Self-service charging vehicle

Abstract

The utility model discloses a self-service charging vehicle which comprises a vehicle body, driving wheels, a charging-discharging gun, a sensor, a mobile controller, a charging battery, a charging controller and a battery management system. The charging-discharging gun is electrically connected with the rechargeable battery, and under the control of the charging controller and the battery management system, the charging-discharging gun can complement energy of the rechargeable battery or charge the rechargeable battery outwards; a placing position for placing the charging-discharging gun is arranged on the vehicle body, and a first sensor is arranged in the placing position; a wheel locking mechanism is arranged corresponding to the driving wheel; the input end of the mobile controller is electrically connected with the first sensor, the output end of the mobile controller is electrically connected with the locking mechanism, and the mobile controller sends a locking signal or an unlocking signal to the wheel locking mechanism according to a charging-discharging gun in-place signal sent by the first sensor. And therefore, the driving wheel is unlocked. By adopting the self-service charging vehicle provided by the invention, the safety in the running process can be enhanced.

Description

Technical Field

[0001] The present application relates to the field of charging and discharging, and specifically relates to a self-service charging vehicle and a control method for a charging vehicle. The present application also relates to an electronic device. Background Art

[0002] As a charging device for new energy vehicles, the mobility of the charging cart overcomes the problem of vehicles looking for charging piles, enabling users to enjoy charging services without queuing and waiting in place. However, while the mobility of the charging cart provides convenience for new energy vehicles, it also brings corresponding safety hazards.

[0003] In the prior art, there is a charging cart whose structure includes a charging interface and a discharging interface. The charging interface is used to store energy for the charging cart itself, while the discharging interface is used to charge the vehicle to be charged. At least one of the interfaces is a gun body, and the gun body generally includes a wire and a gun head. Since the battery in the charging cart is a high-voltage battery and the wire of the gun body is connected to the high-voltage battery, a safety accident may be caused if not careful during the operation.

[0004] In view of the above phenomenon, there is an urgent need for a charging cart to make up for the safety defects in the structural design of the existing charging cart to improve the safety of the charging cart during operation. Utility Model Content

[0005] The present application provides a self-service charging vehicle. The self-service charging vehicle adopting this solution can improve the usage efficiency and safety of the charging vehicle. The present application also provides a control method for a charging vehicle. The control method can be applied to the aforementioned self-service charging vehicle.

[0006] The self-service charging vehicle includes a vehicle body, drive wheels, a charging-discharging gun, sensors, a movement controller, a charging battery, a charging controller, and a battery management system;

[0007] The charging-discharging gun is electrically connected to the charging battery, and under the control of the charging controller and the battery management system, it realizes the charging of the charging battery or the external charging.

[0008] A placement position for placing the charging-discharging gun is provided on the vehicle body, and a first sensor is provided in the placement position; based on the sensing result of the first sensor, it is determined that the charging-discharging gun is placed in place in the placement position, and then a charging-discharging gun in-place signal is sent.

[0009] A wheel locking mechanism is provided corresponding to the drive wheels, which is used to lock the drive wheels so that they cannot rotate, or to release the locking of the drive wheels so that they can rotate;

[0010] The input end of the mobile controller has an electrical connection with the first sensor, and the output end has an electrical connection with the locking mechanism. The mobile controller sends a locking signal or an unlocking signal to the wheel locking mechanism according to the charging-discharging gun in-place signal sent by the first sensor and in combination with relevant conditions, so as to unlock or lock the driving wheel. Among them, the charging-discharging gun in-place signal sent by the first sensor is a necessary condition for the mobile controller to send an unlocking signal to the locking mechanism.

[0011] Optionally, under the control of the charging controller and the battery management system, the charging of the rechargeable battery or the external charging is realized, including:

[0012] The charging-discharging gun is electrically connected to the charging controller, and the charging-discharging gun is also electrically connected to the battery management system at the same time. When the detection terminal voltage of the charging-discharging gun changes on the charging controller, it is judged that the external device connected to the charging-discharging gun is a charging device or a device to be charged. According to the judgment result, the battery management system is instructed to control the rechargeable battery to charge or charge externally.

[0013] Optionally, judging that the charging-discharging gun is placed in place in the placement position through the induction result of the first sensor, and then sending a charging-discharging gun in-place signal, including:

[0014] Obtain the charging-discharging gun in-place signal sent by the first sensor through the change of the electrical signal, and start timing;

[0015] When the timing reaches a predetermined time threshold, a charging-discharging gun in-place message is sent.

[0016] Optionally, an electronic lock is provided in the charging-discharging gun. The electronic lock is used to lock the charging-discharging gun when the charging-discharging gun is connected to the plug interface of the charging pile, and to lock the charging-discharging gun and the vehicle to be charged when the charging-discharging gun is connected to the plug interface of the vehicle to be charged;

[0017] A signal control port for controlling the electronic lock is provided in the charging controller. The signal control port sends a locking or unlocking signal to control the locking or unlocking state of the electronic lock, and the charging controller also synchronizes the locking or unlocking signal to the mobile controller;

[0018] The mobile controller controls the locking of the driving wheel in combination with the locking signal sent by the charging controller.

[0019] Optionally, when the charging-discharging gun is connected to the charging pile and the vehicle to be charged respectively, and when it is not connected to an external device, the voltages of the detection terminals of the charging-discharging gun are different. The charging controller determines the connection state of the charging-discharging gun according to the following steps:

[0020] According to the change in the voltage of the detection terminal, it is determined that the connection state of the current charging-discharging gun to the outside world has changed, and the next step is entered;

[0021] According to the voltage value of the detection terminal, the connection state of the charging-discharging gun is determined, including:

[0022] According to the first voltage value of the detection terminal, it is determined that the charging-discharging gun is connected to the charging pile in a first state; according to the detection terminal being in a second voltage value, it is determined that the charging-discharging gun is connected to the vehicle to be charged and is in a second state; according to the detection terminal being in a third voltage value, it is determined that the charging-discharging gun is not connected to an external device and is in a third state;

[0023] According to the judgment result of the state of the charging-discharging gun, corresponding control instructions are generated and sent to the battery management system, including:

[0024] A charging instruction is generated corresponding to the first state, the charging battery is charged through the charging-discharging gun, and the locking signal sent by the signal control port of the electronic lock is controlled, and the locking signal is sent to the wheel locking mechanism through the mobile controller;

[0025] A charging instruction is generated corresponding to the second state, the vehicle to be charged is charged through the charging-discharging gun, and the locking signal sent by the signal control port of the electronic lock is controlled, and the locking signal is sent to the wheel locking mechanism through the mobile controller;

[0026] A charging instruction is generated corresponding to the third state, and in combination with the charging-discharging gun in-place signal sent by the first sensor, an unlocking signal is sent to the wheel locking mechanism through the mobile controller.

