WO2019104872A1 - 换电加解锁控制系统及控制方法 - Google Patents

换电加解锁控制系统及控制方法 Download PDF

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Publication number
WO2019104872A1
WO2019104872A1 PCT/CN2018/075471 CN2018075471W WO2019104872A1 WO 2019104872 A1 WO2019104872 A1 WO 2019104872A1 CN 2018075471 W CN2018075471 W CN 2018075471W WO 2019104872 A1 WO2019104872 A1 WO 2019104872A1
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WIPO (PCT)
Prior art keywords
fastener
unlocking
plus
state
parameter
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Ceased
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PCT/CN2018/075471
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English (en)
French (fr)
Inventor
田小涛
丁习坤
马永跃
林海岩
李楠
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NIO Nextev Ltd
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NIO Nextev Ltd
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Priority to EP18883802.3A priority Critical patent/EP3718683B1/en
Publication of WO2019104872A1 publication Critical patent/WO2019104872A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
    • B23P19/066—Arrangements for torque limiters or torque indicators in screw or nut setting machines by electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0455—Removal or replacement of the energy storages
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present invention relates to the field of battery loading and unloading, and more particularly to a method of controlling power exchange and unlocking during battery replacement of an electric vehicle.
  • the chassis battery installation and replacement technology has become the mainstream of the power exchange setting.
  • the conventional installation method is a screw rotation tightening structure and has a plurality of tightening points.
  • Another object of the present invention is to provide another power-changing and unlocking control method capable of utilizing the state of the fastener obtained during the power-changing process to feed back the power-on and unlock control.
  • a power exchange plus unlock control method comprising: step S100, setting respective fasteners based on stored fastener state conclusions of respective fasteners Presetting the unlocking parameter and/or replacing the fastener; step S200, performing a power-changing locking operation and a power-changing unlocking operation based on preset preset unlocking parameters of each fastener; and performing a battery replacement operation; and step S300 Monitoring and storing the real-time plus unlocking operation parameters of each fastener, and comparing the real-time unlocking operation parameters of each fastener with the unlocking parameter standard, the fastener state conclusion of each fastener is obtained; the fastening
  • the conditional conclusions include the fastener usage status and adaptability plus unlocking parameters for each fastener.
  • the step S100 includes: Step S110, if the fastener status conclusion is not stored, setting the preset acceleration/unlock parameter to the unlocking parameter standard; and in step S120, if the stored fastener status conclusion indicates If the state of use of the fastener is normal, the preset plus unlocking parameter is set based on the adaptive plus unlocking parameter; and in step S130, if the stored fastener state conclusion indicates that the used state of the fastener is abnormal, the change is completed. Replace the fasteners after the electrical unlocking operation.
  • the power-changing step S200 includes an unlocking mode S210; in the unlocking mode S210: a docking sub-step S211, driving the fastener plus the unlocking device and the fastener in the first setting butt-turning number of turns Centering and engaging the ends until the tightening torque of the fastener plus unlocking device is increased to a set centering moment, at which point it is determined that the fastener plus unlocking device is successfully centered with the fastener; and/or the unlocking substep S212, in the interval of setting the unlocking twisting circle, driving the fastener and the unlocking device to screw the fastener until the screwing torque is reduced to the set unlocking torque, and determining that the fastener is unlocked successfully; and/or abnormality determination Sub-step S213, when the number of docking twisting turns of the fastener adding and unlocking device is within the first setting butt-twisting loop number interval, if the screwing torque is not increased to the set centering moment, the fastener is determined.
  • step S200 includes a lock mode S220, and in the lock mode S220: a docking step S221, driving the fastener plus the unlocking device and the fastener in the second setting butt screwing interval Ending and engaging the end; and/or locking step S222, driving the fastener plus unlocking device to screw the fastener in the interval of setting the locking screwing number until the screwing torque is increased to the setting lock Torque, at this time, determining that the fastener is locked successfully; and/or abnormality determining sub-step S223, when the tightening torque is increased to the set locking torque, if the locking and twisting ring of the fastener plus unlocking device is less than If the number of locked twisting turns is set, it is determined that the fastener is locked abnormally; and/or when the number of locking twisting turns of the fastener adding and unlocking device is greater than the interval of setting the locking twisting circle, If the tightening torque is not increased to the set locking torque, it is determined that the fastener is
  • the fastener state conclusion includes: the fastener usage state is normal, the adaptive plus unlocking parameter corresponds to the previous preset plus unlocking parameter; or the fastener usage state is normal, and the adaptive plus unlocking parameter includes increasing Large or reduced tightening torque of the fastener; and/or increased or decreased number of turns of the fastener; or abnormal use of the fastener, replacement of the fastener.
