Battery swap station energy-saving control method, device, equipment, medium and program product

Abstract

The application provides a battery swap station energy-saving control method, device, equipment, medium and program product, and relates to the technical field of motor control. The battery swap station energy-saving control method completes working condition recognition and mode switching by combining current battery swap operation data of the battery swap station and a current working mode of a servo system in the battery swap station, triggers zero-current dormancy control only when battery swap business enters a valley and the servo system still maintains a standard operation mode, can reduce standby energy consumption generated by continuous excitation of the servo system during a battery swap valley period, thereby realizing standby energy-saving control of the battery swap station during the valley period, reducing energy consumption of the servo system, and further taking into account the energy-saving control demand and operation response stability in the intermittent operation scenario of the battery swap station.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to an energy-saving control method, device, equipment, medium and program product for a battery swapping station. Background Technology

[0002] Battery swapping stations, as the core infrastructure for new energy vehicle battery replacement services, are widely deployed at urban traffic nodes and highway service areas. Their core function relies on an internally integrated servo system to automatically complete a series of high-precision mechanical operations, such as lifting and rigging the battery pack, aligning it with the vehicle body, and replacing the old battery with the new one.

[0003] Currently, the servo system in the battery swapping station typically uses a servo motor (such as a permanent magnet synchronous servo motor), combined with a field-oriented control (FOC) algorithm to achieve closed-loop regulation of the servo motor speed and precise position control.

[0004] However, in the above control methods, in order to ensure that the servo system can respond quickly to the vehicle's battery swapping command at any time, the servo driver is usually in a continuously enabled state, and the servo motor is in a zero-speed hold or enabled standby state for a long time, which has the problem of high energy consumption of the servo system. Summary of the Invention

[0005] This application provides an energy-saving control method, device, equipment, medium, and program product for a battery swapping station, which solves the problem of high energy consumption in the servo system, where the servo drive is usually in a continuously enabled state and the servo motor is in a zero-speed hold or enabled standby state for a long time.

[0006] In a first aspect, this application provides an energy-saving control method for a battery swapping station, comprising: acquiring the current battery swapping operation data of the battery swapping station and the current working mode of the servo system within the battery swapping station; determining, based on the current battery swapping operation data, whether the current battery swapping condition of the battery swapping station is a low-valley battery swapping condition; if the current battery swapping condition is a low-valley battery swapping condition and the current working mode is the standard operating mode, then sending an energy-saving sleep command to the servo driver, the energy-saving sleep command being used to instruct the servo driver to control the servo system to enter a zero-current sleep state.

[0007] In one possible implementation, the energy-saving sleep instruction is used to instruct the servo drive to perform at least one of the following operations: turn off the power stage output enable of the servo drive; disconnect the main power supply circuit of the servo motor in the servo system; switch the current working mode to the energy-saving sleep mode; wherein, in the standard working mode, the servo system is in an enabled standby state; and in the energy-saving sleep mode, the servo system is in a zero-current sleep state.

[0008] In one possible implementation, the method further includes: when the first wake-up trigger condition or the second wake-up trigger condition is met, sending a wake-up operation instruction to the servo driver, the wake-up operation instruction being used to instruct the servo driver to control the servo system to enter an enabled standby state.

[0009] The first wake-up trigger conditions include: the current battery swapping condition is a peak battery swapping condition, and the current working mode is an energy-saving sleep mode;

[0010] The second wake-up trigger condition includes: after sending an energy-saving hibernation command to the servo driver, real-time monitoring of the battery swapping station's battery swapping demand signal, and detection of a valid battery swapping demand signal.

[0011] In one possible implementation, the wake-up command is used to instruct the servo driver to perform at least one of the following operations: enable the power stage output of the servo driver; connect the main power supply circuit of the servo motor in the servo system; or switch the current working mode to the standard working mode.

[0012] In one possible implementation, after sending the wake-up command to the servo driver, the method further includes: real-time monitoring of the control status parameters of the servo system, including current loop establishment status parameters, position feedback communication status parameters, and fault alarm status parameters; and unlocking the servo system's operation permissions in response to the monitoring that the control status parameters meet the battery swapping operation standards.

[0013] In one possible implementation, the current battery swapping operation data includes vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals. Based on the current battery swapping operation data, it is determined whether the current battery swapping condition of the battery swapping station is an off-peak condition, including: determining whether there are vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals within a preset time period; if at least one of these three signals exists within the preset time period, the current battery swapping condition is determined to be a peak condition; if none of these signals exist within the preset time period, the current battery swapping condition is determined to be an off-peak condition.

[0014] Secondly, embodiments of this application provide an energy-saving control device for a battery swapping station, comprising:

[0015] The acquisition module is used to acquire the current battery swapping operation data of the battery swapping station and the current working mode of the servo system within the battery swapping station.

[0016] The determination module is used to determine whether the current battery swapping operation of the battery swapping station is in a low-off-peak period based on the current battery swapping operation data.

[0017] The control module is used to send an energy-saving sleep command to the servo driver when the current battery swapping condition is a low-off-peak condition and the current working mode is the standard operation mode. The energy-saving sleep command is used to instruct the servo driver to control the servo system to enter a zero-current sleep state.

[0018] In one possible implementation, the energy-saving sleep instruction is used to instruct the servo drive to perform at least one of the following operations: turn off the power stage output enable of the servo drive; disconnect the main power supply circuit of the servo motor in the servo system; switch the current working mode to the energy-saving sleep mode; wherein, in the standard working mode, the servo system is in an enabled standby state; and in the energy-saving sleep mode, the servo system is in a zero-current sleep state.

[0019] In one possible implementation, the control module is further configured to: send a wake-up operation instruction to the servo driver when the first wake-up trigger condition or the second wake-up trigger condition is met. The wake-up operation instruction is used to instruct the servo driver to control the servo system to enter an enabled standby state.

[0020] The first wake-up trigger conditions include: the current battery swapping condition is a peak battery swapping condition, and the current working mode is an energy-saving sleep mode;

[0021] The second wake-up trigger condition includes: after sending an energy-saving hibernation command to the servo driver, real-time monitoring of the battery swapping station's battery swapping demand signal, and detection of a valid battery swapping demand signal.

[0022] In one possible implementation, the wake-up command is used to instruct the servo driver to perform at least one of the following operations: enable the power stage output of the servo driver; connect the main power supply circuit of the servo motor in the servo system; or switch the current working mode to the standard working mode.

[0023] In one possible implementation, after sending a wake-up command to the servo driver, the energy-saving device of the battery swapping station also includes an unlocking module (not shown). The unlocking module is used to: monitor the control status parameters of the servo system in real time, including current loop establishment status parameters, position feedback communication status parameters, and fault alarm status parameters; and unlock the servo system's action permissions in response to the monitoring that the control status parameters meet the battery swapping operation standards.

[0024] In one possible implementation, the current battery swapping operation data includes vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals. The determination module is specifically used to: determine whether vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals exist within a preset time period; if at least one of these exists within the preset time period, the current battery swapping condition is determined to be a peak battery swapping condition; if none of these exist within the preset time period, the current battery swapping condition is determined to be an off-peak battery swapping condition.

[0025] Thirdly, embodiments of this application provide an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0026] The memory stores instructions that the computer executes;

[0027] The processor executes computer execution instructions stored in memory to implement the energy-saving control method for battery swapping stations as provided in the first aspect above.

[0028] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the energy-saving control method for a battery swapping station as described in the first aspect above.