[0027] This application also provides a control method for a charging vehicle, including:

[0028] Receive a request to use the charging vehicle, obtain the charging vehicle status information. When the status information is that charging is in progress, control the charging vehicle to stop charging and unlock the electronic lock set in the charging-discharging gun;

[0029] According to the induction result of the first sensor installed in the placement position, it is determined that the charging-discharging gun is placed in place in the placement position, and then an unlocking signal is sent to the wheel locking mechanism through the mobile controller, so that the drive wheel is unlocked;

[0030] The mobile controller controls the charging vehicle to move to the location where the vehicle to be charged is located;

[0031] When the charging controller detects that the charging vehicle is connected to the vehicle to be charged, it instructs the battery management system to control the charging vehicle to charge the vehicle to be charged; meanwhile, the mobile controller sends a locking signal to the wheel locking mechanism, so as to lock the driving wheels.

[0032] Optionally, it further includes:

[0033] Receiving a stop charging request for the charging vehicle and controlling the charging vehicle to stop external charging;

[0034] Confirming that the charging vehicle has stopped external charging and controlling the electronic lock set in the charging-discharging gun to unlock;

[0035] According to the sensing result of the first sensor installed in the placement position, determining that the charging-discharging gun is placed in place in the placement position, and then sending an unlocking signal to the wheel locking mechanism through the mobile controller, so as to unlock the driving wheels;

[0036] The mobile controller controls the charging vehicle to move to the location where the charging pile is located;

[0037] When the charging controller detects that the charging vehicle is connected to the charging pile, it controls the battery management system to enable the charging vehicle to be replenished with energy; meanwhile, the mobile controller sends a locking signal to the wheel locking mechanism, so as to lock the driving wheels.

[0038] Optionally, before sending the charging instruction, it further includes:

[0039] When it is detected that the charging vehicle is connected to the insertion interface of the vehicle to be charged, controlling the electronic lock to lock with the vehicle to be charged.

[0040] Optionally, before sending the energy replenishment instruction, it further includes:

[0041] When it is detected that the charging vehicle is connected to the insertion interface of the charging pile, controlling the electronic lock to lock.

[0042] This application provides an electronic device, and the electronic device includes:

[0043] A processor;

[0044] And a memory for storing a computer program. After the electronic device is powered on and runs the computer program through the processor, it executes the control method of the charging vehicle in any one of the above.

[0045] The present application also provides a storage medium storing a computer program which is run by a processor to execute any one of the above control methods for the charging vehicle.

[0046] Compared with the prior art, the present application has the following advantages:

[0047] The self-service charging vehicle provided by the present application includes a vehicle body, drive wheels, a charging-discharging gun, sensors, a movement controller, a charging battery, a charging controller, and a battery management system. The self-service charging vehicle controls the charging-discharging gun to perform energy replenishment or external charging through the charging controller and the battery management system, so that one interface can meet the requirements of energy replenishment and external discharging. At the same time, a placement position is provided on the vehicle body for placing the charging-discharging gun, and the locking and unlocking of the wheel locking mechanism are determined according to the detection result of the sensors on the in-position signal of the charging-discharging gun, increasing the limiting conditions for the movement of the self-service charging vehicle. By using the self-service charging vehicle provided by the present application, charging and discharging can be achieved through one interface, saving the production cost of the charging vehicle; the placement position and the sensors are combined to send an in-position signal, and the movement controller automatically controls the unlocking of the wheel locking mechanism, improving the automatic operation efficiency of the self-service charging vehicle and enhancing the safety of the self-service charging vehicle during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1A It is a schematic diagram of the first application scenario of the self-service charging vehicle provided by the embodiment of the present application.

[0049] Figure 1B It is a schematic diagram of the second application scenario of the self-service charging vehicle provided by the embodiment of the present application.

[0050] Figure 2 It is a schematic diagram of the structure of the self-service charging vehicle provided by the first embodiment of the present application.

[0051] Figure 3 It is a schematic diagram of the mechanism of the charging-discharging gun provided by the first embodiment of the present application.

[0052] Figure 4 It is a flowchart of the control method for the charging vehicle provided by the second embodiment of the present application.

[0053] Figure 5 It is a second flowchart of a control method for a charging vehicle provided by the second embodiment of the present application.

[0054] Figure 6 It is a schematic diagram of the structure of an electronic device provided by the third embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application. Therefore, the present application is not limited by the specific implementations disclosed below.

[0056] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0057] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0058] In the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected to", "fixed", "set", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0059] In the prior art, a charging pile is used to charge a target vehicle to be charged, and a charging gun is provided on the charging pile. By inserting the charging gun into the charging interface of the target vehicle, the charging task for the target vehicle can be executed. In the present application, the charging pile is used to replenish energy for a charging cart. The charging cart first replenishes electrical energy from the charging pile and stores the electrical energy in the battery pack. The charging cart travels to the location of the target vehicle. After the target vehicle is connected to the charging cart, a discharge circuit is established, and the charging cart transmits the electrical energy stored in the battery pack to the target vehicle, thereby completing the task of charging the target vehicle by the charging cart. Therefore, the charging cart in this embodiment is a portable energy storage device. Generally, the charging cart has two interfaces: a charging seat for replenishing energy for its own battery and a charging gun for charging the target vehicle. The charging seat on the charging cart is used to replenish energy for the charging cart itself, and the charging gun on the charging cart is used to charge the vehicle to be charged. The charging seat and the charging gun play different roles on the charging cart and perform their respective functions without interfering with each other.

