Control method and control device of mobile power supply cabinet and mobile power supply cabinet

Abstract

The invention relates to a control method and a control device of a mobile power supply cabinet and the mobile power supply cabinet. The control method of the mobile power supply cabinet comprises the steps that under the condition that a mobile power supply pop-up request is received, a first driving motor corresponding to a first bin position is controlled to rotate based on a preset rotation signal until the first driving motor drives a locking part of the first bin position to reach a preset position so as to unlock a mobile power supply, the first driving motor is controlled to stop rotating so that the locking component can stop at the preset position; and under the condition that the mobile power supply of the first bin is not popped up, adjusting a rotation signal of the first driving motor based on a preset feedback algorithm, and controlling the first driving motor to rotate based on the adjusted rotation signal until the mobile power supply of the first bin is detected to be popped up. The efficiency and stability of motor control are improved, the failure rate caused by improper motor control is reduced, and accurate and smooth bin position driving is achieved.

Description

Technical Field

[0001] This application relates to the field of mobile power cabinets, and particularly to a control method, a control device, and a mobile power cabinet for a mobile power cabinet. Background Art

[0002] With the popularization of mobile devices and the limitation of battery life, mobile power supplies (portable chargers) have become essential items for people's daily travel. In recent years, with the development of the Internet of Things and automation technologies, automated mobile power cabinets have gradually entered the market. These cabinets usually include multiple mobile power compartments, with a mobile power supply built into each compartment. Users can rent and return mobile power supplies by scanning QR codes or entering commands. Currently, mobile power cabinets often use motor drives for mechanical control of compartments, lacking flexibility and efficiency in motor control, resulting in inaccurate and unsmooth drive control of compartments when the motor is blocked.

[0003] Regarding the problem in the related art that accurate and smooth drive of compartments cannot be achieved, no effective solution has been proposed yet. Summary of the Invention

[0004] In this embodiment, a control method, a control device, and a mobile power cabinet for a mobile power cabinet are provided to solve the problem in the related art that accurate and smooth drive of compartments cannot be achieved.

[0005] In a first aspect, in this embodiment, a control method for a mobile power cabinet is provided. The mobile power cabinet includes a drive motor, a locking component, and a mobile power compartment. The method includes:

[0006] When a mobile power ejection request is received, control the first drive motor corresponding to the first compartment to rotate based on a preset rotation signal until the locking component of the first compartment driven by the first drive motor reaches a preset position to release the lock on the mobile power, and control the first drive motor to stop rotating so that the locking component stops at the preset position; the first compartment is the mobile power compartment corresponding to the ejection request;

[0007] When the mobile power in the first compartment is not ejected, adjust the rotation signal of the first drive motor based on a preset feedback algorithm, and control the first drive motor to rotate based on the adjusted rotation signal until it is detected that the mobile power in the first compartment is ejected.

[0008] In some embodiments, when the mobile power in the first compartment is not ejected, adjusting the rotation signal of the first drive motor based on a preset feedback algorithm, and controlling the first drive motor to rotate based on the adjusted rotation signal until it is detected that the mobile power in the first compartment is ejected includes:

[0009] When the mobile power supply in the first bin does not pop out, adjust the rotation signal of the first drive motor based on the proportional integral derivative algorithm, and control the first drive motor to rotate based on the adjusted rotation signal. Real-time detect whether the locking component of the first bin reaches the preset position; if so, after the first drive motor stops rotating, determine whether the mobile power supply in the first bin pops out; if the mobile power supply in the first bin does not pop out, continue to adjust the rotation signal of the first drive motor based on the proportional integral derivative algorithm, and detect again whether the locking component of the first bin reaches the preset position until the locking component of the first bin reaches the preset position and the mobile power supply in the first bin pops out.

[0010] In some of these embodiments, when adjusting the rotation signal of the first drive motor based on the proportional integral derivative algorithm, the method further includes:

[0011] According to the position detection result of the locking component of the first bin and the pop-out detection result of the mobile power supply in the first bin, adjust the duty cycle corresponding to the rotation current of the drive motor as the proportional control of the proportional integral derivative control;

[0012] Based on the integral term of the proportional integral derivative control, accumulate the number of times that the mobile power supply in the first bin does not pop out;

[0013] Based on the response speed of the proportional integral derivative algorithm, form the derivative control of the proportional integral derivative control.

[0014] In some of these embodiments, the method further includes:

[0015] When receiving a mobile power supply into the bin request, determine the second bin corresponding to the into the bin request among all the mobile power supply bins;

[0016] Within a preset time limit, increase the pulse width modulation duty cycle of the second drive motor, and control the second drive motor to rotate at the increased pulse width modulation duty cycle until it is detected that the second bin is locked, and reduce the pulse width modulation duty cycle of the second drive motor to control the second drive motor to stop rotating; the second drive motor is the drive motor corresponding to the second bin.