[0029] Fifthly, embodiments of this application provide a computer program product, including: a computer program, which, when executed by a processor, implements the energy-saving control method for a battery swapping station as described in the first aspect above.

[0030] This application provides an energy-saving control method, device, equipment, medium, and program product for battery swapping stations. The energy-saving control method acquires the current battery swapping operation data and the current operating mode of the servo system within the station. Based on the current battery swapping operation data, it determines whether the current battery swapping condition is a low-peak condition. When the current battery swapping condition is a low-peak condition and the current operating mode is the standard operating mode, an energy-saving sleep command is sent to the servo driver, causing the servo system to enter a zero-current sleep state. This application, by combining the current battery swapping operation data and the current operating mode of the servo system within the station to complete operating condition identification and mode switching, triggers zero-current sleep control only when battery swapping operations are in a low-peak period and the servo system remains in the standard operating mode. This can specifically reduce the standby power consumption generated by the continuous excitation of the servo system during low-peak periods, thereby achieving standby energy-saving control during low-peak periods, reducing servo system power consumption, and thus balancing energy-saving control requirements and operational response stability in intermittent operation scenarios of battery swapping stations. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0032] Figure 1 This is a schematic diagram of the structure of an energy-saving control method for a battery swapping station provided in an embodiment of this application;

[0033] Figure 2 A flowchart illustrating an energy-saving control method for a battery swapping station provided in another embodiment of this application;

[0034] Figure 3 This is a schematic diagram of the structure of the energy-saving control device for a battery swapping station provided in the embodiments of this application;

[0035] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0036] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0037] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0038] In the automated battery swapping system of conventional battery swapping stations, various actuators used for battery pack grabbing, lifting, alignment, and locking are all equipped with servo control systems. Currently, the industry commonly uses permanent magnet synchronous servo motors as the core actuators, incorporating FOC algorithms to achieve closed-loop motor speed regulation and high-precision position control, thereby ensuring the stability and accuracy of the battery swapping operation. In the conventional control logic, to ensure the servo system can respond to vehicle battery swapping dispatch commands without delay and to avoid response lag caused by system hibernation or lack of excitation, the servo driver is set to a continuously enabled working mode. This allows the servo motor to maintain a zero-speed hold and electrically energized standby state during most idle periods.

[0039] From the perspective of servo motor energy consumption composition, its operating energy loss mainly includes four categories: copper loss, iron loss, mechanical loss, and stray loss. Among them, copper loss and iron loss generated under energized excitation conditions are the main sources of loss, accounting for more than 70% of the total energy loss of the motor. Combining actual field test data and industry technical statistics, it is clear that the energy consumption of servo motors under energized conditions is significantly higher than that under de-energized conditions. At the same time, the loss of the motor in the continuous energized standby state is far greater than the basic static loss in the completely de-energized dormant state. The energized state of the excitation tape is the core reason for the ineffective energy consumption of servo motors.

[0040] The actual operation of battery swapping stations exhibits significant intermittent and peak-valley fluctuation characteristics, with marked differences in operating conditions. During peak daytime battery swapping periods, a large number of vehicles enter the station for swapping, requiring servo motors to frequently start and stop and operate continuously to complete the swapping tasks. Conversely, during off-peak hours at midday and the early morning hours, when there is little or no demand for swapping, the servo system does not need to perform any effective operations, yet remains in an enabled, energized standby state for extended periods. Under these conditions, the servo motors generate high levels of excitation copper and iron losses without any effective mechanical output, resulting in substantial wasted energy and directly increasing the overall energy consumption and daily operating costs of the battery swapping station. Furthermore, the continuous energization and heating of the servo motors accelerates the aging of the motor winding insulation and the decay of the core's magnetic properties, significantly shortening the lifespan of the servo motors and associated drive equipment, increasing the probability of equipment failure and daily maintenance costs.

[0041] In the current industry environment of continuously rising energy costs, the need for refined energy saving, consumption reduction, cost reduction, and efficiency improvement in battery swapping stations is becoming increasingly urgent. Solving the problem of ineffective excitation loss of servo motors during off-peak hours is the core key to improving the overall energy efficiency of battery swapping stations and reducing operational energy consumption. However, currently, various servo energy-saving technologies in the industry cannot effectively solve the core problem of high ineffective excitation loss of servo motors during off-peak battery swapping periods.

[0042] Among related technologies, the energy-saving methods for battery swapping stations have the following technical drawbacks:

[0043] 1) Conventional energy-saving methods can only slightly reduce motor losses by finely adjusting the excitation current parameters. Due to the inherent characteristic that the excitation power consumption of the servo motor is much higher than that of the down-excitation, the motor cannot get out of the energized excitation state during the off-peak standby period, and there is always a large amount of ineffective energy consumption without operation output. It is difficult to effectively reduce the overall energy consumption of the battery swapping station.

[0044] 2) Existing energy-saving solutions have extremely poor adaptability to operating conditions and cannot match the dynamic operating characteristics of battery swapping stations with alternating peak and valley periods. Traditional control methods with fixed delay sleep and static parameter fine-tuning cannot accurately identify the peak and valley periods of battery swapping operations at the station. During the delay waiting period, the servo motor continues to be powered and consumes power, resulting in very limited energy-saving effects. Furthermore, no corresponding dynamic operating condition switching control logic has been designed for the specific operating conditions of battery swapping.

[0045] 3) Various hardware optimization and energy-saving solutions require the modification of existing servo hardware equipment, which is costly and has a long construction period. Existing battery swapping stations are difficult to adapt and implement at low cost. Moreover, such solutions can only reduce losses at the hardware level and cannot eliminate the standby excitation ineffective losses at the equipment operation control logic level.

[0046] 4) Existing energy-saving solutions cannot balance energy-saving effects with battery swapping response efficiency and operational accuracy. While some advanced energy-saving solutions can reduce standby power consumption, they can cause delays in servo motor excitation recovery. The lag in establishing the motor's magnetic field directly affects the response speed of battery swapping commands, leading to a decrease in the timeliness of vehicle battery swapping operations. It can also easily cause battery swapping alignment deviations, reducing the stability and accuracy of automated battery swapping operations and failing to meet the high-efficiency and high-precision operational requirements of battery swapping stations.

[0047] Based on the technical problems existing in the above-mentioned related technologies, the embodiments of this application complete the working condition identification and mode switching by combining the current battery swapping operation data of the battery swapping station and the current working mode of the servo system in the battery swapping station. Zero current sleep control is triggered only when the battery swapping business enters the off-peak period and the servo system still maintains the standard operation mode. This can reduce the standby energy consumption generated by the continuous excitation of the servo system during the off-peak period of battery swapping, thereby realizing the standby energy-saving control of the battery swapping station during the off-peak period, reducing the energy consumption of the servo system, and thus taking into account the energy-saving control requirements and operation response stability in the intermittent operation scenario of the battery swapping station.

[0048] The application scenarios of the embodiments of this application will be described below first.

[0049] The energy-saving control method for battery swapping stations provided in this application is applicable to the scenario of battery swapping stations for new energy vehicles.

[0050] The following section uses the main control system of the battery swapping station as the execution entity and combines specific embodiments to provide a detailed description of the specific implementation of the energy-saving control method for battery swapping stations provided in this application.

[0051] Figure 1 This is a schematic diagram of the structure of an energy-saving control method for a battery swapping station provided in an embodiment of this application. Figure 1 As shown, a specific implementation of this energy-saving control method for battery swapping stations may include the following steps:

[0052] S101: Obtain the current battery swapping operation data of the battery swapping station and the current working mode of the servo system within the battery swapping station.