[0060] The application scenarios of the self-service charging vehicle provided in the embodiments of the present application are described below. Please refer to Figure 1A and Figure 1B , Figure 1A which is a schematic diagram of the first application scenario of the self-service charging vehicle provided in the embodiments of the present application, Figure 1B and which is a schematic diagram of the second application scenario of the self-service charging vehicle provided in the embodiments of the present application.

[0061] As Figure 1A shown, the self-service charging vehicle 101 can charge the target vehicle 102. During the process of the self-service charging vehicle 101 charging the target vehicle 102, the charging-discharging gun of the self-service charging vehicle 101 is locked with the charging interface of the target vehicle. At the same time, the drive wheels of the self-service charging vehicle 101 are in a locked state, and at this time, the self-service charging vehicle cannot move. As Figure 1B shown, the self-service charging vehicle 101 can obtain electric energy from the charging pile 103 and store it in its own battery. During the process of the charging pile 103 replenishing energy for the self-service charging vehicle 101, the charging-discharging gun of the self-service charging vehicle 101 is locked with the socket of the charging pile. At the same time, the wheels of the self-service charging vehicle 101 are in a locked state, and at this time, the self-service charging vehicle cannot move.

[0062] The charging-discharging gun is a component of the self-service charging vehicle, and the target vehicle also needs to be charged through the charging-discharging gun. The charging-discharging gun generally consists of a wire and a gun body. The wire is usually the part connecting the battery and the gun body, while the gun body is the handheld part, usually including a grip and a connector. The self-service charging vehicle provided in the embodiments of the present application has only one external interface, that is, the charging-discharging gun. The self-service charging vehicle's own energy replenishment and external charging are both completed through the charging-discharging gun.

[0063] In a specific implementation, the new energy vehicle to be charged is the target vehicle. The target vehicle user can initiate a charging request through an application on a handheld mobile intelligent terminal, or an application set on the new energy vehicle itself, or a one-key charging button light specifically set on the new energy vehicle itself. The self-service charging vehicle that is in the process of energy replenishment receives the charging request initiated by the user, stops energy replenishment, and at the same time unlocks the connection between the charging-discharging gun and the charging pile. After stopping energy replenishment, the self-service charging vehicle needs to go to the location of the target vehicle. When unlocking the connection between the charging-discharging gun and the charging pile, or after that, the wheels are changed from the locked state to the unlocked state, and at this time the self-service charging vehicle can move. However, considering safety issues, the charging-discharging gun needs to be placed in the placement position of the self-service charging vehicle in order to move the self-service charging vehicle. Therefore, the placement position of the self-service charging vehicle detects whether the charging-discharging gun is placed in place through a sensor, and controls the locking and unlocking of the wheels through the placed-in-place signal. That is to say, after unlocking and disconnecting between the self-service charging vehicle and the charging pile, it is also necessary to determine whether the charging-discharging gun has returned to its place before determining whether to unlock the drive wheels to ensure the safety during the movement of the self-service charging vehicle. When the self-service charging vehicle is connected to the charging interface of the target vehicle, the charging-discharging gun is locked with the charging interface of the target vehicle. At this time, the drive wheels of the self-service charging vehicle are also locked. After charging the target vehicle is completed, the connection between the charging-discharging gun and the charging interface of the target vehicle is unlocked, and the locked state of the drive wheels is released. Similarly, before releasing the locked state of the drive wheels, to ensure the safety during the movement of the self-service charging vehicle, it is necessary to first judge the placement situation of the charging-discharging gun and then determine whether to unlock the drive wheels. The self-service charging vehicle moves to the location of the charging pile, connects with the charging pile, locks the connection between the charging-discharging gun and the charging pile socket, and at the same time locks the drive wheels, and starts to replenish energy for the self-service charging vehicle.

[0064] An interactive display screen can also be set on the charging vehicle. When a new energy vehicle needs the charging vehicle to charge it, the user can input information of the new energy vehicle, such as license plate number, vehicle model, brand, etc. on the display screen to quickly confirm the target new energy vehicle to be charged. The display screen of the charging vehicle can also provide all new energy vehicles detected within a preset range (nearby) by itself and display a list of new energy vehicles. The user can select their own vehicle on the display screen to confirm the vehicle to be charged.

[0065] The above content describes the operation process of the self-service charging vehicle provided in the embodiment of the present application in combination with the application scenario, reflecting the mutual coordination and restriction relationship of the locking structures between the charging-discharging gun and the drive wheels, and providing a technical basis for the safety and convenience of the self-service charging vehicle.

[0066] The First Embodiment

[0067] The first embodiment of the present application provides a self-service charging vehicle. Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of the self-service charging vehicle provided by the first embodiment of the present application. The self-service charging vehicle 101 includes a vehicle body 201, drive wheels 202, a charging-discharging gun 203, a sensor 204, a mobile controller 205, a charging battery 206, a charging controller 207, and a battery management system 208.

[0068] The charging-discharging gun 203 is electrically connected to the charging battery 206, and under the control of the charging controller 207 and the battery management system 208, it realizes the energy replenishment of the charging battery 206 or external charging.

[0069] The charging-discharging gun 203 can be used not only to replenish energy for the charging vehicle but also to charge the target vehicle. That is to say, the charging-discharging gun is a gun body that can realize two functions of charging and discharging. Specifically, the self-service charging vehicle is connected to a charging pile through the charging-discharging gun 203 for energy replenishment, and the electric energy is stored in the charging battery 206; the electric energy stored in the charging battery 206 is discharged through the charging-discharging gun 203 connected to the target vehicle to charge the target vehicle.

[0070] The charging controller 207 and the battery management system 208 control the internal circuit of the self-service charging vehicle to form a charging circuit or a discharging circuit according to the voltage change of the detection terminal of the charging-discharging gun, so as to realize the energy replenishment of the charging battery or external charging.

[0071] The realization of the energy replenishment of the charging battery or external charging under the control of the charging controller and the battery management system includes:

[0072] The charging-discharging gun 203 is electrically connected to the charging controller 207, and the charging-discharging gun 203 is also electrically connected to the battery management system 208 at the same time; when the voltage change of the detection terminal of the charging-discharging gun is detected on the charging controller 207, it is judged whether the external device connected to the charging-discharging gun is an energy replenishment device or a device to be charged, and according to the judgment result, the battery management system is instructed to control the charging battery to perform energy replenishment or external charging.