  • a power exchange plus unlock control method including: step S100, comparing stored real-time unlocking operation parameters of each fastener with an unlocking parameter standard Processing the fastener state conclusions of the respective fasteners, the fastener state conclusions including the fastener use state and the adaptability plus unlocking parameters; and setting based on the obtained fastener state conclusions of the respective fasteners Presetting and unlocking parameters of each fastener and/or replacing the fastener; step S200, performing a power-changing and unlocking operation based on a preset plus unlocking parameter of each fastener; and performing a battery replacement And; in step S300, monitoring and storing the real-time plus unlocking operation parameters of the respective fasteners.
  • the step S100 includes: step S110, if there is no real-time plus unlocking operation parameter, and the fastener state conclusion is not stored, setting the preset plus unlocking parameter to the unlocking parameter standard; and step S120, if storing The fastener state conclusion shows that the fastener usage state is normal, then the preset plus unlocking parameter is set based on the adaptive plus unlocking parameter; and in step S130, if the stored fastener state conclusion shows the fastening If the use status is abnormal, replace the fastener after completing the power-on unlock operation.
  • the power-changing step S200 includes an unlocking mode S210, and in the unlocking mode S210, performing: a docking step S211, driving the fastener plus unlocking device in the first setting of the docking and twisting number interval Centering and engaging the ends of the fastener until the tightening torque of the fastener plus unlocking device is increased to a set centering moment, at which point it is determined that the fastener plus unlocking device is successfully centered with the fastener; and/or In the unlocking sub-step S212, in the interval of setting the unlocking twisting circle, the driving fastener and the unlocking device are driven to screw the fastener until the screwing torque is reduced to the set unlocking torque, and it is determined that the fastener is unlocked successfully; Or abnormality determining sub-step S213, when the number of docking twisting turns of the fastener adding and unlocking device is within the first set butting screwing number interval, if the screwing torque is not increased to the set centering torque, then determining If the tight
  • the power-changing step S200 includes a locking mode S220; in the locking mode S220, performing: a docking step S221, driving the fasteners in the second setting butt-turning circle number interval
  • the unlocking device is centered and engaged with the end of the fastener; and/or the locking step S222, in the interval of setting the locking twisting circle, driving the fastener and the unlocking device to screw the fastener until the screwing torque is increased Up to the set locking torque, at this time, it is determined that the fastener is locked successfully; and/or the abnormality determining sub-step S223, when the tightening torque is increased to the set locking torque, if the fastener is added to the unlocking device If the number of lock twisting turns is less than the set lock twisting loop interval, it is determined that the fastener is locked abnormally; and/or when the fastener plus unlocking device is locked, the number of twisting turns is greater than the set locking twisting loop In the case of the number interval, if the tightening
  • the fastener state conclusion includes: the fastener usage state is normal, the adaptive plus unlocking parameter corresponds to the previous preset plus unlocking parameter; or the fastener usage state is normal, and the adaptive plus unlocking parameter includes increasing Large or reduced tightening torque of the fastener; and/or increased or decreased number of turns of the fastener; or abnormal use of the fastener, replacement of the fastener.
  • a power-changing and unlocking control system comprising: a parameter monitoring module for monitoring real-time unlocking operation parameters of each fastener; parameter storage a module for storing real-time unlocking operation parameters of each fastener; a power-changing control module for comparing real-time unlocking operation parameters and unlocking parameter standards of each fastener to obtain a corresponding fastener state
  • the fastener state conclusion includes the fastener use state and the adaptability plus unlocking parameter of each fastener; the preset of the fastener is set based on the stored fastener state conclusion of each fastener.
  • Unlocking parameters and/or replacing the fastener and a power-returning execution module that performs a power-on-lock operation and a power-on unlocking operation based on preset and unlocking parameters of each fastener obtained by the power-changing control module ; and perform a replacement battery operation.