[0053] The battery swapping station is the application object of this method, and may specifically include a main control system, a servo driver that communicates with the main control system, a servo motor driven by the servo driver, and an actuator driven by the servo motor.

[0054] For example, the servo system, as the control object of the energy-saving control method for the battery swapping station provided in this application embodiment, includes a servo driver and a servo motor driven by the servo driver. The servo driver is responsible for receiving control commands from the main control system and executing state switching, while the servo motor is responsible for outputting motion control corresponding to each actuator during the battery swapping operation.

[0055] For example, the current battery swapping operation data is used to characterize the real-time status of the battery swapping station that is directly related to the battery swapping business at the current moment, including but not limited to vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals.

[0056] For example, the current operating mode is used to characterize the current operating state of the servo system, whether it is in standard operating mode, energy-saving sleep mode, or other operating states related to the switching of operating states. The standard operating mode can also be described as the regular operating mode, which corresponds to the operating state where the servo system is powered on and can respond to the battery swapping command at any time; the energy-saving sleep mode corresponds to the servo system being in a zero-current sleep state when it is powered off.

[0057] For example, in one possible implementation, the main control system of the battery swapping station can periodically perform data acquisition tasks. Current battery swapping operation data can be obtained through the station's detection unit, business management unit, and related feedback information. The current operating mode can be acquired by reading the status information of the servo driver or through the feedback interface. To ensure the consistency of data used for subsequent judgments, the main control system can complete the reading of battery swapping operation data and the current operating mode within the same sampling period and form corresponding data records. Based on the above processing method, the main control system can acquire input information related to business activities and servo status during the continuous standby period of the battery swapping station, providing a basis for subsequent battery swapping condition judgments.

[0058] S102, Based on the current battery swapping operation data, determine whether the current battery swapping operation of the battery swapping station is during off-peak hours.

[0059] Among them, the battery swapping condition is used to characterize the current business busyness of the battery swapping station, while the battery swapping off-peak condition indicates that the battery swapping demand is low during the current judgment period and the battery swapping activities in the battery swapping station are stagnant or close to stagnant.

[0060] Understandably, the determination of the battery swapping off-peak operating conditions is based directly on the current battery swapping operation data. The main control system does not use a single instantaneous signal as a conclusion, but rather conducts a comprehensive analysis of the relevant operating data collected within a preset time range, thereby distinguishing between short-term idle periods and off-peak states where energy-saving control can be entered.

[0061] For example, in one possible implementation, the main control system can establish a time window to statistically analyze the current battery swapping operation data and determine the battery swapping condition according to preset rules. To reduce the impact of occasional signal fluctuations on the determination results, the collected data can also be validated or its continuity assessed. Once a battery swapping off-peak condition is confirmed, the main control system marks the current battery swapping condition as an off-peak condition in the battery swapping condition register area and generates a timestamp and determination result flag corresponding to this off-peak condition for subsequent control steps to call; if the off-peak condition is not met, the non-off-peak condition identifier is maintained.

[0062] For example, the main control system determines the off-peak battery swapping conditions based on preset rules (such as a threshold for consecutive periods without orders). For instance, if there are no vehicle entry signals, no battery swapping orders generated, and no battery swapping mechanism operation signals within a preset time period, the system determines that it has entered an off-peak battery swapping period. At this time, the main control system sends an energy-saving sleep command to the servo driver, triggering the servo system to enter a low-power state. This energy-saving sleep command switches the servo motor from normal excitation standby to zero-current sleep state by turning off the power stage output enable and cutting off the main power supply circuit, thereby eliminating excitation losses.

[0063] Understandably, by judging the relevant data of the battery swapping business within the preset time range in this step, the real long idle intervals in intermittent operation scenarios can be separated from ordinary short pauses, so that the energy-saving control triggering conditions are consistent with the actual business rhythm of the battery swapping station.

[0064] S103, if the current battery swapping condition is a low-off-peak battery swapping condition and the current working mode is the standard operating mode, then send an energy-saving sleep command to the servo driver. This energy-saving sleep command is used to instruct the servo driver to control the servo system to enter a zero-current sleep state.

[0065] Among them, the servo driver is the control unit that directly performs state switching.

[0066] For example, the energy-saving sleep command is a control signal generated and sent by the main control system to trigger the servo driver to change the operating state of the servo system.

[0067] For example, zero-current sleep state means that the servo system no longer maintains the operating current or output state required for normal operation, so that the servo system is not continuously in an enabled standby state.

[0068] For example, in one specific implementation, after the main control system determines in step S102 that the current operating condition is a low-peak battery swapping condition, it does not directly issue an energy-saving sleep command. Instead, it first reads the current operating mode identifier of the battery swapping station servo system formed in step S101. Only when the identifier is in the standard operating mode will it enter the energy-saving switching process. This conditional judgment is used to avoid repeatedly sending the energy-saving sleep command when the servo system is already in an energy-saving sleep state or a non-standard operating state. When the main control system generates an energy-saving sleep command, it can carry information for completing the control in the command data and complete the issuance of the energy-saving sleep command through the communication link corresponding to the servo driver. After receiving the energy-saving sleep command sent by the main control system, the servo driver responds to the energy-saving sleep command and controls the servo system to enter a zero-current sleep state.

[0069] Understandably, this step involves simultaneously defining two triggering conditions: off-peak battery swapping conditions and standard operating mode. The main control system then sends an energy-saving sleep command to the servo driver, causing the servo system to switch from an enabled standby state to a zero-current sleep state. The energy-saving action is directly related to the off-peak battery swapping business identification result, thus enabling standby energy consumption control without changing the configuration of the battery swapping station's operating mechanism.

[0070] In this embodiment, by acquiring the current battery swapping operation data of the battery swapping station and the current working mode of the servo system within the station, and determining whether the current battery swapping condition is a low-peak condition based on the current operation data, an energy-saving sleep command is sent to the servo driver when the current battery swapping condition is a low-peak condition and the current working mode is the standard operating mode, causing the servo system to enter a zero-current sleep state. This embodiment combines the current battery swapping operation data of the battery swapping station with the current working mode of the servo system within the station to complete condition identification and mode switching. Zero-current sleep control is triggered only when battery swapping operations are in a low-peak period and the servo system remains in the standard operating mode. This can specifically reduce the standby power consumption generated by the continuous excitation of the servo system during low-peak periods, thereby achieving standby energy-saving control during low-peak periods, reducing servo system power consumption, and thus balancing energy-saving control requirements and operational response stability in intermittent operation scenarios of the battery swapping station.

[0071] Optionally, in one possible implementation, the energy-saving sleep instruction is used to instruct the servo driver to perform at least one of the following operations: turn off the power stage output enable of the servo driver; disconnect the main power supply circuit of the servo motor in the servo system; switch the current working mode to the energy-saving sleep mode; wherein, in the standard working mode, the servo system is in an enabled standby state; in the energy-saving sleep mode, the servo system is in a zero-current sleep state.

[0072] For example, when the current battery swapping operation is during off-peak hours and the current operating mode is standard mode, the main control system sends an energy-saving sleep command to the servo driver. Upon receiving the energy-saving sleep command, the servo driver performs at least one of the following operations: disabling the servo driver's power stage output enable, cutting off the main power supply circuit of the servo motor in the servo system, and switching the current operating mode to energy-saving sleep mode. This could be performed simultaneously by disabling the servo driver's power stage output enable, cutting off the main power supply circuit of the servo motor in the servo system, and switching the current operating mode to energy-saving sleep mode; or simultaneously by disabling the servo driver's power stage output enable, cutting off the main power supply circuit of the servo motor in the servo system, and switching the current operating mode to energy-saving sleep mode; or by performing any one of the following operations: disabling the servo driver's power stage output enable, cutting off the main power supply circuit of the servo motor in the servo system, and switching the current operating mode to energy-saving sleep mode.