[0017] In some of these embodiments, within a preset time limit, the pulse width modulation duty ratio of the second drive motor is increased, and the second drive motor is controlled to rotate at the increased pulse width modulation duty ratio until it is detected that the second bin is locked, and then the pulse width modulation duty ratio of the second drive motor is decreased to control the second drive motor to stop rotating; the second drive motor is the drive motor corresponding to the second bin, and includes:

[0018] Determine whether the second bin is locked; if not, determine whether the current adjustment duration of the second drive motor exceeds the preset time limit; if the time limit is not exceeded, increase the pulse width modulation duty ratio of the second drive motor, and control the second drive motor to rotate at the increased pulse width modulation duty ratio until it is detected that the second bin is locked, and then decrease the pulse width modulation duty ratio of the second drive motor to 0 to control the second drive motor to stop rotating.

[0019] In some of these embodiments, in the case where the rotation adjustment of the second drive motor exceeds the time limit and the second bin is not locked, an overtime report is made for the second bin.

[0020] In some of these embodiments, in the mobile power cabinet, each drive motor corresponds to two mobile power bins respectively; each drive motor drives different mobile power bins by rotating in different directions.

[0021] Second, in this embodiment, a control device for a mobile power cabinet is provided. The control device includes a position control module and an ejection control module; where:

[0022] The position control module is configured to, when receiving a mobile power ejection request, control the first drive motor corresponding to the first bin to rotate based on a preset rotation signal until the locking component of the first bin driven by the first drive motor reaches a preset position to release the locking of the mobile power, and control the first drive motor to stop rotating so that the locking component stops at the preset position; the first bin is the mobile power bin corresponding to the ejection request;

[0023] The ejection control module is configured to, when the mobile power in the first bin is not ejected, adjust the rotation signal of the first drive motor based on a preset feedback algorithm, and control the first drive motor to rotate based on the adjusted rotation signal until it is detected that the mobile power in the first bin is ejected.

[0024] Third, in this embodiment, a mobile power cabinet is provided, which includes a drive motor, a locking component, a mobile power bin, and the control device described in the second aspect above.

[0025] In some of these embodiments, the mobile power supply cabinet further includes motor push rod locks; one of the drive motors is respectively connected to two of the motor push rod locks, and each of the motor push rod locks corresponds to one of the mobile power supply compartments, so that the drive motor can respectively achieve the drive control of different mobile power supply compartments by rotating in different directions.

[0026] Compared with the related art, in this embodiment, a control method, a control device and a mobile power supply cabinet of the mobile power supply cabinet are provided. Among them, for the control method of the mobile power supply cabinet, when a mobile power supply ejection request is received, the first drive motor corresponding to the first compartment is controlled to rotate based on a preset rotation signal until the locking component of the first compartment driven by the first drive motor reaches a preset position to release the locking of the mobile power supply, and the first drive motor is controlled to stop rotating so that the locking component stops at the preset position; the first compartment is the mobile power supply compartment corresponding to the ejection request; when the mobile power supply in the first compartment is not ejected, the rotation signal of the first drive motor is adjusted based on a preset feedback algorithm, and the first drive motor is controlled to rotate based on the adjusted rotation signal until it is detected that the mobile power supply in the first compartment is ejected. Based on the detection of the locking component and the ejection detection of the mobile power supply, combined with the feedback algorithm, the rotation adjustment of the drive motor is realized, thereby improving the efficiency and stability of the motor control, reducing the failure rate caused by improper motor control, and realizing accurate and smooth compartment drive.

[0027] The details of one or more embodiments of the present application are set forth in the following drawings and description, so that the other features, objects and advantages of the present application will become more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0029] Figure 1 is a block diagram of the hardware structure of the terminal of the control method of the mobile power supply cabinet according to the embodiment of the present application;

[0030] Figure 2 is a flowchart of the control method of the mobile power supply cabinet according to the embodiment of the present application;

[0031] Figure 3 is a schematic diagram of the input and output of the PID control according to the embodiment of the present application;

[0032] Figure 4 is a flowchart of the closing control method of the mobile power supply cabinet according to some embodiments of the present application;

[0033] Figure 5It is a flowchart of the method for controlling the opening of a mobile power cabinet in some embodiments of the present application;

[0034] Figure 6 It is a structural block diagram of the control device in an embodiment of the present application;

[0035] Figure 7 It is a schematic structural diagram of the mobile power cabinet in an embodiment of the present application. Detailed implementation manners

[0036] To understand the purpose, technical solution and advantages of the present application more clearly, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments.

[0037] Unless otherwise defined, the technical terms or scientific terms involved in the present application shall have the general meanings understood by those with ordinary skills in the technical field to which the present application belongs. In the present application, words such as "a", "one", "a kind of", "the", "these", etc. do not indicate a limitation in quantity, and they can be singular or plural. The terms "including", "comprising", "having" and any variants thereof involved in the present application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent in these processes, methods, products or devices. The terms "connected", "coupled", etc. involved in the present application do not limit to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in the present application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Usually, the character " / " indicates that the associated objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in the present application only distinguish similar objects and do not represent a specific sorting for the objects.