  • the fastener state conclusion includes: the fastener usage state is normal, the adaptive plus unlocking parameter corresponds to the previous preset plus unlocking parameter; or the fastener usage state is normal, and the adaptive plus unlocking parameter includes an increase. Or reduce the tightening torque of the fastener; and/or increase or decrease the number of turns of the fastener; or use the fastener abnormally, replace the fastener.
  • the real-time plus unlocking operation parameter, the unlocking parameter standard, and the preset plus unlocking parameter include: a screwing torque and a number of twisting turns.
  • a controller comprising a processor and a memory for storing instructions, the method as described above being implemented when the processor executes the instructions.
  • a storage medium for storing a program, which is capable of implementing the method as described above when the program is executed.
  • the power-changing and unlocking control method and the power-changing and unlocking control system and the controller and the storage medium according to the present invention are collected, the unlocking operation parameters of each fastener during the unlocking process, the state record and data traceability of each fastener are realized, and these parameters are analyzed before the next unlocking process to obtain the corresponding fasteners.
  • the state, and based on the use state of the fastener to adjust the control variable of the unlocking process realizes closed-loop control of the multiple fasteners during the unlocking process, and obtains a more suitable and reliable unlocking process.
  • FIG. 1 is a schematic view of a power-changing and unlocking control system of the present invention.
  • FIG. 2 is a block diagram showing the control flow of the power-changing and unlocking control method of the present invention.
  • FIG. 3 is a flow chart showing an embodiment of a power-changing lock control method of the present invention.
  • the power-changing and unlocking control system 100 includes a parameter monitoring module 110, a parameter storage module 120, a power-changing control module 130, and a power-changing execution module 140.
  • the parameter monitoring module 110 is configured to monitor real-time plus unlocking operation parameters of each fastener, and provide a data basis for subsequent use of the parameters, such as storage, analysis, and traceability.
  • the parameter storage module 120 is configured to store real-time unlocking operation parameters of the respective fasteners, so that the power-exchange control module 130 analyzes the data and traces data during the subsequent power-changing process.
  • the power-changing control module 130 is configured to compare the real-time unlocking operation parameters of each fastener with the unlocking parameter standard to obtain a corresponding tightness.
  • the firmware state concludes that the fastener status conclusion includes the fastener usage status and the adaptability plus unlocking parameters of each fastener; and sets the fastener pre-preparation based on the stored fastener state conclusions of the respective fasteners. Set the unlocking parameters and/or replace the fasteners.
  • the power-exchange execution module 140 performs the power-on-lock operation and the power-on unlock operation based on the preset plus unlocking parameters of the respective fasteners set by the power-switching control module; operating.
  • the state recording and data tracing of each fastener are realized by collecting the unlocking operation parameters of the respective fasteners during the unlocking process, and before the next unlocking process The parameters are analyzed to obtain the corresponding fastener use state, and the control variable of the unlocking process is adjusted based on the use state of the fastener, thereby realizing the closed-loop control of the multiple fasteners during the unlocking process, and obtaining more For the fit and reliable add unlock process.
  • the real-time plus unlocking operation parameter mentioned in the foregoing refers to the parameter collected in real time during the execution of the unlocking process, but is not limited to the subsequent data storage and data analysis process must also be performed in real time.
  • the storage action and the analysis action can be performed either in stages or in real time, depending on the needs of the actual situation.
  • the fastener state conclusion includes: the fastener usage state is normal, the adaptive plus unlocking parameter corresponds to the previous preset plus unlocking parameter; or the fastener usage state is normal, and the adaptive plus unlocking parameter includes increasing or decreasing the fastening.
  • the real-time unlocking operation parameter, the unlocking parameter standard, and the preset plus unlocking parameter include: a screwing torque and a number of twisting turns. These two parameters are also common control parameters in the process of adding and unlocking fasteners. The setting of such target control parameters makes the control system better compatible with other control systems in the prior art, and thus in other systems. The closed loop control expected by the system can also be realized.
  • the method includes steps S100, S200, and S300 to be described below.
  • preset and unlocking parameters of the respective fasteners are set based on the stored fastener state conclusions of the respective fasteners and/or an operation to replace the fasteners is triggered to replace the replacement during the power changing operation.
