Battery pack locking method and device, storage medium and program product

Abstract

The invention relates to the technical field of new energy automobiles, in particular to a battery pack locking method and device, a storage medium and a program product.The battery pack locking method comprises the steps that a motor is controlled to output first torque to enable a locking device to rotate, and whether the locking device works normally or not is judged according to the first actual rotation number of turns of the locking device; if the locking device does not work normally, the motor is controlled to output a second torque to enable the locking device to rotate, whether the locking device works normally or not is judged according to the second actual rotation number of turns of the locking device, and if the locking device does not work normally, an alarm is given; and if the locking device works normally, the motor is controlled to output a third torque to enable the locking device to rotate until the number of rotation turns of the locking device reaches a third target number of rotation turns, and the lock body feedback torque of the lock body is equal to the lock body target torque.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and particularly to a method, device, storage medium and program product for locking a battery pack. Background Art

[0002] During the process of battery swapping for new energy vehicles, it is necessary to first unlock and remove the original battery pack from the vehicle to be swapped, and then lock and fix the prepared battery pack to the vehicle to be swapped. Most operations such as unlocking, disassembling, installing and locking are completed by a manipulator or a robot driven by a motor.

[0003] After long-term use, the locking device of the battery pack will inevitably suffer from structural wear, and jamming often occurs when the locking device of the battery pack is loaded and fixed to the vehicle to be swapped. Specifically, when locking, the locking device rotates smoothly in the lock body device, and the locking device of the battery pack cannot be locked relative to the lock body device on the vehicle, resulting in an unsmooth locking process. In severe cases, the locking fails and the battery swapping fails. In order to reduce the waiting time of users during the battery swapping process and reduce the battery swapping failure rate, there is an urgent need for a battery pack locking method to deal with lock body jamming. Summary of the Invention

[0004] The present invention provides a battery pack locking method for dealing with lock body jamming, including the following steps:

[0005] Control the motor to output a first torque to rotate the locking device, and judge whether the locking device works normally according to the first actual rotation circle number of the locking device;

[0006] If the locking device does not work normally, control the motor to output a second torque to rotate the locking device, and judge whether the locking device works normally according to the second actual rotation circle number of the locking device. If the locking device does not work normally, give an alarm;

[0007] If the locking device works normally, control the motor to output a third torque to rotate the locking device until the rotation circle number of the locking device reaches the third target rotation circle number and the lock body feedback torque of the lock body is equal to the lock body target torque.

[0008] Further, the step of controlling the motor to output a first torque to rotate the locking device and judging whether the locking device works normally according to the first actual rotation circle number of the locking device includes:

[0009] Control the motor to use the first torque as the output torque and the first time as the output duration, and continuously output to rotate the locking device;

[0010] Obtain the first actual number of rotation cycles of the locking device, and compare the first actual number of rotation cycles of the locking device with the first target number of rotation cycles. If the first actual number of rotation cycles of the locking device is less than the first target number of rotation cycles, it indicates that the locking device is not working properly; if the first actual number of rotation cycles is greater than the first target number of rotation cycles, it indicates that the locking device is working properly.

[0011] Further, the obtaining the first actual number of rotation cycles of the locking device includes:

[0012] Obtain the first starting position of the motor at the starting point of the first time;

[0013] Obtain the first actual rotation position of the motor at the ending point of the first time;

[0014] Calculate the first actual number of rotation cycles of the locking device according to the first starting position of the motor and the first actual rotation position of the motor.

[0015] Further, the controlling the motor to output a second torque to rotate the locking device and judging whether the locking device is working properly according to the second actual number of rotation cycles of the locking device includes:

[0016] Adjust the output torque of the motor to the second torque, where the second torque is greater than the first torque, and continuously output the second torque with the second time as the output duration to rotate the locking device;

[0017] Obtain the second actual number of rotation cycles of the locking device, and compare the second actual number of rotation cycles of the locking device with the second target number of rotation cycles. If the second actual number of rotation cycles of the locking device is less than the second target number of rotation cycles, give an alarm; if the second actual number of rotation cycles of the locking device is greater than the second target number of rotation cycles, it indicates that the locking device is working properly.