[0073] For example, when enabling the power stage output of the servo driver to shut down, the servo driver stops outputting drive current to the servo motor windings by controlling the on / off state of the Insulated Gate Bipolar Transistor (IGBT) switch. When the main power supply circuit of the servo motor in the servo system is cut off, the servo driver disconnects the main power input of the motor through the relay control unit or solid-state switching unit. The above operations work together to switch the servo motor from a standby state that maintains the excitation current to a zero-current sleep state, retaining only the basic low-voltage power supply of the control system, thereby significantly reducing standby power loss.

[0074] For example, in one specific implementation, after receiving an energy-saving sleep command, the servo driver can first determine the current drive state based on its internal control logic and output a shutdown signal to turn off the power stage output enable, thus stopping the power stage from outputting drive energy to the servo motor. Alternatively, it can cut off the main power supply circuit of the servo motor through a relay control unit or a solid-state switch unit, causing the motor to lose its main power supply. It can also synchronously update the working mode flag bit, switching the current working mode from the standard operating mode to the energy-saving sleep mode. In practical applications, the power stage output enable can be implemented by the enable port on the driver board, and the main power supply circuit can be composed of a contactor, relay, or electronic switch. In practical applications, other models of this component can also be selected. This application embodiment does not limit this; the specific choice depends on the actual application requirements.

[0075] For example, in another specific implementation, the energy-saving sleep command can be an excitation cut-off command. After receiving the energy-saving sleep command, the servo driver immediately cuts off all excitation power supply circuits of the servo motor, stops outputting the excitation current, and switches the servo motor from the normal excitation standby state to the zero excitation current sleep state.

[0076] Understandably, due to the inherent characteristics of servo motors, the up-excitation mode is a high-loss mode, with ineffective power consumption accounting for over 90%, while the down-excitation mode has extremely low basic losses. This step, by completely cutting off the high-loss up-excitation output and only retaining the basic low-voltage power supply for the servo motor control system and detection module, significantly reduces standby power loss and fundamentally solves the problem of ineffective energy waste during off-peak battery swapping periods. Simultaneously, after the excitation is cut off, the servo motor has no magnetic field for continuous heating, which can effectively reduce the aging rate of the windings and core, and extend the service life of the equipment.

[0077] For example, in the standard operating mode of the servo system within the battery swapping station, the servo system remains in an enabled standby state, while the controller maintains basic responsiveness to quickly resume motion control upon subsequent wake-up. When the servo system switches to energy-saving sleep mode, it enters a zero-current sleep state, where the drive side no longer maintains the current supply required for normal operation, and the servo motor side no longer maintains excitation operation. This state transition can be completed by the internal state machine of the servo driver. Upon receiving the energy-saving sleep command, the state machine writes it into the sleep control register and synchronously drives the output stage and power supply circuit to complete the transition.

[0078] It is understood that in this embodiment of the application, when it is determined that the battery swapping station is in a low-voltage operation and the servo system is in standard operating mode, the main control system sends an energy-saving sleep command to the servo driver. After receiving the energy-saving sleep command, the servo driver can switch the servo system from the enabled standby state to the zero-current sleep state during the low-voltage period, thereby reducing ineffective excitation and standby losses. When the service resumes, it can quickly return to the working state by re-enabling the output and connecting the power supply circuit, ensuring the coordination and consistency between the low-voltage energy saving of the battery swapping station and the subsequent response.

[0079] Optionally, in one possible implementation, the energy-saving control method for a battery swapping station provided in this application embodiment further includes: sending a wake-up operation instruction to the servo driver when a first wake-up trigger condition or a second wake-up trigger condition is met. The wake-up operation instruction is used to instruct the servo driver to control the servo system to enter an enabled standby state.

[0080] The first wake-up trigger condition includes: the current battery swapping condition is the peak battery swapping condition, and the current working mode is the energy-saving sleep mode; the second wake-up trigger condition includes: after sending the energy-saving sleep command to the servo driver, the battery swapping demand signal of the battery swapping station is monitored in real time, and a valid battery swapping demand signal is detected.

[0081] For example, when the first wake-up trigger condition is met, a specific implementation of sending a wake-up operation instruction to the servo driver can be as follows: when the main control system determines that the current battery swapping operation is a peak battery swapping operation based on the current battery swapping operation data of the battery swapping station, and the current working mode of the servo system is the energy-saving sleep mode, the main control system generates a wake-up operation instruction and sends the wake-up operation instruction to the servo driver.

[0082] For example, when the first wake-up trigger condition is met (the current battery swapping condition is a peak battery swapping condition and the current operating mode is energy-saving sleep mode), the main control system ensures logical consistency in the following ways:

[0083] 1) Determining peak battery swapping conditions: By monitoring vehicle entry signals, order generation records, and mechanism action signals in real time, it is determined whether the current period has entered the peak battery swapping period;

[0084] 2) Energy-saving sleep mode verification: Confirm whether the current working mode is energy-saving sleep mode by reading the status register of the servo driver;

[0085] 3) Synchronous trigger wake-up: If both conditions are met simultaneously, that is, the current battery swapping condition is the peak battery swapping condition and the current working mode is the energy saving hibernation mode, the main control system immediately sends a wake-up operation command to avoid system response delay due to mode mismatch.

[0086] For example, when the second wake-up trigger condition is met, a specific implementation of sending a wake-up operation command to the servo driver can be as follows: After the main control system sends an energy-saving sleep command to the servo driver, that is, during the zero-current sleep process of the servo motor, the main control system monitors the battery swapping demand signal of the battery swapping station in real time, and when a valid battery swapping demand signal is detected, the main control system generates a wake-up operation command and sends the wake-up operation command to the servo driver.

[0087] For example, when the triggering conditions for the wake-up operation command are met, the main control system monitors in real time through the following methods: 1) Monitoring peak battery swapping conditions: By continuously collecting vehicle entry signals, order generation records, and mechanism action signals, it determines whether the current period is the peak battery swapping period; 2) Monitoring effective battery swapping demand signals: By detecting vehicle entry signals through infrared sensors, or by listening to order generation events through the background system. When either triggering condition is detected, the main control system generates a wake-up operation command and sends it to the servo driver through the communication link to restore the servo motor excitation state.

[0088] For example, valid battery swapping demand signals include, but are not limited to, vehicle entry signals, user-initiated battery swapping orders, and battery swapping tasks generated by the background scheduling system.

[0089] For example, in one possible implementation, the main control system establishes a battery swapping operation monitoring task and a battery swapping demand signal listening task. When it is detected that the battery swapping station has entered the peak battery swapping operation and the servo system is still in energy-saving sleep mode, a wake-up operation command is immediately generated and sent to the servo driver. When the main control system listens to a valid battery swapping demand signal after the servo motor has processed the zero-current sleep state, it also generates the wake-up operation command synchronously. After receiving the wake-up operation command, the servo driver re-establishes the power stage output enable and control closed loop, enabling the servo system to enter an enabled standby state that can perform battery swapping actions at any time, while maintaining position holding, online communication and rapid response capabilities.