  • the preset plus unlocking parameters of each fastener and/or the operation of triggering the replacement of the fasteners based on the stored fastener state conclusions of the respective fasteners may be the following three Any of the following: setting a preset plus unlocking parameter for each fastener based on a stored fastener state conclusion of each fastener and triggering an operation to replace the fastener, based on the stored fasteners
  • the fastener state concludes to set the preset plus unlocking parameters for each fastener, triggering the operation of replacing the fastener based on the stored fastener state conclusions for each fastener.
  • step S200 the power-changing and unlocking operations are performed based on the preset plus unlocking parameters of the respective fasteners; and the battery replacement operation is performed.
  • step S300 the real-time plus unlocking operation parameters of each fastener are monitored and stored in real time, and the fastener state of each fastener is obtained by comparing the real-time unlocking operation parameters of each fastener with the unlocking parameter standard.
  • the fastener status conclusions include the fastener usage status and adaptability plus unlocking parameters for each fastener.
  • Such a control method can be applied to a conventional power-changing method by slightly modifying it before and after a conventional power-changing step. For example, during the power-changing process, the real-time plus unlocking operation parameters are detected, and such data is stored, and real-time analysis or retrospective analysis is performed, and the real-time plus unlocking operation parameters are compared with the unlocking parameter standard to obtain tightness of each fastener.
  • step S100 is also referred to as a pre-processing step, which is not a limitation that step S100 must be pre-processed, but is described.
  • step S200 is also referred to as a power-changing step by way of example and not limitation
  • S300 is also referred to as an unlocking parameter processing step, by way of example and not limitation.
  • the pre-processing step S100 further includes: step S110, if the fastener state is not stored, it is likely that the fastener is used for the first time, and the fastener is not easy to be damaged or damaged.
  • the preset plus unlocking parameter is set to add the unlocking parameter standard; in step S120, if the stored fastener state conclusion indicates that the fastener is in normal use state, it means that the fastener has been used several times, but has not been worn until The unavailable state, and has not been subjected to a screwing failure such as a sliding wire.
  • the preset plus unlocking parameter may be set based on the adaptive plus unlocking parameter; and in step S130, if the stored fastener state conclusion indicates the fastener use state Abnormal, this means that the fastener has been used more than a certain number of times, need to be scrapped and replaced, otherwise there is a risk of sudden failure, or such fasteners have failed in the last screwing, triggering replacement The fastener is operated to replace the fastener after the power-on unlocking operation is completed.
  • the power-changing step S200 includes an unlock mode S210.
  • the unlocking mode S210 executes in the unlocking mode S210: docking step S211, in the first setting of the docking screwing number interval, the driving fastener plus unlocking device is centered and engaged with the fastener end until the fastener is unlocked The screwing torque is increased to the set centering moment.
  • the fastener adding and unlocking device can realize the identification and engagement of the end of the fastener to be screwed.
  • the bolt can be screwed to recognize and engage the screw end nut of the screw.
  • This step is a pre-step of screwing the bolt and should not require too much effort, so it is usually required to be completed in a shorter time.
  • the first setting butt screwing interval is set to 1-2 turns.
  • the method further includes: an unlocking sub-step S212, in the interval of setting the unlocking twisting circle, driving the fastener and the unlocking device to screw the fastener until the tightening torque is reduced to the set unlocking torque At this time, it is determined that the fastener is unlocked successfully
  • unlocking sub-step S212 it is possible to implement a fastener plus unlocking device to screw the fastener to be screwed to the released state. If the vehicle battery is taken as an example, the bolts are loosened by bolts to loosen the bolts from the battery and the chassis of the vehicle, and the fixing of the two is released.
  • the set of unlocking turns is 8 to 12 turns.
  • the screwing torque is almost zero before the bolt is screwed to engage the bolt end. During this process, the number of turns of the bolts is also increased evenly. After the bolt is screwed and the bolt end is successfully engaged, the static preload of the bolt screwing is sharply increased. Then the unlocking process will start. After a period of tightening torque is applied, the bolt starts to loosen. At this time, the static pre-tightening force of the bolting and screwing starts to change into the dynamic pre-tightening force, and begins to decrease greatly until the bolt is screwed. The screwing torque is reduced to the set unlocking torque to complete the bolt unlocking process. Considering the experimental error and the influencing factors that may occur in the actual application, the above set parameters can also be set to a reasonable range, rather than being constrained to a specific value.