[0038] In the method embodiment provided in this embodiment, it can be executed on a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 It is a hardware structural block diagram of the terminal of the control method of the mobile power cabinet in this embodiment. As Figure 1 shown, the terminal may include one or more ( Figure 1Only one processor 102 (only one is shown in the figure) and a memory 104 for storing data are shown. Among them, the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 The structure shown is only schematic and does not limit the structure of the above terminal. For example, the terminal may further include more or fewer components than those Figure 1 shown in the figure, or have a different configuration from that Figure 1 shown.

[0039] The memory 104 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the control method of the mobile power cabinet in this embodiment. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, that is, implements the above method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely set relative to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the above network include, but are not limited to, the Internet, enterprise intranets, local area networks, mobile communication networks, and their combinations.

[0040] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one instance, the transmission device 106 includes a network adapter (abbreviated as NIC), which can be connected to other network devices through a base station and thus can communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0041] In this embodiment, a control method for a mobile power cabinet is provided. The mobile power cabinet includes a drive motor, a locking component, and a mobile power compartment. Figure 2 is a flowchart of the control method for the mobile power cabinet in this embodiment. As Figure 2 shown, the process includes the following steps:

[0042] Step S210, when a mobile power supply ejection request is received, control the first drive motor corresponding to the first compartment to rotate based on a preset rotation signal until the locking component of the first compartment driven by the first drive motor reaches a preset position to release the locking of the mobile power supply, and control the first drive motor to stop rotating so that the locking component stops at the preset position; the first compartment is the mobile power supply compartment corresponding to the ejection request.

[0043] The mobile power supply ejection request can be initiated by the user by scanning the QR code identified by the mobile power supply cabinet, or by the user through a mobile application on the mobile device held, or by the user inputting an instruction. The specific initiation method of the mobile power supply ejection request is not limited in this embodiment. The rotation signal can be a signal for controlling the rotation of the drive motor of the mobile power supply cabinet, specifically, it can be the pulse width modulation (PWM) duty cycle of the drive motor, and this pulse width modulation duty cycle is used to change the magnitude of the current output by the drive chip of the drive motor, thereby realizing the adjustment of the rotation speed of the drive motor.

[0044] After receiving the mobile power supply ejection request, the processing system associated with the mobile power supply cabinet can analyze and process user data, confirm the compartment where the available mobile power supply is located after completing the verification of user information, and then control the corresponding drive motor to rotate. The selected mobile power supply compartment is the first compartment, and the drive motor corresponding to the first compartment lock is the first drive motor. In this step, first, a certain pulse width modulation duty cycle can be preset as the preset rotation signal, start the first drive motor, and make the first drive motor rotate according to the given pulse width modulation duty cycle, and continuously detect whether the locking component (such as a bolt) that locks the mobile power supply in the compartment moves to the preset position as the first drive motor rotates to release the locking of the mobile power supply. Exemplarily, the detection of whether the locking component reaches the preset position can be achieved by setting a photoelectric sensor, an infrared transceiver device or an ultrasonic device, etc. at the preset position. In particular, it can be detected whether the locking component reaches the preset position at fixed time intervals and the number of times is accumulated, and the rotation speed of the first drive motor is dynamically adjusted based on the pulse width modulation duty cycle each time, for example, the pulse width modulation duty cycle is gradually reduced according to a certain interval value, so that the locking component can accurately stop at the preset position. Among them, when it is determined that the locking component has reached the preset position, the rotation speed of the first drive motor is gradually reduced to 0, so that the locking component can accurately stop at the preset position.

[0045] Step S220, when the mobile power supply in the first compartment has not been ejected, adjust the rotation signal of the first drive motor based on a preset feedback algorithm, and control the first drive motor to rotate based on the adjusted rotation signal until it is detected that the mobile power supply in the first compartment is ejected.

[0046] After the first driving motor stops, then detect whether the mobile power supply in the first bin pops out. Exemplarily, it is possible to determine whether the mobile power supply in the first bin pops out by the state of the touch switch corresponding to the first bin. For example, when the mobile power supply does not pop out and remains in the first bin, the state of the touch switch is the initial state that has not been triggered. After the mobile power supply pops out, the touch switch will be triggered and the state of the touch switch will change, for example, from the "off" state to the "on" state. Therefore, it is possible to determine whether the mobile power supply in the first bin pops out based on the change in the state of the touch switch.

[0047] When the mobile power supply pops out successfully, the pop-up operation of the mobile power supply can be recorded this time, and the rotation control process of the motor is ended. When the mobile power supply does not pop out, it is necessary to cyclically adjust the pulse modulation duty ratio of the first driving motor according to the feedback algorithm, and control the first driving motor to rotate according to the latest adjusted pulse modulation duty ratio after each adjustment until the mobile power supply in the first bin pops out successfully.