[0073] The device to be charged is the target vehicle. The energy replenishment device is the charging pile, and there is a charging seat on the charging pile. Since the voltages measured at the detection terminal are different when the external device is an energy replenishment device or a device to be charged, the type of the external device can be judged thereby, and then the working state of the charging-discharging gun can be determined.

[0074] When the detection terminal voltage of the charging-discharging gun changes on the charging controller, according to different voltage changes, it is determined whether the external device is a charging pile for energy replenishment or a target vehicle that needs to be charged. According to the judgment result, the corresponding circuit is controlled to perform energy replenishment or external charging. After the charging controller obtains the judgment result, it controls the battery management system according to the judgment result, so that the battery management system controls the charging circuit or the energy replenishment circuit to conduct. According to the judgment result of the charging controller, the battery management system controls the relay in the high-voltage circuit to control the charging circuit or the energy replenishment circuit to work for charging or energy replenishment. The high-voltage circuit connects the charging-discharging gun to the charging battery, and can realize the electric energy transmission between the charging battery and the external device.

[0075] The above content introduces that the charging-discharging gun can realize the functions of charging and energy replenishment through the charging controller and the battery management system. During the process of energy replenishment and charging, the charging-discharging gun is connected to the external device. In addition, the charging-discharging gun can also be in a non-working state. The following content describes the placement position on the vehicle body, and the placement position is used to place the charging-discharging gun during non-working periods.

[0076] A placement position for placing the charging-discharging gun is provided on the vehicle body 201, and a first sensor 204 is provided in the placement position; according to the sensing result of the first sensor 204, it is judged that the charging-discharging gun 203 is placed in place in the placement position, and then a charging-discharging gun in-place signal is sent.

[0077] Since the charging-discharging gun is connected to the high-voltage battery inside the charging vehicle and belongs to a dangerous component, if it is not reasonably stored, it may cause a safety accident. Therefore, in the non-working state, the charging-discharging gun needs to be placed in a fixed and reasonable position, rather than being held in the hand all the time, or dragged on the ground, or even placed in other dangerous positions. The placement position is to solve the problem that the charging-discharging gun cannot be stored properly during the non-working state.

[0078] The first sensor 204 can be set at any position on the vehicle body, which is specifically determined according to the requirements in actual applications and is not limited in the embodiments of the present application.

[0079] The first sensor 204 may be a Hall element. A Hall element is an electronic component based on the working principle of the Hall effect, mainly used in devices for measuring magnetic fields or detecting the presence of magnetic fields, and is usually made of semiconductor materials. A typical Hall element usually includes a thin sheet of semiconductor material with power supplies connected at both ends and a voltage output terminal on the side. When the magnetic field is perpendicular to the semiconductor sheet, the drift direction of electrons in the semiconductor is affected by the magnetic field, resulting in the generation of a Hall voltage on the side. When there is a current passing through a conductive material and a magnetic field exists perpendicular to the current direction, a voltage is generated on the side of the conductive material. This voltage is called the Hall voltage, and its magnitude is related to the current, the strength of the magnetic field, and the characteristics of the material itself. Therefore, when the Hall element is placed in a magnetic field and a current passes through it, the magnitude and polarity of the Hall voltage can be used to determine the strength and direction of the magnetic field. The magnetic field generated by the change in the position of the object is detected using the Hall element. When the result measured by the Hall element remains stable, it indicates that the charging-discharging gun has been properly placed in the placement position.

[0080] The first sensor 204 may also be a photoelectric sensor. A photoelectric sensor uses the photoelectric effect or photosensitive elements to detect the presence or position of a target object. It usually includes two parts: a transmitter and a receiver. The transmitter emits a light beam, and the receiver receives the reflected or transmitted light signal. When the target object blocks or passes through the light beam, the sensor can detect the change in the signal. Therefore, the photoelectric sensor can detect the change in light inside the placement position. Once it detects that the charging-discharging gun is inserted in place, it generates and emits a charging-discharging gun in-place signal.

[0081] Judging that the charging-discharging gun is properly placed in the placement position based on the induction result of the first sensor and then emitting a charging-discharging gun in-place signal includes: obtaining the charging-discharging gun in-place signal sent by the first sensor through the change in the electrical signal and starting to time; when the timing reaches a predetermined time threshold, emitting the charging-discharging gun in-place information. In order to reduce the misjudgment of the in-place situation of the charging-discharging gun, a time threshold is set. When the duration of the measured in-place signal is the predetermined time threshold, the in-place information is emitted.

[0082] Furthermore, in order to prevent the self-service charging vehicle from moving when the charging-discharging gun is not in the home position, in combination with the wheel locking mechanism, the movement of the self-service charging vehicle is restricted.

[0083] A wheel locking mechanism is provided corresponding to the drive wheel 202 for locking the drive wheel 202 so that it cannot rotate, or releasing the lock on the drive wheel 202 so that it can rotate. Common wheel locking mechanisms include: manual wheel locks that clamp or release the wheel by manually rotating or pushing a locking device; electric vehicle wheel locks that can be controlled by a button or a remote control; and pneumatic wheel locks that use a pneumatic actuator to control the locking mechanism. In one embodiment, an electric vehicle wheel lock is preferably adopted, which is composed of fixtures, claws or similar structures set at the drive wheel, and can firmly grasp the wheel to ensure its immobility. These fixtures are usually designed to adapt to wheels of different sizes and shapes. When the mobile controller instructs the wheel locking mechanism to unlock through an electrical signal, the fixtures, claws or similar structures set at the drive wheel change from the locked state to the unlocked state, enabling the drive wheel to rotate normally.

[0084] The drive wheel 202 can drive the movement of the self-service charging vehicle. When the drive wheel is in the unlocked state, electrical energy can be provided to the drive motor by the low-voltage battery pack to make the drive motor drive the drive wheel to rotate and achieve the movement of the self-service charging vehicle. When the drive wheel 202 is in the locked state, it cannot be driven by the drive motor to rotate and drive the charging vehicle forward. Since the placement of the charging-discharging gun can determine the operating state of the self-service charging vehicle, the in-place signal of the charging-discharging gun is associated with the wheel locking mechanism.

