hard limit position.

[0151] Sorting the heights of the respective fixed-point positions in descending order, they are respectively: ① lower hard limit position < ② lower soft limit position < ③ standby position < ④ lifting deceleration position < ⑤ platform detachment position < ⑩ packing position < ⑧ unpacking position < packing deceleration position < ⑨ unpacking deceleration position < ⑥ no-pack shuttle position < ⑦ with-pack shuttle position < upper soft limit position < upper hard limit position.

[0152] Continuing Figure 2 the embodiments, in a certain scenario, the power replacement device to be lifted is a vehicle, and the transfer vehicle is an RGV. The lifting process can be divided into the following stages:

[0153] The first stage: Obtain the target signal sent by the clamping mechanism, and control the lifting mechanism to lift according to the fixed-point trajectory ③ standby position → ④ lifting deceleration position → ⑤ platform detachment position → ⑥ empty-bag shuttle position. Among them, when the lifting mechanism is at the ⑤ platform detachment position, if the extraction torque is greater than the gravity, control the lifting mechanism to continue lifting towards the ⑥ empty-bag shuttle position.

[0154] The second stage: Obtain the lifting height of the lifting mechanism in real time; when it is determined based on the lifting height that the lifting mechanism is at the ⑥ empty-bag shuttle position, control the transporter without the battery pack to drive out under the vehicle, and then control the lifting mechanism to lift according to the fixed-point trajectory ⑥ empty-bag shuttle position → ⑨ unpacking deceleration position → ⑧ unpacking position. When it is determined based on the lifting height that the lifting mechanism is at the ⑧ unpacking position, control the RGV to remove the first battery pack of the vehicle.

[0155] The third stage: After unpacking is completed, control the lifting mechanism to lift along the fixed-point trajectory ⑧ unpacking position → ⑦ bagged shuttle position. When it is determined based on the lifting height that the lifting mechanism is at the ⑦ bagged shuttle position, control the RGV carrying the second battery pack to drive away from under the vehicle.

[0156] Control the RGV to take out the second battery pack from the battery compartment, and control the RGV carrying the second battery pack to drive out under the vehicle.

[0157] The fourth stage: After the RGV is in place, bagging needs to be carried out. The lifting mechanism can be controlled to lift along the fixed-point trajectory ⑦ bagged shuttle position → bagging deceleration position → ⑩ bagging position. When the lifting mechanism is at the ⑩ bagging position, the RGV can be controlled to install the second battery pack on the vehicle, thereby replacing the battery pack of the vehicle.

[0158] The fifth stage: After bagging is completed, the lifting mechanism can be controlled to lift along the fixed-point trajectory ⑩ bagging position → ⑥ empty-bag shuttle position. When it is determined based on the lifting height that the lifting mechanism is at the ⑥ empty-bag shuttle position, control the RGV without the battery pack to drive away from under the vehicle.

[0159] The sixth stage: When the RGV drives away from under the vehicle, control the lifting mechanism along the fixed-point trajectory ⑥ empty-bag shuttle position → ③ standby position, and the vehicle can drive away.

[0160] It can be found through the above lifting process that: The embodiment of the present application provides a lifting control method with stable control, simple operation, and complete anti-fooling and interlocking functions. Through a control algorithm that combines the position mode and the torque mode, the lifting speed and position are accurately controlled. The vehicle is detected by both the lifting torque and the gravity sensor to determine whether it is fully carried on the lifting arm, and the detection result is more reliable. The lifting mechanism, the clamping mechanism, and the RGV trolley are comprehensively and real-time interlocked for anti-collision protection, and a more reliable lifting and battery replacement process can be provided.

[0161] The lifting control method provided by the embodiments of the present application may have a lifting control device as the execution subject. In the embodiments of the present application, taking the lifting control device as an example to execute the lifting control method, the lifting control device provided by the embodiments of the present application is described.

[0162] The embodiments of the present application also provide a lifting control device.

[0163] As Figure 3 shown, the lifting control device includes: a control module 310 and a first processing module 320.

[0164] The control module 310 is configured to control the lifting mechanism to lift the device to be battery-swapped based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be battery-swapped is in the in-place state, and the clamping mechanism has clamped the device to be battery-swapped;

[0165] The first processing module 320 is configured to, during the process of lifting the device to be battery-swapped, when it is determined that the lifting mechanism is at the detachment platform position of the battery-swapping device according to the lifting height of the lifting mechanism, compare the extraction torque of the lifting mechanism with the gravity of the device to be battery-swapped;

[0166] The control module 310 is further configured to, when the extraction torque is greater than the gravity, control the lifting mechanism to continue lifting the device to be battery-swapped to replace the battery pack for the device to be battery-swapped.