[0048] In this way, in the case where the mobile power supply does not pop out successfully in this step, the rotation speed of the driving motor is continuously adjusted to determine whether the mobile power supply pops out successfully. If it does not pop out successfully, the rotation speed of the driving motor is continued to be adjusted. Optionally, based on the structure of the mobile power supply bin, when adjusting the rotation speed of the driving motor based on the feedback algorithm, the initially adjusted motor rotation speed is higher than the later adjusted rotation speed. The rotation speed of the driving motor first increases with the number of adjustments, remains at a certain rotation speed for a preset period after reaching a certain rotation speed, and then decreases with the number of adjustments, and finally the motor stops rotating. Additionally, after each adjustment of the rotation speed, the driving motor drives for a fixed period each time, and detects whether the locking component reaches the preset position and whether the mobile power supply pops out as one action. If the mobile power supply does not pop out, the number of times it does not pop out is accumulated, and the pulse modulation duty ratio is adjusted through the accumulated number of times it does not pop out, thereby adjusting the motor speed.

[0049] Through the above steps S210 to S220 in this embodiment, on the one hand, through the cooperation of software algorithms and sensors, the efficiency of controlling the driving motor of the mobile power supply cabinet can be improved, making the opening and closing of the bin faster and more accurate; on the other hand, in this embodiment, the data of the sensors are fused and judged, and accurate pop-up control of the mobile power supply can be achieved, thereby realizing the accurate driving of the driving motor for the bin and improving the user experience. Additionally, this embodiment can also adjust the rotation of the driving motor based on the feedback algorithm, improve the stability of the control of the mobile power supply cabinet, and reduce the failure rate caused by improper motor control.

[0050] Through the above steps S210 to S220, when a mobile power supply ejection request is received, the first drive motor corresponding to the first bin is controlled to rotate based on a preset rotation signal until the locking component of the first bin driven by the first drive motor reaches a preset position to release the lock on the mobile power supply, and the first drive motor is controlled to stop rotating so that the locking component stops at the preset position; the first bin is the mobile power supply bin corresponding to the ejection request; when the mobile power supply in the first bin is not ejected, the rotation signal of the first drive motor is adjusted based on a preset feedback algorithm, and the first drive motor is controlled to rotate based on the adjusted rotation signal until it is detected that the mobile power supply in the first bin is ejected. Based on the detection of the locking component and the ejection detection of the mobile power supply, combined with the feedback algorithm, the rotation adjustment of the drive motor is realized, thereby improving the efficiency and stability of motor control, reducing the failure rate caused by improper motor control, and realizing accurate and smooth bin driving.

[0051] In one embodiment, based on the above step S220, when the mobile power supply in the first bin is not ejected, the rotation signal of the first drive motor is adjusted based on a preset feedback algorithm, and the first drive motor is controlled to rotate based on the adjusted rotation signal until it is detected that the mobile power supply in the first bin is ejected, which may include:

[0052] When the mobile power supply in the first bin is not ejected, the rotation signal of the first drive motor is adjusted based on the proportional-integral-derivative algorithm, and the first drive motor is controlled to rotate based on the adjusted rotation signal, and it is detected in real time whether the locking component of the first bin reaches the preset position; if so, after the first drive motor stops rotating, it is judged whether the mobile power supply in the first bin is ejected; if the mobile power supply in the first bin is not ejected, the rotation signal of the first drive motor is continuously adjusted based on the proportional-integral-derivative algorithm, and it is detected again whether the locking component of the first bin reaches the preset position until the locking component of the first bin reaches the preset position and the mobile power supply in the first bin is ejected.

[0053] Specifically, in this embodiment, the rotation of the drive motor can be adjusted based on the proportional-integral-derivative control strategy (PID control strategy). In the absence of actual position feedback, the PID controller needs to rely on the detection of whether the locking component reaches the preset position and the detection of whether the mobile power supply is ejected, which can be specifically realized based on the hard judgment of the photoelectric switch and the touch switch. The PID controller can be set as an open-loop control system. Here, a brief introduction to the PID algorithm is given first:

[0054] PID stands for: the abbreviation of Proportional, Integral, and Differential. PID is a classic closed-loop control algorithm, which has the advantages of simple principle, easy to implement, wide application range, independent control parameters, and easy selection of parameters. Therefore, in this embodiment, the rotation speed of the drive motor is adjusted based on PID control. Specifically, the position PID algorithm is used in this embodiment for adjustment to accurately open the bin by controlling the motor. Among them, Figure 3 is the input-output schematic diagram of the PID control in this embodiment. As Figure 3 shown, the difference e(k) between the set rotation speed and the actual rotation speed measured by the encoder can be used as the input of the PID algorithm, and the PWM duty cycle is output to control the rotation of the drive motor. Among them, the involved formula is:

[0055]

[0056] where u(k) is the output of the PID control, e(k) is the input, K P is the proportional coefficient, K I is the integral coefficient, and K D is the differential coefficient. Proportional term P: Adjust the control amount proportionally according to the magnitude of the current error e(k); Integral term I: Used to adjust the control amount according to the cumulative value of the error ∑e(i) to eliminate the steady-state error; Differential term D: Used to adjust the control amount according to the change rate of the error (determined according to e(k)-e(k-1)) to suppress the oscillation of the PID control.