[0018] Further, the obtaining the second actual number of rotation cycles of the locking device includes:

[0019] Obtain the second starting position of the motor at the starting point of the second time;

[0020] Obtain the second actual rotation position of the motor at the ending point of the second time;

[0021] Calculate the second actual number of rotation cycles of the locking device according to the second starting position of the motor and the second actual rotation position of the motor.

[0022] Further, the controlling the motor to output a third torque to rotate the locking device until the number of rotation cycles of the locking device reaches the third target number of rotation cycles and the lock body feedback torque of the lock body is equal to the lock body target torque includes:

[0023] Adjust the output torque of the motor to a third torque, where the third torque is less than the second torque. Continuously output the third torque to rotate the locking device, and continuously obtain the third actual number of rotation cycles of the locking device. If the duration during which the third actual number of rotation cycles of the locking device is less than the third target number of rotation cycles is greater than the third time, then give an alarm.

[0024] After the third actual number of rotation cycles of the locking device reaches the third target number of rotation cycles, reduce the output speed of the motor. Continuously obtain the lock body feedback torque of the lock body device and stop locking when the lock body feedback torque of the lock body device is equal to the lock body target torque. If the duration during which the lock body feedback torque is less than the lock body target torque is greater than the fourth time, then give an alarm.

[0025] Further, the continuously obtaining the third actual number of rotation cycles of the locking device includes:

[0026] Obtain the third starting position of the motor at the end point of the first time or the end point of the second time;

[0027] Continuously detect and obtain the third actual rotation position of the motor while the motor continuously outputs the third torque;

[0028] Calculate the third actual number of rotation cycles of the locking device in real time according to the third starting position of the motor and the third actual rotation position of the motor.

[0029] Further, the present invention further includes a battery pack locking device, including a locking device, a lock body device, a controller, and a motor. The locking device is used to lock relative to the lock body device. The controller is used to control the output torque of the motor. The controller is further used to calculate the number of rotation cycles of the locking device to determine whether the locking device is working properly. The motor is used to drive the locking device to rotate to lock the locking device and the lock body device.

[0030] Further, the present invention further includes a readable storage medium storing a computer program, and when the computer program is executed by the controller, it implements the battery pack locking method according to any one of claims 1 to 7.

[0031] Further, the present invention further includes a program product including a computer program, and when the computer program is executed by the controller, it implements the battery pack locking method according to any one of claims 1 to 7.

[0032] The battery pack locking method provided by the present invention controls the motor to output specified torques of various magnitudes for a specified time in sequence to impact and lock, and respectively determines whether there is jamming in the locking device under different impacts. If there is jamming, the torque output is increased for a specified time to break through the looseness, improving the locking efficiency and reducing the failure rate of battery swapping. The present invention also protects the equipment by reducing the torque and lowering the rotational speed when initially determining that there is no jamming in the locking device, improving the reliability and stability of locking, and indirectly extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 FIG. is a schematic diagram of the locking device applicable to the battery pack locking method provided by the present invention.

[0034] Figure 2 FIG. is a schematic diagram of the battery pack locking method in the present invention.

[0035] In the figure: 1. Battery pack; 2. Locking mechanism; 21. Steel ball. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0037] It should be noted that the terms "first", "second", "third", "fourth", etc. in the description and claims of the present invention are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence.

[0038] Please refer to Figure 1 , the battery pack locking method provided by the present invention is applicable to battery swapping stations with direct motor drive locking devices, and is also applicable to battery swapping stations where battery swapping is performed by a manipulator or robot driven by a motor. In this specification, a battery swapping station with a direct motor drive locking device will be used as an example for description. The attached drawings of the specification Figure 1An embodiment of a locking device applicable to the battery pack locking method in the present invention is shown. In this embodiment, the locking device is fixedly connected to the battery pack 1 on its left side as a whole, and a plurality of locking devices are arranged on the left and right sides of the battery pack 1. The locking device includes a rotating mechanism and a locking mechanism 2. The rotating mechanism can drive a part of the locking mechanism 2 to move under the drive of the motor, so that the steel balls 21 on the locking mechanism 2 can bulge under the drive of the rotating mechanism to be locked relative to the lock body device on the vehicle. Correspondingly, the steel balls 21 on the locking mechanism 2 can also retract under the drive of the rotating mechanism to be unlocked relative to the lock body device on the vehicle. It is easy to understand that controlling the motor to lock the locking device relative to the lock body device is the ultimate goal of the battery pack locking action. To ensure that the locking device is locked relative to the lock body device, it is necessary to first ensure that the locking mechanism 2 of the locking device rotates enough turns in the lock body device. On this basis, it is also necessary to output a sufficient amount of torque to the locking device. If either the number of turns of the motor driving the locking device to rotate or the torque applied by the motor to the locking device fails to meet the standard, it indicates that the locking fails, and the equipment may malfunction or be damaged, and the battery swapping cannot continue.