[0090] In this embodiment, by triggering a wake-up command when the battery swapping peak conditions and effective battery swapping demand signals arrive, the servo system can promptly recover from the energy-saving sleep state to the enabled standby state. This maintains the continuity of battery swapping response while enabling the zero-current sleep strategy during off-peak hours and the enabled standby state recovery strategy during peak hours to work together, reducing unnecessary standby power consumption and improving the real-time performance of battery swapping station control switching.

[0091] Optionally, in one possible implementation, the wake-up command is used to instruct the servo driver to perform at least one of the following operations: enable the power stage output of the servo driver; connect the main power supply circuit of the servo motor in the servo system; switch the current working mode to the standard working mode.

[0092] For example, when the current battery swapping operation is during peak battery swapping conditions and the current operating mode is energy-saving sleep mode, or when the servo motor is in a zero-current sleep state and the main control system detects a valid battery swapping demand signal, the main control system sends a wake-up command to the servo driver. Upon receiving the wake-up command, the servo driver performs at least one of the following operations: enabling the servo driver's power stage output, connecting the main power supply circuit of the servo motor in the servo system, and switching the current operating mode to the standard operating mode. This could be simultaneously performing any two of the following: enabling the servo driver's power stage output, connecting the main power supply circuit of the servo motor in the servo system, and switching the current operating mode to the standard operating mode; or simultaneously performing any one of the following: enabling the servo driver's power stage output, connecting the main power supply circuit of the servo motor in the servo system, and switching the current operating mode to the standard operating mode.

[0093] For example, when enabling the power stage output of the servo driver, the servo driver controls the IGBT to turn on via PWM, gradually applying a standard excitation current to the servo motor windings. When the main power supply circuit of the servo motor in the servo system is connected, the servo driver restores the main power input of the motor through a relay control unit or a solid-state switch unit. The above operations restore the servo motor from a zero-current sleep state to a normal excitation standby state, ensuring the response efficiency of the battery swapping operation.

[0094] For example, in one specific implementation, after detecting a valid battery swapping demand signal or meeting the conditions for peak battery swapping recovery, the main control system of the battery swapping station generates a wake-up operation command and sends it to the servo driver. Upon receiving the wake-up operation command, the servo driver can set the power stage output enable flag in its internal controller, enabling the inverter power unit to regain its ability to output drive power to the servo motor. Simultaneously, the driver can control a relay contactor or solid-state switch to connect the main power supply circuit of the servo motor, allowing the motor bus to regain main power input. It can also switch the current operating mode from energy-saving sleep mode to standard operating mode, restoring the position loop, speed loop, and current loop to their normal operating parameter configurations. These three actions can be triggered individually or executed in conjunction, depending on the command fields issued by the main control system and the state machine logic of the driver. The servo driver can be a control unit with a digital input interface and a bus communication interface. In practical applications, other models of this component can also be selected; this application does not limit this selection, but rather determines the specific model based on actual application requirements.

[0095] For example, in another specific implementation, the wake-up command can be an excitation recovery command. After receiving the wake-up command, the servo driver quickly connects the excitation power supply circuit to reapply the standard excitation current to the servo motor, so that the servo motor switches from the zero excitation current sleep state to the normal excitation standby state.

[0096] For example, after the wake-up command is applied to the servo drive, the power output, main power supply and working mode are synchronously restored to the working state, thereby enabling the servo system to return from the energy-saving sleep mode to the standard working state where battery swapping can be performed.

[0097] It is understood that by adopting the wake-up operation instruction in this application embodiment, the servo system can restore power supply and drive permission as needed after receiving external battery swapping operation requirements, and simultaneously complete the working mode switch, so that subsequent clamping, lifting, alignment and replacement actions can be started smoothly, and form a closed loop connection with the preceding energy-saving sleep control, maintaining the operation continuity and state switching consistency of the battery swapping station.

[0098] Optionally, in one possible implementation, after sending a wake-up operation command to the servo driver, the energy-saving control method for the battery swapping station provided in this application embodiment further includes: real-time monitoring of the control status parameters of the servo system, including current loop establishment status parameters, position feedback communication status parameters, and fault alarm status parameters; and unlocking the servo system's operation permissions in response to the monitoring that the control status parameters meet the battery swapping operation standards.

[0099] For example, in one specific implementation, after issuing a wake-up command, the main control system first controls the servo drive to enter an enabled standby state, and then continuously reads the status words, alarm words, and feedback frames uploaded by the servo drive through the communication bus. The current loop establishment status parameters can be given by the servo drive's internal current closed-loop stability flag; the position feedback communication status parameters can be given by the encoder feedback timeout flag or communication response flag; and the fault alarm status parameters can be given by the servo drive's fault register. When the current loop is established, the position feedback communication is normal, and there is no fault alarm, the main control system determines that the control status parameters meet the battery swapping operation standards and writes an action permission flag or an action unlock flag to the servo drive, thereby unlocking the servo system's action permissions and enabling it to respond to automated operation commands such as battery swapping clamping, lifting, alignment, and replacement.

[0100] For example, when unlocking the servo system's action permissions, the main control system achieves this through the following steps:

[0101] 1) Real-time monitoring of control status parameters: Read the current loop stability flag, encoder feedback flag and fault register status uploaded by the servo driver via the communication bus;

[0102] 2) Condition judgment: If the current loop has been established, the position feedback is normal and there is no fault alarm, then the parameters are judged to meet the preset battery swapping operation standards.

[0103] 3) Unlock permissions: Write the action permission flag or remove the action mask flag to the servo driver to enable the servo system to perform the battery swapping action.

[0104] For example, when unlocking the servo system's action permissions, the main control system ensures that the control status parameters meet the battery swapping operation standards through the following steps:

[0105] 1) Current loop establishment status monitoring: Confirm that the current loop is stable by using the closed-loop control flag inside the servo driver;

[0106] 2) Position feedback communication status verification: Confirm that the position feedback is normal by checking the communication response flag of the encoder feedback signal;

[0107] 3) Fault alarm status check: Confirm that there are no abnormal alarms by reading the driver fault register;

[0108] 4) Unlocking permissions: After all the above conditions are met, the main control system writes an action permission flag to the servo driver, enabling the servo system to perform the battery swapping action.

[0109] It is understood that, through the millisecond-level excitation response and stability prediction mechanism, the excitation recovery delay problem is completely avoided. The response time from demand triggering to the servo motor being able to operate normally is completely consistent with the traditional constant excitation mode, without any operation delay or positioning deviation problem, thus fully ensuring the efficiency and accuracy of battery swapping operations.

[0110] In this embodiment, after sending a wake-up command to the servo driver, the control status parameters of the servo system are monitored in real time. When the control status parameters meet the battery swapping operation standards, the servo system's action permissions are unlocked. This allows the woken-up servo system to first complete electrical and communication status confirmation before opening the action control channel. This avoids the servo system directly executing the battery swapping action during the recovery process due to unstable current loop, feedback interruption, or unresolved faults. This ensures that the unlocking of action permissions is consistent with the actual workable state, improving the reliability of battery swapping action switching and enabling the wake-up operation to enter a more stable control state.

[0111] Optionally, the current battery swapping operation data includes vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals.

[0112] For example, in a battery swapping station scenario, the vehicle entry signal can be the vehicle entry signal detected by an infrared sensor, the battery swapping order generation record can be the battery swapping order ID generated by the backend system, and the battery swapping mechanism action signal can be the motion status signal of the robotic arm.

[0113] The following is combined with Figure 2 The following is a detailed explanation of a specific implementation method for step S102, which determines whether the current battery swapping operation of the battery swapping station is in a low-valley operation condition based on the current battery swapping operation data.