[0057] In this embodiment, the PID algorithm is applied. Each time it is detected that the locking component moves to the preset position but the mobile power supply does not pop out, the rotation speed of the first drive motor is adjusted through the PID algorithm, and the first drive motor is controlled to rotate at the adjusted rotation speed for a fixed time. Then, it is judged again whether the locking component moves to the preset position and whether the mobile power supply pops out. Until the locking component moves to the preset position and the mobile power supply pops out, the adjustment of the first drive motor ends. Therefore, in this embodiment, accurate and stable drive control of the mobile power supply out of the bin can be achieved based on the PID algorithm.

[0058] In one embodiment, when adjusting the rotation signal of the first drive motor based on the proportional differential integral algorithm, the control method of the above mobile power supply cabinet can further include:

[0059] According to the position detection result of the locking component of the first storage bin and the ejection detection result of the mobile power supply in the first storage bin, adjust the duty cycle corresponding to the rotation current of the drive motor as the proportional control of the proportional-integral-derivative control; based on the integral term of the proportional-integral-derivative control, accumulate the number of times the mobile power supply in the first storage bin fails to eject; based on the response speed of the proportional-integral-derivative algorithm, form the derivative control of the proportional-integral-derivative control.

[0060] In this embodiment, the P (proportional) control can adjust the PWM duty cycle according to the signals of the photoelectric switch and the tactile switch. For the I (integral) control: due to the lack of position feedback, the integral term is only used to accumulate the number of times the tactile switch fails to detect the ejection of an object. For the D (derivative) control, the current magnitude of the drive motor can be adjusted according to the system response speed. It can be understood that when receiving the mobile power supply ejection request, the parameters of the PID controller, including the proportional gain K P , integral gain K I and derivative gain K D can be initialized.

[0061] This embodiment adjusts the PID parameters according to whether the mobile power supply ejects successfully, and optimizes the control effect of the motor rotation. If the number of times the mobile power supply fails to eject successfully exceeds a certain threshold, the starting speed of the drive motor can be increased or the acceleration time can be adjusted to change the rotation state of the drive motor.

[0062] Additionally, in one embodiment, the above control method of the mobile power supply cabinet can further include:

[0063] When receiving the mobile power supply storage request, determine the second storage bin corresponding to the storage request among all the mobile power supply storage bins; within a preset time limit, increase the pulse width modulation duty cycle of the second drive motor, and control the second drive motor to rotate at the increased pulse width modulation duty cycle until it is detected that the second storage bin is locked, then reduce the pulse width modulation duty cycle of the second drive motor to control the second drive motor to stop rotating; the second drive motor is the drive motor corresponding to the second storage bin.

[0064] Correspondingly, when the user needs to return the mobile power supply to the mobile power supply cabinet, the user can initiate the mobile power supply storage request by scanning the QR code on the mobile power supply cabinet, or inputting an instruction, or through a mobile application, or directly performing the mobile power supply storage action. At this time, according to the mobile power supply storage request, determine the mobile power supply storage bin corresponding to the storage request as the second storage bin. In this embodiment, a time limit is set as the timeout time for the drive motor to complete the operation to ensure that the drive motor can complete the mobile power supply storage operation within the specified time.

[0065] Specifically, during the startup phase of the second drive motor, since a relatively large force is required to overcome the initial resistance, a relatively high PWM duty cycle can be set to provide sufficient torque to ensure the smooth startup of the second drive motor. Within the specified time limit, if it is detected that the second bin has successfully locked the mobile power source, for example, the latch inside the bin has successfully locked the mobile power source, the PWM duty cycle needs to be immediately reduced to 0 to stop the motor, thereby accurately locking the mobile power source.

[0066] This embodiment can avoid overheating or other failures caused by the long-term operation of the drive motor, reduce the energy consumption of the motor, and prevent the situation where the locked bin becomes an open bin due to excessive speed of the drive motor.

[0067] Among them, in one embodiment, within a preset time limit, the pulse width modulation duty cycle of the second drive motor is increased, and the second drive motor is controlled to rotate at the increased pulse width modulation duty cycle until it is detected that the second bin is locked, and then the pulse width modulation duty cycle of the second drive motor is reduced to control the second drive motor to stop rotating; the second drive motor is the drive motor corresponding to the second bin, and may include:

[0068] Judge whether the second bin is locked; if not, judge whether the current adjustment duration of the second drive motor exceeds the preset time limit; if the time limit is not exceeded, increase the pulse width modulation duty cycle of the second drive motor, and control the second drive motor to rotate at the increased pulse width modulation duty cycle until it is detected that the second bin is locked, and then reduce the pulse width modulation duty cycle of the second drive motor to 0 to control the second drive motor to stop rotating.

[0069] When specifically performing closing control of the bin, it is first necessary to judge whether the second bin is locked. This judgment can be achieved based on the detection of the photoelectric sensor. When it is first detected that the second bin is locked, since the second drive motor has not been started at this time, the process can be directly ended. When it is first detected that the second bin is not locked, it is necessary to obtain the preset time limit, and judge whether the adjustment of the second drive motor during the current closing process exceeds this time limit. If so, end the process and report the timeout; otherwise, repeatedly judge whether the bin is locked and control the second drive motor to rotate at a relatively high PWM duty cycle until the timeout or the second bin is locked.