[0167] According to the lifting control device provided by the embodiments of the present application, by controlling the lifting mechanism to lift the device to be battery-swapped based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be battery-swapped is in the in-place state, and the clamping mechanism has clamped the device to be battery-swapped, that is, controlling the lifting mechanism to lift the device to be battery-swapped when receiving the target signal, the device to be battery-swapped can be effectively fixed, and the displacement or misalignment of the device to be battery-swapped during the lifting process can be effectively avoided, improving the reliability of the battery-swapping device.

[0168] In addition, during the process of lifting the device to be battery-swapped, when the lifting mechanism is at the detachment platform position of the battery-swapping device and the extraction torque of the lifting mechanism and the gravity of the device to be battery-swapped, it can be determined that the device to be battery-swapped is fully carried on the lifting mechanism. In this case, controlling the lifting mechanism to continue lifting the device to be battery-swapped further improves the reliability and safety of the battery-swapping process, and also avoids damaging the lifting mechanism.

[0169] In some embodiments, the control module 310 is further configured to:

[0170] When the extraction torque is not greater than the gravity, control the lifting mechanism to stop moving to stop lifting the device to be battery-swapped;

[0171] Output an alarm message; the alarm message is used to indicate that the device to be battery-swapped is not fully carried on the lifting mechanism.

[0172] In some embodiments, the control module 310 is further configured to:

[0173] Obtain the lifting height of the lifting mechanism in real time;

[0174] When it is determined based on the lifting height that the lifting mechanism is in the no-battery-pack shuttle position, control the transfer vehicle without a battery pack to drive out below the power replacement device; the first height between the no-battery-pack shuttle position and the transfer vehicle track is higher than the height of the transfer vehicle without a battery pack;

[0175] When the transfer vehicle without a battery pack is below the power replacement device and it is determined based on the lifting height that the lifting mechanism is in the unpacking position, control the transfer vehicle to remove the first battery pack of the power replacement device;

[0176] When it is determined based on the lifting height that the lifting mechanism is in the with-battery-pack shuttle position, control the transfer vehicle carrying the second battery pack from the battery compartment to drive out below the power replacement device; the second height between the with-battery-pack shuttle position and the transfer vehicle track is higher than the height of the transfer vehicle carrying a battery pack;

[0177] When the transfer vehicle carrying the second battery pack is below the power replacement device and it is determined based on the lifting height that the lifting mechanism is in the battery-pack installation position, control the transfer vehicle to install the second battery pack on the power replacement device to replace the battery pack of the power replacement device.

[0178] In some embodiments, the control module 310 is further configured to:

[0179] Control the lifting mechanism to move upward from the standby position through the lifting deceleration position and the detachment platform position of the power replacement device to the no-battery-pack shuttle position;

[0180] Among them, the lifting mechanism accelerates when moving from the standby position to the lifting deceleration position; the lifting mechanism moves at a constant speed when moving from the lifting deceleration position to the detachment platform position of the power replacement device; the lifting mechanism decelerates when moving from the detachment platform position of the power replacement device to the no-battery-pack shuttle position.

[0181] In some embodiments, the control module 310 is further configured to:

[0182] Control the lifting mechanism to move downward from the no-battery-pack shuttle position through the unpacking deceleration position to the unpacking position;

[0183] The lifting mechanism moves at a constant speed when moving from the no-battery-pack shuttle position to the unpacking deceleration position; the lifting mechanism decelerates when moving from the unpacking deceleration position to the unpacking position.

[0184] In some embodiments, the control module 310 is further configured to:

[0185] Control the lifting mechanism to move upward from the unpacking position to the with-battery-pack shuttle position;

[0186] When the lifting mechanism moves from the unpacking position to the bagged shuttle position, it successively performs an acceleration motion, a uniform motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion.

[0187] In some embodiments, the control module 310 is further configured to:

[0188] Control the lifting mechanism to move downward from the bagged shuttle position through the bagging deceleration position to the bagging position;

[0189] When the lifting mechanism moves from the bagged shuttle position to the bagging deceleration position, it performs an acceleration motion, or successively performs an acceleration motion and a uniform motion;

[0190] When the lifting mechanism moves from the bagging deceleration position to the bagging position, it performs a deceleration motion, or successively performs a uniform motion and a deceleration motion.

[0191] In some embodiments, the control module 310 is further configured to:

[0192] Control the lifting mechanism to move upward from the bagging position to the bagless shuttle position;

[0193] When it is determined based on the lifting height that the lifting mechanism is in the bagless shuttle position, control the transporter without a battery pack to drive away from under the replaced power equipment;

[0194] When the transporter moves out from under the replaced power equipment, control the lifting mechanism to move downward from the bagless shuttle position to the standby position so that the replaced power equipment drives away;

[0195] When the lifting mechanism moves from the bagging position to the bagless shuttle position, it successively performs an acceleration motion, a uniform motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion; when the lifting mechanism moves from the bagless shuttle position to the standby position, it successively performs an acceleration motion, a uniform motion, and a deceleration motion, or successively performs an acceleration motion and a deceleration motion.