[0114] Figure 2 This is a flowchart illustrating an energy-saving control method for a battery swapping station according to another embodiment of this application. Figure 2 As shown, a specific implementation method for determining whether the current battery swapping operation is during off-peak hours based on current battery swapping operation data in this energy-saving control method for battery swapping stations may include the following steps:

[0115] S201, determine whether there are vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals within a preset time period.

[0116] For example, the preset duration can be 5 minutes, 10 minutes, etc.

[0117] For example, in one possible implementation, the preset duration can be configured as a fixed duration interval based on the historical operation rhythm of the battery swapping station. In practical applications, the preset duration can also be adjusted according to the station type and the density of battery swapping services. This application embodiment does not limit the specific value of the preset duration, but it can be determined according to the actual application requirements.

[0118] For example, in another possible implementation, the main control system can dynamically adjust the preset duration based on the historical operating data of the battery swapping station. For instance, if historical operating data shows that a certain period is a long-term low-swapping period, the system can shorten the judgment threshold (e.g., from 10 minutes to 5 minutes) to trigger the energy-saving sleep mode more quickly; if historical operating data shows that there is a sudden demand for battery swapping during a certain period, the system can extend the judgment threshold (e.g., from 10 minutes to 15 minutes) to avoid misjudgment.

[0119] For example, in this step, it is determined whether there is a vehicle entry signal, a battery swapping order generation record, and a battery swapping mechanism action signal within a preset time period. If at least one of the vehicle entry signal, battery swapping order generation record, and battery swapping mechanism action signal exists within the preset time period, then step S202 is executed; if none of the vehicle entry signal, battery swapping order generation record, and battery swapping mechanism action signal exists within the preset time period, then step S203 is executed.

[0120] S202, the current battery swapping condition is determined to be a peak battery swapping condition.

[0121] S203, the current battery swapping condition is determined to be an off-peak battery swapping condition.

[0122] For example, one specific implementation of steps S201 to S203 above can be as follows: The main control system of the battery swapping station can aggregate the vehicle entry signal, the status variables of the order management module and the actuator controller into the current battery swapping operation data, and perform timestamp matching and validity screening on it within a preset time period. When any signal is recorded within the preset time period, it indicates that there is actual battery swapping activity or battery swapping demand triggered at the battery swapping station, and the main control system determines the current battery swapping condition as a peak battery swapping condition accordingly; when none of the three types of signals are recorded within the preset time period, it indicates that the battery swapping station is in a state of no battery swapping activity or low battery swapping demand, and the main control system determines the current battery swapping condition as a low battery swapping condition accordingly.

[0123] For example, when the battery swapping station is in peak battery swapping conditions, the corresponding servo system operates in standard operating mode; when the battery swapping station is in off-peak battery swapping conditions, the corresponding servo system operates in energy-saving sleep mode.

[0124] It is understood that the judgment logic for battery swapping conditions provided in the embodiments of this application can accurately avoid the problem of misjudgment of short-term standby, distinguish between normal working intervals and long-term battery swapping off-peak standby scenarios, ensure the accuracy of energy-saving control, and avoid system fluctuations caused by frequent on / off excitation.

[0125] In this embodiment, by determining whether a vehicle entry signal, a battery swapping order generation record, and a battery swapping mechanism action signal exist within a preset time period, and if at least one of these three signals exists within the preset time period, the current battery swapping condition is determined to be a peak battery swapping condition. If none of these three signals exist within the preset time period, the current battery swapping condition is determined to be a low-peak battery swapping condition. This allows the system to uniformly identify the business activity level within the battery swapping station based on three types of operational information: vehicle entry, order generation, and mechanism action. The absence of signals is used as a criterion for low-peak battery swapping conditions, ensuring that subsequent energy-saving sleep control is triggered only during low-peak battery swapping conditions. This makes the identification of intermittent business states at the battery swapping station more closely resemble actual operating conditions, thereby improving the consistency of low-peak battery swapping judgments and providing a reliable triggering basis for the servo system to enter zero-current sleep mode.

[0126] Optionally, in one possible implementation, redundant control logic can be designed in the main control system of the battery swapping station to ensure the continuity of energy-saving control during off-peak battery swapping periods. Specifically, the main control system includes a main decision module and a backup decision module, which operate in parallel. The main decision module is responsible for dynamically identifying battery swapping conditions based on real-time battery swapping operation data, while the backup decision module uses simplified rules (such as a fixed schedule or fixed signal thresholds) to determine the battery swapping conditions. A heartbeat detection mechanism can monitor the operating status of the main decision module in real time. If a failure of the main decision module is detected (such as communication interruption or software failure), the backup decision module automatically takes over and forces the system into an energy-saving sleep mode. For example, during off-peak battery swapping periods at night, the backup logic can trigger a deep energy-saving sleep mode based on a preset schedule (such as 22:00-6:00) to ensure that the servo system maintains a low-energy consumption state even when there is no battery swapping demand.

[0127] Optionally, in one possible implementation, the energy-saving control method for battery swapping stations provided in this application embodiment can dynamically select the energy-saving level based on the duration of the off-peak battery swapping period. Specifically, the main control system evaluates the duration of the off-peak battery swapping period through a time window analysis algorithm (such as sliding window statistics) and selects the energy-saving mode in conjunction with the operation priority strategy of the battery swapping station. For example:

[0128] 1) Light energy-saving mode: Suitable for short-term battery swapping off-peak periods (such as 1 to 2 hours at noon). It reduces the excitation current amplitude of the servo motor through pulse width modulation (PWM) to maintain the motor magnetic field in a weakened state, and only retains basic low-voltage power supply.

[0129] 2) Deep energy-saving mode: Suitable for long-term battery swapping off-peak periods (such as 8 hours at night), it completely cuts off the excitation current of the servo motor, turns off the power stage output enable and cuts off the main power supply circuit, so that the servo motor enters a zero-current sleep state.

[0130] Through differentiated control of multi-level energy-saving modes, more refined energy consumption management can be achieved in different battery swapping off-peak scenarios, taking into account both the response needs during short-term off-peak periods and the ultimate energy-saving goals during long-term off-peak periods.

[0131] In summary, the energy-saving control method for battery swapping stations provided in this application embodiment forms an overall "mode switching" mechanism. Operating condition identification Low-frequency excitation interruption Demand excitation magnet The closed-loop energy control system for "peak-hour routine operation" operates fully automatically without human intervention. During peak battery swapping periods, it maintains regular excitation to ensure swapping efficiency; during off-peak periods, it cuts off high-loss excitation to achieve maximum energy saving; and it quickly restores operating conditions when battery swapping demand returns, balancing energy saving and operational performance, perfectly adapting to the peak-valley operation characteristics of battery swapping stations.