[0070] In this embodiment, by adjusting the PWM duty cycle, precise control of the speed of the drive motor can be achieved, thereby achieving precise positioning and ensuring that the drive motor stops at the correct position. This embodiment ensures accurate opening during opening and accurate locking during closing, and avoids the problem of incomplete closing caused by excessive or insufficient rotation.

[0071] In one embodiment, when the rotation adjustment of the second drive motor exceeds the time limit and the second bin is not locked, an overtime report is made for the second bin.

[0072] In this embodiment, during the process of the drive motor performing the closing bin control, an error code reporting mechanism is also added. If the second drive motor fails to lock successfully within the timeout period, the situation of closing bin timeout is reported in the form of an error code, which helps with fault diagnosis and self-check, and improves the reliability and safety of the mobile power cabinet control.

[0073] In addition, in one embodiment, in the mobile power cabinet, each drive motor corresponds to two mobile power bins respectively; each drive motor drives different mobile power bins by rotating in different directions. Specifically, for the same drive motor, the forward rotation of the drive motor can be used to control the opening or closing of one mobile power bin, and the reverse rotation of the drive motor can be used to control the opening or closing of the other mobile power bin, thereby implementing the scheme of a single drive motor controlling two mobile power bins.

[0074] This embodiment controls two bins with a single motor, reducing the component usage, lowering the overall machine cost, and improving the cost-effectiveness. Additionally, due to the structural feature of a single motor controlling two bins in this embodiment, the problem of shortened motor life caused by blocked motors can also be avoided, thereby extending the service life of the motor. The structure of this embodiment is simple and reasonable, and can improve the operation convenience of mobile power rental and return.

[0075] Figure 4 is a flowchart of the closing bin control method for the mobile power cabinet in some embodiments, as Figure 4 shown, the closing bin control method includes the following steps:

[0076] Step S401, obtain the optoelectronic sensor value; wherein, the optoelectronic sensor is arranged in the second bin corresponding to the mobile power into-bin request, and is used to detect whether the second bin has locked the mobile power.

[0077] Step S402, judge whether the second bin has locked the mobile power according to the optoelectronic sensor value; if so, end the process; otherwise, execute step S403.

[0078] Step S403, obtain the preset timeout period. This timeout period is the preset time limit in the above embodiment, and the specific value can be set according to the requirements of the actual application scenario, and this embodiment does not make specific limitations on this.

[0079] Step S404, judge whether it times out; if so, end the process; otherwise, execute step S405.

[0080] Step S405: Determine whether the second bin is locked based on the latest optoelectronic sensor value. If so, execute Step S406; otherwise, execute Step S408.

[0081] Step S406: Reduce the pulse modulation duty cycle.

[0082] Step S407: Control the second drive motor to rotate according to the reduced pulse modulation duty cycle until it stops.

[0083] Step S408: Set a relatively high pulse modulation duty cycle.

[0084] Step S409: Control the second drive motor to rotate at the duty cycle set in Step S408; then return to execute Step S403.

[0085] The above Steps S401 to S409, based on the cooperation of the sensor and the software algorithm, achieve accurate and efficient locking of the mobile power supply. By adjusting the pulse modulation duty cycle, precise control of the drive motor speed is achieved, thereby ensuring that the drive motor stops at the correct position and preventing the locked bin from becoming an open bin due to excessive speed. By setting a timeout, it is ensured that the drive motor can complete the operation within the specified time, avoiding the energy consumption of long-term operation.

[0086] Figure 5 is a flowchart of the open bin control method for the mobile power supply cabinet of some embodiments. As Figure 4 shown, the open bin control method includes the following steps:

[0087] Step S501: Initialize the PID parameters. Specifically, the proportional gain KP, integral gain KI, and derivative gain KD can be initialized.

[0088] Step S502: Start the first drive motor corresponding to the first bin corresponding to the mobile power supply ejection request.

[0089] Step S503: Output the current modulation pulse duty cycle. Among them, when PID control is not performed, the current modulation pulse duty cycle can be a preset initial value, and when PID control is performed, this modulation pulse duty cycle can be the value adjusted by PID control.

[0090] Step S504: Determine whether the locking component of the first bin has reached the preset position. If so, execute Step S505; otherwise, return to execute Step S503. Specifically, it can be based on the optoelectronic sensor to detect whether the locking component has reached the preset position.

[0091] Step S505: Stop the first drive motor.

[0092] Step S506: Determine whether the mobile power supply in the first bin pops out according to the touch switch; if so, execute Step S507; otherwise, execute Step S508.

[0093] Step S507: Record the successful pop - out of the mobile power supply; end the process

[0094] Step S508: Adjust the PID parameters and regulate the duty cycle of the modulation pulse.

[0095] Step S509: Restart the first drive motor; return to execute Step S503.