[0039] Please refer to Figure 2 , the battery pack locking method in the present invention includes the following steps:

[0040] Step S1: Control the motor to output torque at a first torque and output duration at a first time, continuously output to make the locking device rotate, and then execute step S2.

[0041] Step S2: Obtain the first actual rotation number of turns of the locking device, compare the first actual rotation number of turns of the locking device with a preset first target rotation number of turns. If the first actual rotation number of turns of the locking device is less than the first target rotation number of turns, execute step S3; if the first actual rotation number of turns is greater than the first target rotation number of turns, execute step S5.

[0042] Specifically, the first torque, the first time, and the first target rotation number of turns are all preset values. The first torque is the preset torque when the motor outputs in step S1, and the first time is the preset output duration of the motor in step S1. Since the various parameters of the motor, the locking device, and the unlocking device, such as power and transmission ratio, etc. are all known parameters, the number of turns that the locking device rotates after the motor outputs torque at the first torque for the first time under ideal conditions can be calculated, that is, the first target rotation number of turns.

[0043] Further, obtaining the first actual rotation turns of the locking device includes: obtaining the first starting position of the motor at the starting point of the first time; obtaining the first actual rotation position of the motor at the ending point of the first time; calculating the first actual rotation turns of the locking device according to the angular difference between the first starting position and the first actual rotation position of the motor. In this embodiment, the starting point of the first time is the time point when the motor starts to output the first torque, and the ending point of the first time is the time point when the motor ends to output the first torque. That is to say, the first actual rotation turns of the locking device is the number of turns that the locking device actually rotates after the motor drives the locking device to rotate for the first time. As is well known to those skilled in the art, the rotation turns of the locking device can be calculated according to the rotation turns of the motor, the transmission ratio between the motor and the locking device, and other relevant parameters, and the rotation turns of the motor can be calculated according to the difference between the actual position and the starting position of the encoder of the motor and the encoder resolution. Since the transmission ratio between the motor and the locking device and the encoder resolution are both known parameters, as long as the difference between the actual position and the starting position of the encoder is obtained, the number of turns that the locking device actually rotates can be obtained. By comparing the number of turns that the locking device actually rotates with the preset target rotation turns, it can be determined whether the locking device operates normally. That is to say, by comparing the first actual rotation turns of the locking device with the first target rotation turns, it can be determined whether the locking device operates normally when the motor outputs the first torque. If the first actual rotation turns of the locking device is less than the first target rotation turns, it indicates that the locking device does not rotate enough turns after the motor outputs the first torque for the first time, and it is preliminarily determined that the locking device may be stuck, and step S3 needs to be executed; if the first actual rotation turns is equal to or greater than the first target rotation turns, it indicates that the locking device rotates enough turns after the motor outputs the first torque for the first time, and it is preliminarily determined that the locking device is not stuck and the locking can be carried out smoothly, and step S5 needs to be executed.

[0044] Step S3: Adjust the output torque of the motor to the second torque, and continuously output the second torque with the second time as the output duration to make the locking device rotate, and then execute step S4.

[0045] Step S4: Obtain the second actual rotation turns of the locking device, compare the second actual rotation turns of the locking device with the second target rotation turns. If the second actual rotation turns of the locking device is less than the second target rotation turns, alarm; if the second actual rotation turns of the locking device is greater than the second target rotation turns, execute step S5.