[0196] In some embodiments, the lifting mechanism includes a first motor and a second motor; the first motor is used to drive the left side of the lifting mechanism to lift; the second motor is used to drive the right side of the lifting mechanism to lift;

[0197] The control module 310 is further configured to:

[0198] Control the electronic gears corresponding to the first motor and the second motor to be synchronized and rotate at the same speed, so that the left and right sides of the lifting mechanism synchronously lift the power equipment to be replaced.

[0199] The lifting control device in the embodiments of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than terminals. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. It can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0200] The lifting control device in the embodiments of the present application can be a device with an operating system. The operating system can be the Microsoft (Windows) operating system, the Android operating system, the IOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0201] The lifting control device provided by the embodiments of the present application can implement Figures 1 to 2 each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0202] In some embodiments, as Figure 4 shown, the embodiments of the present application further provide an electronic device 400, including a processor 401, a memory 402, and a computer program stored on the memory 402 and executable on the processor 401. When the program is executed by the processor 401, it implements each process of the above-mentioned lifting control method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0203] The processor 401 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor 401 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0204] The memory 402 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or it may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store a computer program and can be read by a computer, which is not limited herein.

[0205] The memory 402 is used to store the computer program for implementing the embodiments of this application and is controlled by the processor 401 for execution. The processor 401 is used to execute the computer program stored in the memory 402 to implement the steps shown in the foregoing method embodiments.

[0206] It should be noted that the electronic devices in the embodiments of this application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0207] The embodiments of this application also provide a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above-mentioned lifting control method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0208] Among them, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media such as computer read-only memory ROM, random access memory RAM, magnetic disks, or optical discs.

[0209] An embodiment of the present application further provides a computer program product, including a computer program, which implements the above-mentioned lifting control method when executed by a processor.

[0210] Among them, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media such as computer read-only memory ROM, random access memory RAM, magnetic disks, or optical discs.

[0211] Another embodiment of the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement each process of the above-mentioned lifting control method embodiment, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0212] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip.

[0213] It should be noted that in this article, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element. In addition, it should be pointed out that the methods and devices in the embodiments of the present application are not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0214] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases, the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the related technology can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0215] The embodiments of the present application have been described above with reference to the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0216] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0217] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A lifting control method, characterized in that: include: Controlling the lifting mechanism to lift the device to be replaced based on the target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be replaced is in place and the clamping mechanism has clamped the device to be replaced; In the process of lifting the device to be replaced, when it is determined that the lifting mechanism is located at the detachment platform position of the battery replacement device according to the lifting height of the lifting mechanism, the extraction torque of the lifting mechanism is compared with the gravity of the device to be replaced; When the extraction torque is greater than the gravity, the lifting mechanism is controlled to continue lifting the device to be replaced so as to replace the battery pack for the device to be replaced.

2. The lifting control method according to claim 1, characterized in that: After comparing the extraction torque of the lifting mechanism with the gravity of the device to be replaced, the method further includes: When the extraction torque is not greater than the gravity, the lifting mechanism is controlled to stop moving, so as to stop lifting the device to be replaced; Output an alarm message; the alarm message is used to indicate that the device to be replaced is not completely loaded on the lifting mechanism.

3. The lifting control method according to claim 1, characterized in that: The controlling the lifting mechanism to continue lifting the device to be replaced includes: Acquiring the lifting height of the lifting mechanism in real time; When it is determined based on the lifting height that the lifting mechanism is located at the no-battery shuttle position, the transfer vehicle without a battery pack is controlled to move out to the bottom of the device to be replaced; the first height between the no-battery shuttle position and the transfer vehicle track is higher than the height of the transfer vehicle without a battery pack; When the transfer vehicle without a battery pack is located below the device to be replaced, and the lifting mechanism is determined to be located at the unpacking position based on the lifting height, the transfer vehicle is controlled to remove the first battery pack of the device to be replaced; When it is determined based on the lifting height that the lifting mechanism is located at the shuttle position with a battery pack, the transfer vehicle carrying the second battery pack from the battery compartment is controlled to move out to the bottom of the device to be replaced; the second height between the shuttle position with a battery pack and the transfer vehicle track is higher than the height of the transfer vehicle carrying the battery pack; When the transfer vehicle carrying the second battery pack is located below the device to be replaced and the lifting mechanism is determined to be located at the loading position based on the lifting height, the transfer vehicle is controlled to install the second battery pack on the device to be replaced to replace the battery pack for the device to be replaced.