[0085] The input end of the mobile controller 205 has an electrical connection with the first sensor 204, and the output end has an electrical connection with the locking mechanism. The mobile controller issues a locking signal or an unlocking signal to the wheel locking mechanism according to the charging-discharging gun in-place signal sent by the first sensor and in combination with relevant conditions, so as to unlock or lock the drive wheel 202; wherein, the charging-discharging gun in-place signal sent by the first sensor is used as a necessary condition for the mobile controller to send an unlocking signal to the locking mechanism.

[0086] The mobile controller 205 can achieve the locked state or the unlocked state of the drive wheel of the self-service charging vehicle by controlling the locking or unlocking of the wheel locking mechanism. When the charging-discharging gun is in place in the placement position, a charging-discharging gun in-place signal is generated in the first sensor 204, and the mobile controller 205 receives the in-place signal. The mobile controller issues an unlocking signal to the wheel locking mechanism, thereby unlocking the drive wheel. It is worth noting that if an unlocking signal is to be sent to the locking mechanism, the charging-discharging gun in-place signal sent from the first sensor needs to be received.

[0087] In practical applications, the conditions for controlling the unlocking of the wheel locking mechanism can also be specifically set according to the operation mode, functions, etc. of the charging cart. For example, while the electrical signal instruction for controlling the unlocking of the wheel locking mechanism comes from the sensing result of the first sensor for the in-place signal of the charging-discharging gun, the charging cart can also judge in combination with the operation situation of the operator on the grip. A grip can also be set on the charging cart, and the operator places both hands correctly on the grip to control the running direction of the charging cart, etc. A pressure sensor is set on the grip, and the pressure sensor is electrically connected to the mobile controller. When the pressure value applied on the grip reaches the preset pressure value, the pressure sensor sends a pressure signal to the mobile controller. After receiving the pressure signal, the mobile controller confirms that the operator has placed both hands on the grip. At this time, if it is detected that the in-place signal sent by the first sensor has reached the mobile controller, the driving wheels can be controlled to unlock. Further, similar to the design logic of the first sensor, a judgment on the time length is also added to the pressure sensor. Only when it is detected that the pressure signal is continuously received does the mobile controller have the condition to unlock the driving wheels, that is, once it is detected that the pressure signal disappears (the hands are not holding the grip), the driving wheels are controlled to stop rotating. This design mainly considers that when the charging cart can be assisted by manpower control, the operator's both hands must hold the grip to prevent the charging cart from getting out of control and causing safety accidents. In this way, both the pressure signal and the in-place signal are essential conditions for unlocking the driving wheels. Similarly, other structures such as an unlocking button can also be set on the grip to detect the operation mode and control the running state of the cart, so that the driving wheels can be unlocked only when multiple structures reach the preset conditions simultaneously, providing a higher level of safety protection.

[0088] In one implementation, an electronic lock is also provided in the charging-discharging gun to ensure that when the self-service charging vehicle is charging or replenishing energy, the connection with external equipment is not easily disconnected, thereby improving the safety of the charging or replenishing energy process. The locking and unlocking of the electronic lock are also associated with the locking mechanism through the mobile controller to jointly control the operation of the self-service charging vehicle.

[0089] The electronic lock is used to lock the charging-discharging gun when it is connected to the charging interface of the charging pile, and to lock the charging-discharging gun and the vehicle to be charged when the charging-discharging gun is connected to the charging interface of the vehicle to be charged. The electronic lock is generally arranged at the gun head of the charging-discharging gun. When the charging-discharging gun is connected to the charging seat of the charging pile, the charging controller controls the electronic lock to lock. When the electronic lock is not unlocked, the charging-discharging gun cannot be disconnected from the charging seat of the charging pile. Correspondingly, when the charging-discharging gun is connected to the charging interface of the vehicle to be charged, the charging controller controls the electronic lock to lock. When the electronic lock is not unlocked, the charging-discharging gun cannot be disconnected from the charging interface of the vehicle to be charged. In the locked state of the electronic lock, the electronic lock is in the process of charging or energy replenishment. During this period, the self-service charging vehicle does not need to move. Therefore, at this time, the wheel locking mechanism is also in the locked state to ensure that the self-service charging vehicle remains stationary.

[0090] When the charging-discharging gun is connected to the charging pile and the vehicle to be charged respectively, and when it is not connected to an external device, the voltages of the detection terminals of the charging-discharging gun are different. The charging controller judges the connection state of the charging-discharging gun according to the following steps:

[0091] Judge that the connection state of the current charging-discharging gun with the outside world has changed according to the change of the voltage of the detection terminal, and enter the next step;

[0092] Judge the connection state of the charging-discharging gun according to the voltage value of the detection terminal, including:

[0093] Judge that the charging-discharging gun is connected to the charging pile and in the first state according to the first voltage value of the detection terminal; judge that the charging-discharging gun is connected to the vehicle to be charged and in the second state according to the second voltage value of the detection terminal; judge that the charging-discharging gun is not connected to an external device and in the third state according to the third voltage value of the detection terminal.

[0094] The following is an example of the above voltage values and states. At the same time, please refer to Figure 3 , Figure 3Schematic diagram of the mechanism of the charging-discharging gun provided in the first embodiment of the present application. For example, the resistor connected inside the charging socket of the charging pile can be 270 Ω. When the charging-discharging gun is connected to the charging socket, a loop is formed between the internal circuit of the charging socket and the internal power supply (12V) of the charging controller, and a 1kΩ resistor is often provided at the internal power supply; at the same time, a 1kΩ resistor is usually connected in parallel at the detection terminal. Therefore, when the charging-discharging gun is connected to the charging socket, the voltage value of the detection terminal CC1 is about 2.1V. This voltage value is the first voltage value, and the first state is the state where the charging-discharging gun is connected to the charging pile. The resistor connected inside the charging interface of the vehicle to be charged is usually 1kΩ. When the charging-discharging gun is connected to the charging interface of the vehicle to be charged, a loop is formed between the charging interface of the vehicle to be charged and the internal power supply (12V) of the charging controller, and a 1kΩ resistor is often provided at the internal power supply; at the same time, a 1kΩ resistor is usually connected in parallel at the detection terminal CC1. Therefore, when the charging-discharging gun is connected to the vehicle to be charged, the voltage value of the detection terminal CC1 is 4V. This voltage value is the second voltage value, and the second state is the state where the charging-discharging gun is connected to the vehicle to be charged. When the charging-discharging gun is not connected to an external device, the voltage value of the detection terminal CC1 is 6V. This voltage value is the third voltage value, and the third state is the state where the charging-discharging gun is not connected to any external device. In theory, the resistor values in the above examples can be any value as long as they can distinguish the voltage values between the charging device and the energy replenishment device. The above examples are only for a more intuitive description of the technical means of the embodiments of the present application.