[0132] This energy-saving control method for battery swapping stations has two aspects. First, it adds dedicated servo motor energy-saving mode software control logic to the traditional servo system, setting two working modes: "standard operation mode" and "energy-saving sleep mode," which can be switched with one click and automatically. Through the linkage of upper and lower computer software logic, it breaks the single operating mode of constant excitation in related technologies and achieves differentiated and precise control of battery swapping conditions. During peak battery swapping periods, the energy-saving sleep mode of the servo system is turned off and the standard operation mode is turned on, while the servo motor maintains normal excitation, ensuring the accuracy and response speed of high-frequency battery swapping operations. During off-peak battery swapping periods, the energy-saving sleep mode is automatically or manually activated, providing authority and logic support for subsequent excitation cutoff control, solving the problem of related technologies lacking differentiated control for different operating conditions and unable to provide targeted energy saving. Second, it adopts servo excitation dynamic on / off control logic based on battery swapping peak and off-peak conditions, namely, closed-loop control logic that cuts off excitation during off-peak periods and quickly re-excites when a vehicle is available for battery swapping. By collecting real-time data on battery swapping orders and vehicle arrivals through the battery swapping station's backend system, the system accurately determines off-peak periods for battery swapping. When entering a period of continuous low demand during off-peak hours, the system directly cuts off all excitation current to the servo motor in energy-saving sleep mode, putting the servo motor into a zero-excitation, low-loss sleep state, completely avoiding the high power consumption problem of the servo motor's on-excitation. When the system detects valid battery swapping demand signals such as vehicle arrival or the generation of a battery swapping order, it restores the servo motor's on-excitation milliseconds in advance, and quickly responds to battery swapping operation commands after the magnetic field stabilizes. Utilizing dynamic control of "disconnecting excitation during off-peak hours and re-exciting during peak hours," the system eliminates ineffective excitation losses of the servo motor during off-peak periods. Addressing the characteristic that the on-excitation power consumption of the servo motor is much higher than that of the off-excitation, the system completely cuts off high-loss excitation conditions, retaining only extremely low on-excitation base losses, maximizing the reduction of ineffective energy consumption. Simultaneously, by predicting demand and pre-emptively re-exciting, the system solves the problems of response delay and impact on battery swapping accuracy inherent in traditional energy-saving solutions, balancing extreme energy saving with operational stability.

[0133] In summary, the energy-saving control method for battery swapping stations provided in this application has the following beneficial effects:

[0134] 1) Significant energy-saving effect, eliminating core ineffective losses: Compared to related technologies that can only slightly reduce standby excitation current and cannot cut off the high-loss up-excitation condition, resulting in a large amount of ineffective power consumption, the embodiments of this application can completely cut off the up-excitation current of the servo motor during off-peak battery swapping conditions, thoroughly eliminating the most significant up-excitation ineffective power loss, retaining only the basic weak current loss of the equipment. Actual measurements show that it can reduce the standby power consumption of the servo system in the battery swapping station by more than 85%, significantly improving the energy-saving effect.

[0135] 2) Strong adaptability to operating conditions and precise matching of battery swapping operation characteristics: Compared with the fixed delay sleep logic used in related technologies, which cannot accurately distinguish between peak and off-peak battery swapping conditions, and suffer from continuous power consumption and poor adaptability in the early stages of off-peak periods, the embodiments of this application determine the battery swapping conditions based on real battery swapping orders and vehicle data. It can accurately identify the length of off-peak periods, eliminate delay energy waste, and fully adapt to the intermittent and sudden operation scenarios of battery swapping stations.

[0136] 3) Low-cost deployment and adaptable to all levels of battery swapping stations: Unlike the high-cost transformation solutions that optimize hardware materials, the embodiment of this application only adds a simple energy-saving sleep mode switch. The core control is achieved by software logic. There is no need to replace core hardware such as servo motors and servo drivers. The transformation difficulty is low and the cost is extremely low. It can be fully adapted to newly built battery swapping stations and existing battery swapping stations that are being upgraded, and it has extremely strong feasibility.

[0137] 4) Balancing energy saving and operational performance with no negative impact: Compared to related technologies where excitation fine-tuning schemes can easily lead to unstable motor magnetic fields, affecting battery swapping alignment accuracy, the embodiments of this application only cut off excitation during off-peak battery swapping periods when there are no battery swapping tasks, and re-excite before the battery swapping demand is triggered, ensuring that the motor magnetic field is completely stable during operation, without affecting the positioning accuracy and response speed of the servo motor, without any loss of operational performance, and at the same time reducing the aging loss of the servo motor due to long-term energized excitation, extending the service life of the equipment, and reducing operation and maintenance costs.

[0138] 5) The control logic is simple, reliable and highly stable: The embodiment of this application adopts the on-off control logic of pure working condition linkage, without complex algorithm iteration, minimal changes to hardware structure, high system stability and low failure rate, which is suitable for the long-term continuous operation requirements of the battery swapping station.

[0139] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0140] Figure 3 This is a schematic diagram of the structure of the energy-saving control device for a battery swapping station provided in an embodiment of this application. Figure 3 As shown, the energy-saving control device 30 of the battery swapping station includes an acquisition module 310, a determination module 320, and a control module 330.

[0141] Among them, the acquisition module 310 is used to acquire the current battery swapping operation data of the battery swapping station and the current working mode of the servo system within the battery swapping station.

[0142] The determination module 320 is used to determine whether the current battery swapping operation of the battery swapping station is in a low-off-peak battery swapping condition based on the current battery swapping operation data.

[0143] The control module 330 is used to send an energy-saving sleep command to the servo driver when the current battery swapping condition is a low-off-peak condition and the current working mode is the standard operation mode. The energy-saving sleep command is used to instruct the servo driver to control the servo system to enter a zero-current sleep state.

[0144] In one possible implementation, the energy-saving sleep instruction is used to instruct the servo drive to perform at least one of the following operations: turn off the power stage output enable of the servo drive; disconnect the main power supply circuit of the servo motor in the servo system; switch the current working mode to the energy-saving sleep mode; wherein, in the standard working mode, the servo system is in an enabled standby state; and in the energy-saving sleep mode, the servo system is in a zero-current sleep state.

[0145] In one possible implementation, the control module 330 is further configured to: send a wake-up operation instruction to the servo driver when the first wake-up trigger condition or the second wake-up trigger condition is met, wherein the wake-up operation instruction is used to instruct the servo driver to control the servo system to enter an enabled standby state.

[0146] The first wake-up trigger conditions include: the current battery swapping condition is a peak battery swapping condition, and the current working mode is an energy-saving sleep mode;

[0147] The second wake-up trigger condition includes: after sending an energy-saving hibernation command to the servo driver, real-time monitoring of the battery swapping station's battery swapping demand signal, and detection of a valid battery swapping demand signal.

[0148] In one possible implementation, the wake-up command is used to instruct the servo driver to perform at least one of the following operations: enable the power stage output of the servo driver; connect the main power supply circuit of the servo motor in the servo system; or switch the current working mode to the standard working mode.

[0149] In one possible implementation, after sending a wake-up command to the servo driver, the energy-saving device of the battery swapping station also includes an unlocking module (not shown). The unlocking module is used to: monitor the control status parameters of the servo system in real time, including current loop establishment status parameters, position feedback communication status parameters, and fault alarm status parameters; and unlock the servo system's action permissions in response to the monitoring that the control status parameters meet the battery swapping operation standards.

[0150] In one possible implementation, the current battery swapping operation data includes vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals. The determining module 320 is specifically used to: determine whether vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals exist within a preset time period; if at least one of these exists within the preset time period, the current battery swapping condition is determined to be a peak battery swapping condition; if none of these exist within the preset time period, the current battery swapping condition is determined to be an off-peak battery swapping condition.