[0046] Specifically, the second torque, the second time, and the second target number of rotation cycles are all preset values. The second torque is the preset torque when the motor outputs in step S3, and the second time is the preset output duration of the motor in step S3. The second torque is set to be greater than the first torque because after steps S1 to S2, it is preliminarily determined that the locking device may be stuck, and the motor needs to output a greater torque to drive the locking device to impact and lock. The second target number of rotation cycles is calculated based on the second torque, the second time, and the relevant parameters of the motor and the locking device. The calculation principle of the second target number of rotation cycles is the same as that of calculating the first target number of rotation cycles, and will not be elaborated here.

[0047] Furthermore, obtaining the second actual number of rotation cycles of the locking device includes: obtaining the second starting position of the motor at the starting point of the second time; obtaining the second actual rotation position of the motor at the end point of the second time; calculating the second actual number of rotation cycles of the locking device based on the second starting position of the motor and the second actual rotation position of the motor. In this embodiment, the starting point of the second time is the end point of the first time, and the first actual rotation position of the motor is the second starting position of the motor. By comparing the number of cycles that the locking device has actually rotated with the preset target number of rotation cycles, it can be determined whether the locking device is operating normally. That is to say, by comparing the second actual number of rotation cycles of the locking device with the second target number of rotation cycles, it can be determined whether the locking device is operating normally when the motor outputs at the second torque. If the second actual number of rotation cycles of the locking device is less than the second target number of rotation cycles, it indicates that the locking device has not rotated enough cycles after the motor outputs the second torque for the second time, and the locking device has a serious jamming phenomenon, and the system alarms; if the second actual number of rotation cycles is greater than the second target number of rotation cycles, it indicates that the locking device has rotated enough cycles after the motor outputs the second torque for the second time. After the motor increases the output torque, it successfully drives the locking device to impact and lock, and the locking can proceed smoothly, and step S5 needs to be executed.

[0048] Step S5: Adjust the output torque of the motor to the third torque, continuously output the third torque to make the locking device rotate, continuously obtain the third actual number of rotation cycles of the locking device, and execute step S6 when the third actual number of rotation cycles of the locking device is equal to the third target number of rotation cycles; if the duration during which the third actual number of rotation cycles of the locking device is less than the third target number of rotation cycles is greater than the third time, alarm.

[0049] Specifically, both the third torque and the third time are preset values. The third torque is the preset torque when the motor outputs in step S5, and the third torque is set to be less than the first torque. This is because after steps S1 to S4, it is determined that there is no jamming phenomenon or the jamming phenomenon has been broken through under the drive of the first torque and the second torque of the motor. In order to reduce the impact of locking on the service life of the locking device and the lock body device, the locking cannot always be impacted with a large torque, and the lock body stress also needs to be appropriately reduced, which helps to extend the equipment life. Therefore, the motor needs to output a stable torque to drive the locking device to lock until the locking device rotates enough turns in the lock body device; the third time is the maximum output duration of the motor in step S5, rather than the preset duration that the motor actually needs to output. This is because there may be a jamming phenomenon when the locking device is under the drive of the third torque of the motor. Therefore, it is still necessary to continuously monitor the locking situation until the locking device rotates enough turns in the lock body device, that is, reaches the preset third target rotation number of turns. Based on this, the third target rotation number of turns is greater than the first target rotation number of turns and the second target rotation number of turns. Further, continuously obtaining the third actual rotation number of turns of the locking device includes: obtaining the third starting position of the motor at the end point of the first time or the end point of the second time; continuously detecting and obtaining the third actual rotation position of the motor while the motor continuously outputs the third torque; and calculating the third actual rotation number of turns of the locking device in real time according to the third starting position of the motor and the third actual rotation position of the motor. It is easy to understand that if step S5 is directly executed after step S2, the end point of the first time is the starting point of the third time; if step S5 is executed after step S4, the end point of the second time is the starting point of the third time. Starting from the starting point of the third time, it is necessary to continuously and real-time obtain the third actual rotation position to further calculate the third actual rotation number of turns. By comparing the third actual rotation number of turns of the locking device with the third target rotation number of turns in real time and detecting the time when the third actual rotation number of turns of the locking device reaches the third target rotation number of turns, it can be determined whether the locking device operates normally when the motor outputs at the third torque. If the third actual rotation number of turns of the locking device reaches the third target rotation number of turns under the premise that the output duration of the motor at the third torque is less than the third time, it indicates that there is no jamming phenomenon in the locking device when the motor outputs at the third torque, and step S6 needs to be executed; if the output duration of the motor at the third torque is greater than the third time and the third actual rotation number of turns of the locking device still does not reach the third target rotation number of turns, it indicates that there is a jamming phenomenon or other faults in the locking device when the motor outputs at the third torque, the locking fails, and the system alarms.