  • the method further includes: an abnormality determining sub-step S213, when the number of docking twisting turns of the fastener adding and unlocking device is within the first set docking and twisting number interval If the tightening torque is not increased to the set centering moment, it is determined that the fastener is abnormally aligned; and/or when the unlocking and twisting number of the fastener plus unlocking device is greater than the set unlocking twisting circle interval If the tightening torque is not reduced to the set unlocking torque, it is determined that the fastener is unlocked abnormally.
  • the power-changing step S200 includes a locking mode S220; and in the locking mode S220: the docking step S221, driving the fastener plus the unlocking device and the fastener in the second setting butt-turning number of turns The ends are centered and joined.
  • the docking step S221 the fasteners and unlocking devices can be identified and engaged with the ends of the fasteners to be screwed, for example, the bolts are screwed to recognize and engage the bolt end nuts.
  • This step is a pre-step for screwing the fastener and should not require too much effort, so it is usually required to be completed in a shorter period of time.
  • the second setting butt screwing interval is set to 1-2 turns.
  • the step S222 is further included.
  • the fastener and the unlocking device are driven to screw the fastener until the screwing torque is increased to the setting plus Locking torque, at this time, it is determined that the fastener is locked successfully.
  • the fastener adding and unlocking device can be screwed to the target position. If the vehicle battery is taken as an example, the bolt is screwed by bolting to fix the battery to the chassis of the vehicle.
  • the screwing torque is almost zero before the bolt is screwed to engage the end of the bolt; and as the bolt is screwed closer to the end of the bolt, the traveling speed is uniformly reduced. . During this process, the number of turns of the bolts is also increased evenly. After the bolt is screwed and the bolt end is successfully engaged, the locking process will begin, and the bolt will be screwed to maintain a constant speed to screw the bolt. As the bolt is screwed in, the dynamic preload force is gradually increased, so it needs to be applied. The locking torque is also rapidly adjusted with the set value and gradually increased until the set value is reached, thereby completing the bolt locking process. Considering the experimental error and the influencing factors that may occur in the actual application, the above set parameters can be set to a reasonable range, rather than being specific to a specific value.
  • the abnormality determining sub-step S223 is further included, and when the screwing torque is increased to the set locking torque, if the fastener is added to the unlocking device, the locking screw is tightened. If the number of turns is less than the set lock twisting number interval, it is determined that the fastener is locked abnormally, and the abnormal situation at this time may be the bolt stuck; and/or when the fastener is added to the unlocking device If the number is greater than the set lock and the number of turns, if the tightening torque does not increase to the set lock torque, it is determined that the fastener is locked abnormally, and the abnormal condition at this time may be the bolt slip.
  • the abnormality determination sub-step S223 when the bolt locking is unsuccessful, it is possible to further determine whether an abnormality or a possible abnormality type occurs based on the feedback returned parameter.
  • the fastener state conclusion includes: when the fastener is used for the first time, the fastener usage state is normal, and the adaptive plus unlocking parameter corresponds to the previous preset plus unlocking parameter.
  • the fastener is used for the first time, but can still be used continuously, the fastener is in normal use, and the adaptive plus unlocking parameters include the tightening torque of the increased or decreased fastener and/or the increase or decrease of the tightening.
  • the number of turns of the firmware For example, when a fastener has been used multiple times, although it has not failed, it may require a larger tightening torque or more number of turns to tighten or loosen it, or when there is a slight breakage, A smaller screwing torque may be required to avoid further damage.
  • the fastener has been damaged seriously, or the number of uses exceeds the set number of safety times, it is determined that the fastener is in an abnormal state of use and the fastener needs to be replaced.
  • FIG. 2 another embodiment of the power-changing and unlocking control method is further provided, which is substantially similar to the foregoing embodiment of the power-changing and unlocking control method, and the differences between the two are mainly explained as follows. Similarities can be referred to the specific description in the foregoing embodiments.
  • the power-changing and unlocking control method includes: a pre-processing step S100, comparing the stored real-time unlocking operation parameters of each fastener with the unlocking parameter standard, and processing the fastener state conclusion of each fastener, the fastener
  • the state conclusion includes a fastener use state and an adaptability plus unlocking parameter; and setting a preset plus unlocking parameter of each fastener and/or replacing the fastener based on the obtained fastener state conclusion of each fastener;
  • the power-changing step S200 performing a power-on locking operation and a power-changing unlocking operation based on preset preset unlocking parameters of each fastener; and performing a battery replacement operation; and adding an unlocking parameter processing step S300 to monitor and store each fastener Real-time plus unlock operation parameters.