[0151] For example, the energy-saving control device for battery swapping stations provided in this application can acquire battery swapping operation data in real time by the acquisition module and simultaneously learn the current working mode of the servo system. This allows the control judgment to be based on dual information of the actual business status and equipment status within the station, thereby avoiding misjudgments caused by simply hibernating for a fixed duration. The determination module identifies whether the battery swapping is in a low-peak operating condition based on the current battery swapping operation data, so that the energy-saving action can match the actual load changes during midday, night, or intermittent waiting periods. The control module only sends an energy-saving hibernation command when the battery swapping is in a low-peak operating condition and the servo system is still in the standard operating mode. This causes the servo driver to switch the servo system to a zero-current hibernation state, reducing the continuous excitation loss during the no-operation period, thereby reducing the standby energy consumption of the battery swapping station, while also taking into account the rationality of subsequent operation resumption and operational stability.

[0152] The energy-saving control device for battery swapping stations provided in this application can be used to execute the method steps of the above method embodiments. The specific implementation and technical effects are similar, and will not be repeated here.

[0153] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 40 includes at least one processor 401 and a memory 402.

[0154] Optionally, the electronic device 40 also includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0155] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0156] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0157] For example, this electronic device can be deployed as an industrial control terminal, edge controller, or station-level server in the main control system of a battery swapping station. After the processor calls the computer execution instructions in the memory, it can obtain the current battery swapping operation data and the current working mode of the servo system, and determine whether it is in a battery swapping off-peak condition. When it is identified that it is in a battery swapping off-peak condition and the servo system is still in the standard operating mode, the processor further controls the sending of energy-saving sleep instructions to the servo driver, so that the servo system switches from continuous excitation state to zero-current sleep state, thereby reducing standby power consumption during the no-operation waiting period. Since this electronic device realizes the coordinated processing of off-peak identification, mode judgment, and sleep control through the program in the memory, it can more accurately match the intermittent changes of battery swapping business, thereby taking into account both energy-saving control and operation recovery needs, and avoiding the problem of untimely response caused by fixed-duration sleep or simple parameter reduction.

[0158] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0159] The memory may include random access memory (RAM) and non-volatile memory (NVM), such as at least one disk storage device.

[0160] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0161] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0162] For example, this computer program product can be stored in a server, local main controller memory, or other non-transitory readable medium, and executed by the processor of the battery swapping station's main control system. The processor then acquires current battery swapping operation data and the current operating mode of the servo system according to predetermined logic, thereby identifying and judging the current battery swapping condition. When the processor determines that it is a battery swapping off-peak period and the current operating mode is the standard operating mode, it outputs an energy-saving sleep command to the servo driver, causing the servo driver to further control the servo system to enter a zero-current sleep state, thus reducing the ineffective energy consumption caused by continuous excitation during standby. Therefore, this computer program product programmatically integrates battery swapping service identification, mode judgment, and sleep control, thereby balancing energy-saving needs during off-peak periods with control coordination during service recovery, improving the economy and stability of the automated operation of the battery swapping station.

[0163] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0164] For example, the computer-readable storage medium can be located in the controller, industrial computer, or embedded processing unit corresponding to the main control system of the battery swapping station. The stored computer execution instructions, after being invoked by the processor, can acquire the current battery swapping operation data of the station, identify the current working mode of the servo system, determine whether the current battery swapping condition is a low-peak period, and send an energy-saving sleep command to the servo driver when the low-peak period condition is met and the station is in standard operating mode. This controls the servo system to enter a zero-current sleep state, enabling the energy-saving control logic to be stably deployed and repeatedly executed in the form of a software program. Therefore, the battery swapping station can rely on the instructions in the storage medium to achieve coordinated operation between the main control system, the servo driver, and the servo system, effectively reducing continuous excitation energy consumption during low-peak periods. This balances the mode switching efficiency and operational continuity of the battery swapping equipment during business recovery, thus improving the energy efficiency, responsiveness, and engineering application adaptability of the battery swapping station's automated control.

[0165] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0166] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0167] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0168] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0169] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0170] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0171] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0172] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. An energy-saving control method for a battery swapping station, characterized in that, include: Obtain the current battery swapping operation data of the battery swapping station and the current working mode of the servo system within the battery swapping station; Based on the current battery swapping operation data, determine whether the current battery swapping operation of the battery swapping station is during off-peak hours. If the current battery swapping condition is the off-peak battery swapping condition and the current working mode is the standard operating mode, then an energy-saving sleep command is sent to the servo driver. The energy-saving sleep command is used to instruct the servo driver to control the servo system to enter a zero-current sleep state.

2. The energy-saving control method for a battery swapping station according to claim 1, characterized in that, The energy-saving sleep command is used to instruct the servo drive to perform at least one of the following operations: Disable the power stage output enable of the servo driver; Disconnect the main power supply circuit of the servo motor in the servo system; Switch the current working mode to energy-saving sleep mode; In the standard operating mode, the servo system is in an enabled standby state; in the energy-saving sleep mode, the servo system is in a zero-current sleep state.

3. The energy-saving control method for a battery swapping station according to claim 1, characterized in that, Also includes: When the first wake-up trigger condition or the second wake-up trigger condition is met, a wake-up operation instruction is sent to the servo driver. The wake-up operation instruction is used to instruct the servo driver to control the servo system to enter an enabled standby state. The first wake-up trigger condition includes: the current battery swapping condition is a peak battery swapping condition, and the current working mode is an energy-saving sleep mode; The second wake-up trigger condition includes: after sending an energy-saving sleep command to the servo driver, monitoring the battery swapping demand signal of the battery swapping station in real time, and detecting a valid battery swapping demand signal.

4. The energy-saving control method for a battery swapping station according to claim 3, characterized in that, The wake-up command is used to instruct the servo driver to perform at least one of the following operations: Enable the power stage output of the servo driver; Connect the main power supply circuit of the servo motor in the servo system; Switch the current working mode to the standard operation mode.

5. The energy-saving control method for a battery swapping station according to claim 3, characterized in that, After sending the wake-up job instruction to the servo driver, the method further includes: The control status parameters of the servo system are monitored in real time, including current loop establishment status parameters, position feedback communication status parameters, and fault alarm status parameters. In response to the detection that the control status parameters meet the battery swapping operation standards, the servo system's operation permissions are unlocked.

6. The energy-saving control method for a battery swapping station according to any one of claims 1 to 5, characterized in that, The current battery swapping operation data includes vehicle entry signals, battery swapping order generation records, and battery swapping mechanism action signals. The step of determining whether the current battery swapping operation of the battery swapping station is during off-peak hours based on the current battery swapping operation data includes: Determine whether the vehicle entry signal, the battery swapping order generation record, and the battery swapping mechanism action signal exist within a preset time period; If at least one of the vehicle entry signal, the battery swapping order generation record, and the battery swapping mechanism action signal exists within a preset time period, then the current battery swapping condition is determined to be a peak battery swapping condition. If the vehicle entry signal, the battery swapping order generation record, and the battery swapping mechanism action signal are all absent within a preset time period, then the current battery swapping condition is determined to be an off-peak battery swapping condition.

7. An energy-saving control device for a battery swapping station, characterized in that, include: The acquisition module is used to acquire the current battery swapping operation data of the battery swapping station and the current working mode of the servo system within the battery swapping station. The determination module is used to determine whether the current battery swapping operation condition of the battery swapping station is a low-off-peak operation condition based on the current battery swapping operation data. The control module is used to send an energy-saving sleep command to the servo driver when the current battery swapping condition is the off-peak battery swapping condition and the current working mode is the standard operating mode. The energy-saving sleep command is used to instruct the servo driver to control the servo system to enter a zero-current sleep state.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the energy-saving control method for a battery swapping station as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the energy-saving control method for a battery swapping station as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, include: A computer program, which, when executed by a processor, implements the energy-saving control method for a battery swapping station as described in any one of claims 1 to 6.

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