[0095] According to the judgment result of the state of the charging-discharging gun, generate corresponding control instructions and send them to the battery management system, including:

[0096] Generate an energy replenishment instruction corresponding to the first state, replenish energy to the charging battery through the charging-discharging gun, and control the locking signal sent from the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller;

[0097] Generate a charging instruction corresponding to the second state, charge the vehicle to be charged through the charging-discharging gun, and control the locking signal sent from the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller;

[0098] Generate a charging instruction corresponding to the third state, and combine the charging-discharging gun in-place signal sent by the first sensor to send an unlocking signal to the wheel locking mechanism through the mobile controller.

[0099] In the first state, the charging-discharging gun is connected to the socket of the charging pile. The signal control port of the control electronic lock sends a locking signal and generates an energy replenishment instruction at the same time. The battery control system controls the establishment of the energy replenishment circuit, and the charging battery of the self-service charging vehicle is replenished through the charging-discharging gun.

[0100] In the second state, the charging-discharging gun is connected to the vehicle to be charged. The control electronic lock sends a locking signal and generates a charging instruction at the same time. The battery control system controls the establishment of the charging circuit, and the electric energy stored in the charging battery is transmitted to the vehicle to be charged through the charging-discharging gun.

[0101] In the third state, the charging-discharging gun may be placed in the placement position or may be suspended (including the case of not being connected to any device and not being in place). For the charging-discharging gun in the third state, the in-place signal is detected. When the in-place signal that meets the predetermined time threshold is received, the mobile controller sends an unlocking signal to the wheel locking mechanism. At this time, the self-service charging vehicle can move through the driving wheels.

[0102] In practical applications, the locking control of the wheel locking mechanism can be performed before the control electronic lock is locked, and the unlocking control of the wheel locking mechanism can be performed after the control electronic lock is unlocked.

[0103] The signal control port for controlling the electronic lock is provided in the charging controller. The signal control port sends a locking or unlocking signal to control the locking or unlocking state of the electronic lock. The charging controller also synchronizes the locking or unlocking signal to the mobile controller. The electronic lock signal control port provided in the charging controller can send a locking or unlocking signal to control the locking or unlocking of the electronic lock. The locking or unlocking signal sent by the electronic lock signal control port is determined by the charging controller according to the situation of the externally connected device. When the charging controller detects that the device connected to the charging-discharging gun is a charging pile or a vehicle to be charged, the charging controller sends a locking signal for the electronic lock to control the electronic lock to lock. When the charging controller receives an instruction to terminate charging or energy replenishment, the electronic lock signal control port of the charging controller sends an unlocking instruction to control the electronic lock to unlock. In one embodiment, the unlocking and locking states of the electronic lock affect the locking or unlocking of the locking mechanism. The charging controller not only sends a locking or unlocking signal to the electronic lock to control the locking or unlocking of the electronic lock, but also sends the locking or unlocking signal to the mobile controller. From the foregoing, it can be seen that the mobile controller changes the movable state of the self-service charging vehicle by controlling the locking state of the driving wheels.

[0104] The mobile controller combines the locking signal sent by the charging controller to control the locking of the drive wheels. In practical applications, the drive wheels are locked when the electronic lock is locked. On the contrary, when the drive wheels are locked, the electronic lock is not necessarily locked. The locking and unlocking states of the drive wheels are also associated with the in-place information of the charging-discharging gun. Before the charging controller detects the connection / disconnection of the charging-discharging gun to / from an external device, it is necessary to ensure that the self-service charging vehicle is in a stationary state where it cannot move, so as to ensure that no safety accidents occur due to the movement of the charging vehicle during the gun plugging process. Therefore, in one embodiment, a notification module is also provided on the self-service charging vehicle. When it is determined that the drive wheels are in the locked state, a signal allowing the charging-discharging gun to be plugged in is sent to the notification module. When it is detected that the charging-discharging gun is connected to an external device, the charging controller controls the electronic lock to lock and starts to execute the charging or energy replenishment task. Correspondingly, when it is confirmed that the drive wheels are in the locked state, a signal allowing the charging-discharging gun to be pulled out is sent to the notification module. After it is determined by detecting the voltage of the detection terminal that the charging-discharging gun has been disconnected from the external device, the detection process of the first sensor is triggered. After the in-place information of the first sensor is sent to the mobile controller, the mobile controller controls the wheel locking mechanism to unlock.

[0105] The self-service charging vehicle provided in the first embodiment of the present application controls the charging-discharging gun to perform energy replenishment or external charging through the charging controller and the battery management system, so that one interface can meet the requirements of energy replenishment and external discharging. At the same time, a placement position is provided on the vehicle body for placing the charging-discharging gun, and the locking and unlocking of the wheel locking mechanism are determined according to the detection result of the in-place signal of the charging-discharging gun by the sensor, increasing the limiting conditions for the movement of the self-service charging vehicle. By using the self-service charging vehicle provided in the present application, charging and discharging can be achieved through one interface, saving the production cost of the charging vehicle; the placement position and the sensor are combined to send the in-place signal, and the mobile controller automatically controls the wheel locking mechanism to unlock, improving the automation operation efficiency of the self-service charging vehicle and enhancing the safety of the self-service charging vehicle during use.

[0106] Second Embodiment

[0107] The second embodiment of the present application provides a control method for a charging vehicle. The method corresponds to the structure and functions of the self-service charging vehicle in the foregoing content, and the relevant methods have been described in the foregoing content. Therefore, the following description is only illustrative, and the relevant parts of this embodiment can refer to the content of the foregoing embodiment.