  • the main difference of the present embodiment is that the analysis and tracing process of the data is placed in the pre-processing step S100, instead of the power-changing and unlocking parameter processing step S300. That is, after the current power exchange process is completed, only the real-time unlocking operation parameters involved are monitored and stored, and the analysis and traceback operations are left before the next power-changing process.
  • This improved pre-processing step S100 will also be further refined as follows.
  • the pre-processing step S100 includes: in step S110, if there is no real-time plus unlocking operation parameter, and the fastener state conclusion is not stored, the preset plus unlocking parameter is set to the unlocking parameter standard; in step S120, if the storage is tight The firmware state conclusion indicates that the fastener usage state is normal, and the preset plus unlocking parameter is set based on the adaptive plus unlocking parameter; and in step S130, if the stored fastener state conclusion indicates that the fastener usage state is abnormal, the completion is completed. Replace the fasteners after the power is unlocked.
  • the power-on and unlock control system is powered on and the system self-test is completed. After the self-test is correct, the system is in the standby state. At this time, the pre-processing step S100 may be performed to trace whether the vehicle battery and the fastener associated with the current vehicle to be replaced have a fastener state conclusion of use recording and recording, so as to further determine to adopt the first power-changing mode S110. Which operating strategy is not in the first power changing mode S120 and in the replacement fastener mode S130. After the policy designation is completed, the power-changing step S200 is started, the battery to be replaced is moved to the desired tightening position, the tightening operation is started, and data monitoring is performed synchronously.
  • the tightening gun can be activated to perform the docking and tightening action, and whether the screwing action of the tightening gun is stopped can be confirmed by whether the screwing torque value is reached. After the screwing torque value is reached, the result judgment is started. If the number of turns/screw angle is up to standard, there is no leaking, false twisting or twisting, it is determined that the locking is successful, and the locking is completed.

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Abstract

一种换电加解锁控制方法、系统、控制器及存储介质。换电加解锁控制系统（100）包括：参数监测模块（110）、参数存储模块（120）、换电控制模块（130）以及换电执行模块（140）。参数监测模块（110）用于监测各个紧固件的实时加解锁操作参数，为参数的后续使用提供数据基础；参数存储模块（120）用于存储各个紧固件的实时加解锁操作参数，以便换电控制模块（130）对数据进行分析及后续换电过程中的数据追溯；换电执行模块（140）基于换电控制模块（130）设置得到的各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作，以及执行更换电池操作。实现了过程的闭环控制，并获得更为适合与可靠的加解锁过程。

Description

换电加解锁控制系统及控制方法 技术领域
本发明涉及电池装卸领域，更具体而言，其涉及一种电动汽车车用电池更换过程中的换电加解锁控制方法。