4. The lifting control method according to claim 3, characterized in that: In the case where it is determined based on the lifting height that the lifting mechanism is located at the no-battery shuttle position, before controlling the transfer vehicle without a battery pack to drive out to the bottom of the device to be replaced, the method further includes: Control the lifting mechanism to move upward from the standby position through the lifting deceleration position and the disengagement platform position of the battery exchange equipment to the package-free shuttle position; Among them, the lifting mechanism accelerates when moving from the standby position to the lifting deceleration position; the lifting mechanism moves at a uniform speed when moving from the lifting deceleration position to the battery exchange equipment's detached platform position; the lifting mechanism decelerates when moving from the battery exchange equipment's detached platform position to the bag-free shuttle position.

5. The lifting control method according to claim 3, characterized in that: When the transfer vehicle without a battery pack is located below the device to be replaced, and the lifting mechanism is determined to be located at the unpacking position based on the lifting height, before controlling the transfer vehicle to remove the first battery pack of the device to be replaced, the method further includes: Control the lifting mechanism to move downward from the no-package shuttle position to the unpacking position via the unpacking deceleration position; The lifting mechanism performs uniform motion when moving from the no-package shuttle position to the unpacking deceleration position; and the lifting mechanism performs deceleration motion when moving from the unpacking deceleration position to the unpacking position.

6. The lifting control method according to claim 3, characterized in that: After controlling the transfer vehicle to remove the first battery pack of the device to be replaced, the method further includes: Controlling the lifting mechanism to move upward from the unpacking position to the shuttle position with packages; When the lifting mechanism moves from the unpacking position to the shuttle position with packages, it performs acceleration motion, uniform speed motion and deceleration motion in sequence, or performs acceleration motion and deceleration motion in sequence.

7. The lifting control method according to claim 3, characterized in that: When the transfer vehicle carrying the second battery pack is located below the device to be replaced, and the lifting mechanism is determined to be located at the packing position based on the lifting height, before controlling the transfer vehicle to install the second battery pack on the device to be replaced, the method further includes: Control the lifting mechanism to move downward from the package shuttle position through the package deceleration position to the package loading position; The lifting mechanism performs an accelerated motion when moving from the bag shuttle position to the bag loading deceleration position, or performs an accelerated motion and a uniform motion in sequence; The lifting mechanism performs a deceleration motion when moving from the packing deceleration position to the packing position, or performs a uniform speed motion and a deceleration motion in sequence.

8. The lifting control method according to claim 4, characterized in that: After controlling the transfer vehicle to install the second battery pack on the device to be replaced, the method further includes: Controlling the lifting mechanism to move upward from the packing position to the no-pack shuttle position; When it is determined based on the lifting height that the lifting mechanism is located at the no-battery shuttle position, controlling the transfer vehicle without the battery pack to drive away from under the battery-exchanged equipment; When the transfer vehicle moves out from under the battery-swapped device, the lifting mechanism is controlled to move downward from the no-package shuttle position to the standby position, so that the battery-swapped device can be driven away; When the lifting mechanism moves from the packing position to the no-package shuttle position, it performs acceleration motion, uniform speed motion and deceleration motion in sequence, or performs acceleration motion and deceleration motion in sequence; when the lifting mechanism moves from the no-package shuttle position to the standby position, it performs acceleration motion, uniform speed motion and deceleration motion in sequence, or performs acceleration motion and deceleration motion in sequence.

9. The lifting control method according to any one of claims 1 to 8, characterized in that: The lifting mechanism comprises a first motor and a second motor; the first motor is used to drive the left side of the lifting mechanism to lift; The second motor is used to drive the right side of the lifting mechanism to lift; The controlling the lifting mechanism to lift the device to be replaced includes: The electronic gears corresponding to the first motor and the second motor are controlled to rotate synchronously and at the same speed, so that the left and right sides of the lifting mechanism can synchronously lift the device to be replaced.

10. A lifting control device, characterized in that: A control module, used to control the lifting mechanism to lift the device to be replaced based on a target signal sent by the clamping mechanism; the target signal is used to indicate that the device to be replaced is in place and the clamping mechanism has clamped the device to be replaced; A first processing module is used for comparing the extraction torque of the lifting mechanism with the gravity of the device to be replaced when it is determined that the lifting mechanism is located at a position of the device to be replaced from the platform according to the lifting height of the lifting mechanism during the process of lifting the device to be replaced; The control module is also used to control the lifting mechanism to continue lifting the device to be replaced when the extraction torque is greater than the gravity, so as to replace the battery pack for the device to be replaced.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the lifting control method as described in any one of claims 1 to 9 is implemented.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the lifting control method as described in any one of claims 1 to 9 is implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the lifting control method according to any one of claims 1 to 9 is implemented.

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