[0108] Please refer to Figure 4 , Figure 4 , which is a flowchart of the control method for the charging vehicle provided in the second embodiment of the present application. The control method for the charging vehicle provided in the second embodiment of the present application includes the following steps:

[0109] Step S401: Receive a request to use the charging vehicle, obtain the status information of the charging vehicle. When the status information indicates that it is in the process of refueling, control the charging vehicle to stop refueling and unlock the electronic lock set in the charging-discharging gun.

[0110] This step is used to obtain the status information of the charging vehicle and determine whether the charging vehicle is available for the vehicle to be charged. The status information of the charging vehicle at least includes the refueling state, refueling completion state, external charging state, unusable state, etc.

[0111] When it is detected that the status information of the charging vehicle is in the process of refueling, it is necessary to stop the charging vehicle from refueling and prepare to move it to the location of the vehicle to be charged. When the charging vehicle receives a signal to stop refueling, the battery management system in the charging vehicle controls the disconnection of the refueling circuit to stop the charging vehicle from refueling. At the same time, the charging controller sends a signal to unlock the electronic lock to control the unlocking of the electronic lock in the charging-discharging gun, so that the charging-discharging gun is disconnected from the charging pile.

[0112] The in-place signal of the charging-discharging gun is a necessary condition for the movement controller to send an unlocking signal to the locking mechanism. Therefore, it is necessary to confirm that the charging-discharging gun after disconnection from the charging pile is placed in the placement position to meet the condition for triggering the wheel locking mechanism.

[0113] When it is detected that the charging vehicle is in the refueling completion state, it is defaulted that the charging vehicle is ready to move to the location of the vehicle to be charged. Next, it is only necessary to control the charging vehicle to move to the location of the vehicle to be charged to perform the charging task.

[0114] When it is detected that the charging vehicle is in an unusable state, report the status information and device information of the charging vehicle.

[0115] When it is detected that the charging vehicle is in the external charging state, it can enter step S401 to detect whether a stop charging instruction is received.

[0116] Step S402: According to the sensing result of the first sensor installed in the placement position, determine that the charging-discharging gun is placed in place in the placement position, and then send an unlocking signal to the wheel locking mechanism through the movement controller, so as to unlock the driving wheels.

[0117] The sensing result includes the in-place signal of the charging-discharging gun sent by the first sensor through the change of the electrical signal. At this time, the first sensor detects that the charging-discharging gun has been placed in the placement position, the movement controller receives the sensing result, and sends an unlocking signal to the wheel locking mechanism to unlock the driving wheels.

[0118] Step S403: The movement controller controls the charging vehicle to move to the location of the vehicle to be charged.

[0119] The mobile controller can control the charging vehicle to move to the location of the vehicle to be charged. The mobile controller has pre-obtained the location information of the vehicle to be charged, planned a driving route based on the location information, and controlled the charging vehicle to move to the location of the vehicle to be charged to prepare for charging the vehicle to be charged.

[0120] Step S404, when the charging controller detects that the charging vehicle is connected to the vehicle to be charged, it issues a charging instruction to command the battery management system to control the charging vehicle to charge the vehicle to be charged; at the same time, the mobile controller issues a locking signal to the wheel locking mechanism, thereby locking the driving wheels.

[0121] The charging controller determines whether the charging-discharging gun is connected to the charging interface of the vehicle to be charged by detecting the voltage value at the detection terminal. After determining that the charging vehicle is connected to the vehicle to be charged, it issues a charging instruction. Before issuing the charging instruction, it further includes: when detecting that the plug interface of the charging vehicle is connected to the vehicle to be charged, controlling the electronic lock to lock with the vehicle to be charged. The battery management system receives the charging instruction, controls the establishment of the charging circuit and the charging communication circuit, obtains the charging demand information, and realizes the charging of the vehicle to be charged. At the same time, the mobile controller also sends a locking signal to the wheel locking mechanism to lock the driving wheels.

[0122] Corresponding to the process of the above charging vehicle charging the vehicle to be charged, the charging vehicle is also replenished with energy by connecting to a charging pile. Please refer to Figure 5 , Figure 5 This is the second flow chart of a control method for a charging vehicle provided in the second embodiment of the present application. In one implementation manner, the control method of the charging vehicle further includes the following steps:

[0123] Step S501, receive a stop charging request for the charging vehicle, and control the charging vehicle to stop external charging.

[0124] In this step, for a charging vehicle that is externally charging, when a stop charging request is received, the battery management system and the charging controller control the charging circuit of the charging vehicle to disconnect and stop external charging.

[0125] Step S502, confirm that the charging vehicle has stopped external charging, and control the electronic lock set in the charging-discharging gun to unlock.

[0126] In this step, after the charging vehicle stops external charging, the electronic lock in the charging-discharging gun is unlocked so that the charging-discharging gun can be disconnected from the charging interface of the vehicle to be charged.

[0127] Step S503: According to the sensing result of the first sensor installed at the placement position, determine whether the charge-discharge gun is properly placed at the placement position. If so, send an unlocking signal to the wheel locking mechanism through the movement controller, thereby unlocking the driving wheels.

[0128] After the charge-discharge gun is disconnected from the vehicle to be charged, it needs to be placed at the placement position before the charging vehicle can be moved. Therefore, after determining that the charge-discharge gun has been properly placed based on the sensing result of the first sensor at the placement position, the wheel locking mechanism is controlled to unlock, thereby unlocking the driving wheels.

[0129] Step S504: The movement controller controls the charging vehicle to move to the location where the charging pile is located.

[0130] This step is for the movement controller to go to the location of the target charging pile according to the acquired position of the target charging pile and prepare for energy replenishment.

[0131] Step S505: When the charging controller detects that the charging vehicle is connected to the charging pile, it sends an energy replenishment instruction, instructing the battery management system to control the charging vehicle to perform energy replenishment; at the same time, the movement controller sends a locking signal to the wheel locking mechanism, thereby locking the driving wheels.