[0050] Step S6: Control the motor to reduce the speed, continuously output to make the locking device rotate, continuously obtain the lock body feedback torque of the lock body device and stop locking when the lock body feedback torque of the lock body device is equal to the lock body target torque. If the duration when the lock body feedback torque is less than the lock body target torque is greater than the fourth time, alarm.

[0051] Specifically, both the fourth time and the target torque of the lock body are preset values. The feedback torque of the lock body can be obtained in real time through the torque sensor of the motor or calculated based on the parameters of the motor. As mentioned above, if either the number of rotations of the motor driving the locking device or the torque applied by the motor to the locking device does not meet the standard, it indicates that the locking fails, the device may malfunction, and the battery replacement cannot continue. After steps S1 to S5, the third actual rotation number of the locking device reaches the third target rotation number. That is to say, the locking device rotates enough times within the lock body device, and the number of rotations of the motor driving the locking device has met the standard. Therefore, next, it is only necessary to ensure that the torque applied by the motor to the locking device also meets the standard, that is, the feedback torque of the lock body reaches the preset target torque of the lock body, so as to finally complete the locking. Also as mentioned above, in order to reduce the impact of locking on the service life of the locking device and the lock body device, it is not always possible to lock at high speed. High speed will cause the rotational inertia of the locking device to be too large, which is not conducive to controlling the torque applied by the motor to the locking device to meet the standard and be accurate. In order to protect the locking device, the lock body device and the motor and extend the service life of the device, it is necessary to make the torque applied by the motor to the locking device as accurate as possible to improve the reliability and stability of locking. Therefore, in step S6, it is necessary to control the motor to reduce the speed. Similar to step S5, by obtaining the feedback torque of the lock body in real time, comparing the feedback torque of the lock body with the preset target torque of the lock body, and detecting the time when the feedback torque of the lock body reaches the target torque of the lock body, it can be determined whether the locking device operates normally after the motor reduces the speed. If the feedback torque of the lock body reaches the target torque of the lock body on the premise that the motor reduces the speed, it indicates that the locking device also operates normally after the motor reduces the speed and the locking is successful; if the duration of the output torque of the motor is greater than the fourth time after the motor reduces the speed and the feedback torque of the lock body still does not reach the target torque of the lock body, it indicates that the locking device does not operate normally after the motor reduces the speed, there may be other faults, the locking fails, and the system alarms.

[0052] Furthermore, the present invention further includes a battery pack locking device, including a locking device, a lock body device, a controller, and a motor. The locking device is used to lock relative to the lock body device. The controller is used to control the motor to output torque. The controller is also used to calculate the number of rotations of the locking device to determine whether the locking device works normally. The motor is used to drive the locking device to rotate to lock the locking device with the lock body device.

[0053] Furthermore, the present invention further includes a readable storage medium storing a computer program, and when the computer program is executed by the controller, the foregoing battery pack locking method is implemented.

[0054] Furthermore, the present invention further includes a program product including a computer program, and when the computer program is executed by the controller, the foregoing battery pack locking method is implemented.

[0055] In summary, the battery pack locking method of the present invention controls the motor to output specified torque of various sizes for a specified time to impact and lock successively, and respectively determines whether there is jamming in the locking device under different impacts. If there is jamming, the torque output is increased for a specified time to break through the looseness, improving the locking efficiency and reducing the failure rate of battery swapping. The present invention also reduces the torque and speed to protect the equipment when initially judging that there is no jamming in the locking device, improving the reliability and stability of locking, and indirectly prolonging the service life of the equipment.