[0096] The above Steps S501 to S509 can achieve accurate and efficient control of the pop - out of the mobile power supply, thus realizing accurate and smooth bin driving.

[0097] Figure 6 It is the structural block diagram of the control device 60 in this embodiment. The control device 60 in this embodiment is used for a mobile power supply cabinet, as Figure 6 shown. The control device 60 includes: a position control module 62 and a pop - out control module 64; where:

[0098] The position control module 62 is configured to, when receiving a mobile power supply pop - out request, control the first drive motor corresponding to the first bin to rotate based on a preset rotation signal until the locking component of the first bin driven by the first drive motor reaches a preset position to release the lock on the mobile power supply, and control the first drive motor to stop rotating so that the locking component stops at the preset position; the first bin is the mobile power supply bin corresponding to the pop - out request; the pop - out control module 64 is configured to, when the mobile power supply in the first bin does not pop out, adjust the rotation signal of the first drive motor based on a preset feedback algorithm, and control the first drive motor to rotate based on the adjusted rotation signal until it detects that the mobile power supply in the first bin pops out.

[0099] It should be noted that the above - mentioned each module can be a functional module or a program module, and can be implemented either by software or by hardware. For the modules implemented by hardware, the above - mentioned each module can be located in the same processor; or the above - mentioned each module can also be located in different processors in any combination form.

[0100] It should be noted that the specific examples in this embodiment can refer to the examples described in the above - mentioned embodiments and optional implementation manners, and will not be elaborated in this embodiment.

[0101] In addition, in this embodiment, a mobile power supply cabinet is also provided. Figure 7 It is the structural schematic diagram of the mobile power supply cabinet 70 in this embodiment, as Figure 7As shown, the mobile power cabinet 70 includes: a driving motor 72, a locking component 74, a mobile power compartment 76, and the control device 60 provided in the above embodiment.

[0102] In one embodiment, the mobile power cabinet 70 further includes a motor push rod lock; one driving motor is respectively connected to two motor push rod locks, and each motor push rod lock corresponds to a mobile power compartment, so that the driving motor can respectively realize the driving control of different mobile power compartments by rotating in different directions.

[0103] Specifically, in this embodiment, the driving motor is controlled to rotate forward and backward, driving the transmission change of the structural components in the driving motor to realize the movement control of different motor push rod locks, so as to complete the unlocking and locking functions of different compartments. For example, the driving motor A can respectively drive compartment C and compartment B. Among them, the motor push rod lock D is arranged in compartment C, and the motor push rod lock E is arranged in compartment B.

[0104] When the mobile power is pushed into compartment C by the user, the side wall of the mobile power will touch the guiding inclined surface of the motor push rod lock D. The motor push rod lock D moves under the thrust of the mobile power, gradually losing the occlusion of the optoelectronic switch in compartment C, and compressing the motor spring in compartment C under the structural limitation. At the same time, the mobile power will also push the push rod in compartment C upward; until the mobile power completely moves to the top of compartment C, the push rod in compartment C moves to the top of the compartment, and the push rod spring in compartment C is completely compressed. At the same time, the motor push rod lock D moves under the elastic force of the compressed motor spring, and the locking tongue part inserts into the lock hole of the mobile power, completing the locking of a returned mobile power.

[0105] When ejecting the mobile power, taking compartment C as an example, when it is necessary to eject the mobile power from compartment C, control the driving motor corresponding to compartment C to rotate forward. The forward rotation of the motor drives the movement of the inner turntable and the outer turntable in the motor. The outer turntable of the motor will drive the motor push rod lock D to compress the motor spring and move. When the motor push rod lock D moves to the most preset limit position, the locking tongue leaves the lock hole. At the same time, the elastic force of the compressed push rod spring is released, pushing the push rod in compartment C to eject, and the mobile power is pushed out. The reverse rotation of the motor controls the motor push rod lock E to realize the unlocking and locking functions of compartment B. The principle is the same as above, and the motor movement is opposite.

[0106] It should be understood that the specific embodiments described here are only used to explain this application, rather than to limit it. According to the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of this application.

[0107] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0108] Obviously, the accompanying drawings are only some examples or embodiments of this application. For those of ordinary skill in the art, this application can also be applied to other similar situations based on these drawings without creative efforts. Additionally, it can be understood that although the work done during this development process may be complex and time-consuming, for those of ordinary skill in the art, certain design, manufacturing, or production changes based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient disclosure of this application.

[0109] The term "embodiment" in this application means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of this application. The phrase appears in various positions in the specification and does not necessarily mean the same embodiment, nor does it mean being independent or alternative to other embodiments and mutually exclusive. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in this application can be combined with other embodiments without conflict.