[0132] When the charging controller detects that the charging vehicle is connected to the charging pile, that is, when the charge-discharge gun of the charging vehicle is connected to the plug interface of the charging pile, it controls the battery management system to establish an energy replenishment circuit and an energy replenishment communication circuit, and controls the charging vehicle to perform energy replenishment. At the same time, the movement controller locks the wheel locking mechanism so that the driving wheels cannot rotate.

[0133] In one embodiment, before sending the energy replenishment instruction, it further includes: when detecting that the charging vehicle is connected to the plug interface of the charging pile, controlling the electronic lock to lock to prevent the charge-discharge gun from suddenly disconnecting from the charging pile during the energy replenishment process.

[0134] The control method of the charging vehicle adopted in the second embodiment of the present application can be applied to a self-service charging vehicle. Through the mutual cooperation and coordination of the electronic lock in the charge-discharge gun, the first sensor at the placement position, and the wheel locking mechanism, it controls the connection, energy replenishment, or external power discharge process of the charging vehicle with the outside. At the same time, the wheel locking mechanism of the charging vehicle is automatically unlocked through the in-place signal. Adopting this control method can make the charging vehicle have both a high degree of automation and good safety, providing technical guarantee for the safety of the self-service charging vehicle during operation.

[0135] Third Embodiment

[0136] Based on the foregoing content, the third embodiment of the present application provides an electronic device. Please refer to Figure 5 , Figure 5Schematic structural diagram of an electronic device provided in the third embodiment of the present application. The electronic device includes:

[0137] A processor 601;

[0138] A memory 602 for storing a computer program, and the computer program is run by the processor to implement the control method of the charging vehicle provided by the present application.

[0139] It should be noted that the electronic device provided in the third embodiment of the present application may refer to the foregoing relevant descriptions of the present application, and will not be elaborated here.

[0140] Although the present application is disclosed above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application should be defined by the scope of the claims of the present application.

[0141] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0142] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0143] 1. Computer-readable media include permanent and non-permanent, removable and non-removable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media do not include transitory media such as modulated data signals and carrier waves.

[0144] 2. Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

Claims

1. A self-service charging vehicle, characterized in that, It includes a vehicle body, drive wheels, a charge-discharge gun, sensors, a mobile controller, a rechargeable battery, a charge controller, and a battery management system; The charge-discharge gun is electrically connected to the rechargeable battery, and under the control of the charge controller and the battery management system, it realizes the energy replenishment of the rechargeable battery or external charging; A placement position for placing the charge-discharge gun is provided on the vehicle body, and a first sensor is provided in the placement position; based on the sensing result of the first sensor, it is judged that the charge-discharge gun is placed in place in the placement position, and then a charge-discharge gun in-place signal is sent; A wheel locking mechanism is provided corresponding to the drive wheels, which is used to lock the drive wheels to make them unable to rotate, or to release the lock on the drive wheels to make them able to rotate; The input end of the mobile controller is electrically connected to the first sensor, and the output end is electrically connected to the locking mechanism. The mobile controller sends a locking signal or an unlocking signal to the wheel locking mechanism according to the charge-discharge gun in-place signal sent by the first sensor and in combination with relevant conditions, so as to unlock or lock the drive wheels; among them, the charge-discharge gun in-place signal sent by the first sensor is used as a necessary condition for the mobile controller to send an unlocking signal to the locking mechanism.

2. The self-service charging vehicle according to claim 1, wherein The realization of the energy replenishment of the rechargeable battery or external charging under the control of the charge controller and the battery management system includes: The charge-discharge gun is electrically connected to the charge controller, and the charge-discharge gun is also electrically connected to the battery management system; when the detection terminal voltage of the charge-discharge gun changes on the charge controller, it is judged that the external device connected to the charge-discharge gun is an energy replenishment device or a device to be charged, and according to the judgment result, the battery management system is instructed to control the rechargeable battery to perform energy replenishment or external charging.

3. The self-service charging vehicle according to claim 1, wherein The judgment that the charge-discharge gun is placed in place in the placement position based on the sensing result of the first sensor and then the sending of the charge-discharge gun in-place signal includes: Obtain the charge-discharge gun in-place signal sent by the first sensor through an electrical signal change and start timing; When the timing reaches a predetermined time threshold, a charge-discharge gun in-place message is sent.

4. The self-service charging vehicle according to claim 1, characterized in that, An electronic lock is provided in the charge-discharge gun, which is used to lock the charge-discharge gun when it is connected to the plug interface of the charging pile, and to lock the charge-discharge gun and the vehicle to be charged when it is connected to the plug interface of the vehicle to be charged; A signal control port for controlling the electronic lock is provided in the charge controller, and the signal control port sends a locking or unlocking signal to control the locking or unlocking state of the electronic lock. The charge controller also synchronizes the locking or unlocking signal to the mobile controller; The mobile controller controls the locking of the drive wheels in combination with the locking signal sent by the charge controller.

5. The self-service charging vehicle according to claim 4, wherein When the charging-discharging gun is connected to the charging pile and the vehicle to be charged respectively, and when it is not connected to an external device, the voltage of the detection terminal of the charging-discharging gun is different. The charging controller judges the connection state of the charging-discharging gun according to the following steps: Judge that the connection state of the current charging-discharging gun with the outside world has changed according to the change of the voltage of the detection terminal, and enter the next step; Judge the connection state of the charging-discharging gun according to the voltage value of the detection terminal, including: Judge that the charging-discharging gun is connected to the charging pile and in the first state according to the first voltage value of the detection terminal; judge that the charging-discharging gun is connected to the vehicle to be charged and in the second state according to the second voltage value of the detection terminal; judge that the charging-discharging gun is not connected to an external device and in the third state according to the third voltage value of the detection terminal; Generate corresponding control instructions according to the judgment result of the state of the charging-discharging gun and send them to the battery management system, including: Generate an energy replenishment instruction corresponding to the first state, replenish energy to the charging battery through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller; Generate a charging instruction corresponding to the second state, charge the vehicle to be charged through the charging-discharging gun, and control the locking signal sent by the signal control port of the electronic lock to send a locking signal to the wheel locking mechanism through the mobile controller; Generate a charging instruction corresponding to the third state, and combine the charging-discharging gun in-place signal sent by the first sensor to send an unlocking signal to the wheel locking mechanism through the mobile controller.

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