[0056] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A battery pack locking method, characterized in that: The following steps are involved: Controlling the motor to output a first torque to rotate the locking device, and judging whether the locking device is working normally according to a first actual number of rotations of the locking device; If the locking device does not work properly, the motor is controlled to output a second torque to rotate the locking device, and whether the locking device works properly is judged according to the second actual number of rotations of the locking device. If the locking device does not work properly, an alarm is sounded; If the locking device works normally, the motor is controlled to output the third torque to rotate the locking device until the number of rotations of the locking device reaches the third target number of rotations and the lock body feedback torque of the lock body is equal to the lock body target torque.

2. The battery pack locking method according to claim 1, characterized in that: The controlling the motor to output the first torque to rotate the locking device, and judging whether the locking device is working normally according to the first actual number of rotations of the locking device, comprises: Control the motor to use the first torque as the output torque and the first time as the output duration, and continuously output to rotate the locking device; Obtain the first actual number of rotations of the locking device, and compare the first actual number of rotations of the locking device with the first target number of rotations. If the first actual number of rotations of the locking device is less than the first target number of rotations, it indicates that the locking device is not working properly; if the first actual number of rotations is greater than the first target number of rotations, it indicates that the locking device is working properly.

3. The battery pack locking method according to claim 2, wherein: The obtaining of the first actual number of rotations of the locking device comprises: Acquire a first starting position of the motor at a starting point of a first time; Acquire a first actual rotation position of the motor at an end point of the first time; A first actual number of rotations of the locking device is calculated according to a first starting position of the motor and a first actual rotation position of the motor.

4. The battery pack locking method according to claim 1, wherein: The controlling the motor to output the second torque to rotate the locking device, and judging whether the locking device is working normally according to the second actual number of rotations of the locking device, comprises: Adjusting the output torque of the motor to a second torque, the second torque being greater than the first torque, and continuously outputting the second torque for a second time period to rotate the locking device; Obtain the second actual rotation number of the locking device, and compare the second actual rotation number of the locking device with the second target rotation number. If the second actual rotation number of the locking device is less than the second target rotation number, an alarm is sounded; if the second actual rotation number of the locking device is greater than the second target rotation number, it indicates that the locking device is working normally.

5. The battery pack locking method according to claim 4, characterized in that: The obtaining of the second actual number of rotations of the locking device comprises: Acquire a second starting position of the motor at a starting point of the second time; Acquire a second actual rotation position of the motor at an end point of the second time; A second actual number of rotations of the locking device is calculated according to the second starting position of the motor and the second actual rotation position of the motor.

6. The battery pack locking method according to claim 1, wherein: The controlling the motor to output the third torque to rotate the locking device until the number of rotations of the locking device reaches the third target number of rotations and the lock body feedback torque of the lock body is equal to the lock body target torque includes: The output torque of the motor is adjusted to a third torque, the third torque is less than the second torque, the third torque is continuously output to rotate the locking device, a third actual number of rotations of the locking device is continuously obtained, and if the third actual number of rotations of the locking device is less than the third target number of rotations for a period longer than a third time, an alarm is generated; After the third actual number of rotations of the locking device reaches the third target number of rotations, the output speed of the motor is reduced, the lock body feedback torque of the lock body device is continuously obtained, and locking is stopped when the lock body feedback torque of the lock body device is equal to the lock body target torque; if the lock body feedback torque is less than the lock body target torque for longer than the fourth time, an alarm is triggered.

7. The battery pack locking method according to claim 6, wherein: The method of continuously acquiring the third actual number of rotations of the locking device comprises: Acquire a third starting position of the motor at an end point of the first time or an end point of the second time; Continuously detecting and acquiring a third actual rotation position of the motor when the motor continuously outputs the third torque; The third actual number of rotations of the locking device is calculated in real time according to the third starting position of the motor and the third actual rotation position of the motor.

8. A battery pack locking device, characterized in that: It includes a locking device, a lock body device, a controller and a motor. The locking device is used to lock relative to the lock body device. The controller is used to control the output torque of the motor. The controller is also used to calculate the number of rotations of the locking device to determine whether the locking device is working normally. The motor is used to drive the locking device to rotate so as to lock the locking device and the lock body device.

9. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by the controller, the battery pack locking method described in any one of claims 1 to 7 is implemented.

10. A program product, comprising a computer program, characterized in that: When the computer program is executed by the controller, the battery pack locking method according to any one of claims 1 to 7 is implemented.

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