[0110] The above-described embodiments only represent several implementation manners of this application, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of patent protection. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A control method for a mobile power cabinet, characterized in that: The mobile power cabinet includes a driving motor, a locking component and a mobile power position, and the method includes: In the case of receiving a mobile power supply ejection request, controlling the first drive motor corresponding to the first position to rotate based on a preset rotation signal until the first drive motor drives the locking component of the first position to reach a preset position to unlock the mobile power supply, and controlling the first drive motor to stop rotating so that the locking component stops at the preset position; the first position is the mobile power supply position corresponding to the ejection request; When the mobile power supply in the first position has not been ejected, the rotation signal of the first drive motor is adjusted based on a preset feedback algorithm, and the first drive motor is controlled to rotate based on the adjusted rotation signal until it is detected that the mobile power supply in the first position has been ejected.

2. The control method of the mobile power cabinet according to claim 1, characterized in that: In the case that the mobile power supply in the first position is not ejected, adjusting the rotation signal of the first drive motor based on a preset feedback algorithm, and controlling the first drive motor to rotate based on the adjusted rotation signal until the mobile power supply in the first position is detected to be ejected, including: In the case that the mobile power supply in the first bin has not been popped out, the rotation signal of the first drive motor is adjusted based on the proportional differential integral algorithm, and the first drive motor is controlled to rotate based on the adjusted rotation signal, and whether the locking component of the first bin has reached the preset position is detected in real time; if so, after the first drive motor stops rotating, it is determined whether the mobile power supply in the first bin has been popped out; if the mobile power supply in the first bin has not been popped out, the rotation signal of the first drive motor is continued to be adjusted based on the proportional differential integral algorithm, and whether the locking component of the first bin has reached the preset position is detected again, until the locking component of the first bin has reached the preset position and the mobile power supply in the first bin has been popped out.

3. The control method of the mobile power cabinet according to claim 2, characterized in that: When adjusting the rotation signal of the first drive motor based on the proportional differential integral algorithm, the method further includes: According to the position detection result of the locking component of the first position and the ejection detection result of the mobile power supply of the first position, the duty cycle corresponding to the rotation current of the driving motor is adjusted as a proportional control of proportional differential integral control; Based on the integral term of the proportional differential integral control, accumulating the number of times the mobile power supply in the first position is not ejected; Based on the response speed of the PDIC algorithm, a differential control of the PDIC control is formed.

4. The control method of the mobile power cabinet according to claim 1, characterized in that: The method further comprises: In the case of receiving a mobile power supply storage request, determining a second storage location corresponding to the storage request among all the mobile power supply storage locations; Within a preset time limit, the pulse width modulation duty cycle of the second drive motor is increased, and the second drive motor is controlled to rotate at the increased pulse width modulation duty cycle until it is detected that the second position is locked, and the pulse width modulation duty cycle of the second drive motor is reduced to control the second drive motor to stop rotating; the second drive motor is the drive motor corresponding to the second position.

5. The control method of the mobile power cabinet according to claim 4, characterized in that: Within a preset time limit, increasing the pulse width modulation duty cycle of the second drive motor, and controlling the second drive motor to rotate at the increased pulse width modulation duty cycle, until it is detected that the second position is locked, and reducing the pulse width modulation duty cycle of the second drive motor to control the second drive motor to stop rotating; The second driving motor is a driving motor corresponding to the second position, and includes: Determine whether the second position is locked; if not, determine whether the current adjustment duration of the second drive motor exceeds a preset time limit; if it does not exceed the time limit, increase the pulse width modulation duty cycle of the second drive motor, and control the second drive motor to rotate with the increased pulse width modulation duty cycle until it is detected that the second position is locked, and reduce the pulse width modulation duty cycle of the second drive motor to 0 to control the second drive motor to stop rotating.

6. The control method of the mobile power cabinet according to claim 5, characterized in that: When the rotation adjustment of the second drive motor exceeds the time limit and the second bin is not locked, a timeout report is made for the second bin.

7. The control method of a mobile power cabinet according to any one of claims 1 to 6, characterized in that: In the mobile power cabinet, each of the driving motors corresponds to two of the mobile power positions; each of the driving motors drives different mobile power positions by rotating in different directions.

8. A control device, characterized in that: For mobile power cabinet, the control device includes a position control module and a pop-up control module; wherein: The position control module is used to control the first drive motor corresponding to the first position to rotate based on a preset rotation signal when receiving a mobile power supply ejection request, until the first drive motor drives the locking component of the first position to reach a preset position to unlock the mobile power supply, and control the first drive motor to stop rotating so that the locking component stops at the preset position; the first position is the mobile power supply position corresponding to the ejection request; The pop-up control module is used to adjust the rotation signal of the first drive motor based on a preset feedback algorithm when the mobile power supply in the first position has not been popped out, and control the first drive motor to rotate based on the adjusted rotation signal until the mobile power supply in the first position is detected to be popped out.

9. A mobile power cabinet, characterized in that: It comprises a driving motor, a locking component, a mobile power supply compartment and the control device as claimed in claim 8.

10. The mobile power cabinet according to claim 9, characterized in that: The mobile power cabinet also includes a motor push rod lock; one driving motor corresponds to two motor push rod locks, and each motor push rod lock corresponds to one mobile power position, so that the driving motor can realize drive control of different mobile power positions by rotating in different directions.

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