背景技术
随着传统化石能源消耗所带来的供应压力以及尾气污染，传统燃油汽车的发展进入了迟滞期。针对于此，出于对绿色能源前景的看好，节能环保的电动汽车在近几年呈现出井喷式发展。目前，在电动汽车开发过程中，由于受到当前电池技术的限制，电池容量不足及充电时间较长是现阶段不可回避的问题。为解决此类技术技术问题，一方面，加大了对电池技术自身的研发投入；另一方面，也解答了对电池周边技术的开发。例如，电池更换即为一种极速、方便、安全的办法。
在电池更换的技术发展方向中，考虑到使动力电池与驾乘人员隔开更具有安全性和空间充足性，因此底盘式电池安装及更换技术成为了换电设置的主流。其中，为保证底盘电池的安装紧固性和安全性，常规采用的安装方式为螺纹旋转拧紧结构，并具有多个拧紧点。
目前，对于螺栓拧紧拧松的实现多数通过扭矩扳手和伺服电机加减速机的机构来进行。但对于拧紧拧松的扭矩反馈和记录存在缺失，同时对于单个螺栓的寿命和状态缺乏数据追溯；因而无法实现控制闭环。此外，扭矩反馈不准确，存在旋拧不当的情形；再者，对螺栓状态缺乏追踪，后续维护存在判断不准的现象；且无法避免螺栓漏拧、误拧、拧歪等现象。
发明内容
本发明的目的在于提供一种能够利用换电过程中获取的紧固件状态结论来回馈换电加解锁控制的换电加解锁控制方法。
本发明的目的还在于提供另一种能够利用换电过程中获取的紧固件状态结论来回馈换电加解锁控制的换电加解锁控制方法。
本发明的又一目的在于提供一种能够利用换电过程中获取的紧固件状态结论来回馈换电加解锁控制的换电加解锁控制系统。
为实现本发明的目的，根据本发明的一个方面，提供一种换电加解锁控制 方法，其包括：步骤S100，基于存储的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和/或更换该紧固件；步骤S200，基于各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作；以及步骤S300，监测并存储各个紧固件的实时加解锁操作参数，通过各个紧固件的实时加解锁操作参数与加解锁参数标准对比，处理得到各个紧固件的紧固件状态结论；所述紧固件状态结论包括各个紧固件的紧固件使用状态及适应性加解锁参数。
可选地，所述步骤S100包括：步骤S110，若未存储紧固件状态结论，则将预设加解锁参数设置成加解锁参数标准；步骤S120，若存储的紧固件状态结论显示所述紧固件使用状态正常，则基于所述适应性加解锁参数来设置预设加解锁参数；以及步骤S130，若存储的紧固件状态结论显示所述紧固件使用状态异常，则在完成换电解锁操作后更换紧固件。
可选地，所述换电步骤S200包括解锁模式S210；在解锁模式S210进行：对接子步骤S211，在第一设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合，直至紧固件加解锁装置的旋拧力矩增大至设定对中力矩，此时判定紧固件加解锁装置与紧固件对中成功；和/或解锁子步骤S212，在设定解锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩减小至设定解锁力矩，此时判定紧固件解锁成功；和/或异常判定子步骤S213，当紧固件加解锁装置的对接旋拧圈数在第一设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定紧固件对中异常；和/或当紧固件加解锁装置的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定紧固件解锁异常。
可选地，步骤S200包括加锁模式S220，在所述加锁模式S220进行：对接子步骤S221，在第二设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合；和/或加锁子步骤S222，在设定加锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩增大至设定加锁力矩，此时判定紧固件加锁成功；和/或异常判定子步骤S223，当旋拧力矩增大至设定加锁力矩时，若紧固件加解锁装置的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定紧固件加锁异常；和/或当紧固件加解锁装置的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定紧固件加锁异常。
可选地，所述紧固件状态结论包括：紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数；或紧固件使用状态正常，适应性加解锁参数包括 增大或减小的紧固件的旋拧力矩；且/或增多或减少的紧固件的旋拧圈数；或紧固件使用状态异常，更换紧固件。
为实现本发明的目的，根据本发明的另一个方面，提供一种换电加解锁控制方法，其包括：步骤S100，将存储的各个紧固件的实时加解锁操作参数与加解锁参数标准对比，处理得到各个紧固件的紧固件状态结论，所述紧固件状态结论包括紧固件使用状态及适应性加解锁参数；并基于获取的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和/或更换该紧固件；步骤S200，基于各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作；以及步骤S300，监测并存储各个紧固件的实时加解锁操作参数。
可选地，所述步骤S100包括：步骤S110，若不存在实时加解锁操作参数，且未存储紧固件状态结论，则将预设加解锁参数设置成加解锁参数标准；步骤S120，若存储的紧固件状态结论显示所述紧固件使用状态正常，则基于所述适应性加解锁参数来设置预设加解锁参数；以及步骤S130，若存储的紧固件状态结论显示所述紧固件使用状态异常，则在完成换电解锁操作后更换紧固件。
可选地，所述换电步骤S200包括解锁模式S210，在所述解锁模式S210，进行：对接子步骤S211，在第一设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合，直至紧固件加解锁装置的旋拧力矩增大至设定对中力矩，此时判定紧固件加解锁装置与紧固件对中成功；和/或解锁子步骤S212，在设定解锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩减小至设定解锁力矩，此时判定紧固件解锁成功；和/或异常判定子步骤S213，当紧固件加解锁装置的对接旋拧圈数在第一设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定紧固件对中异常；和/或当紧固件加解锁装置的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定紧固件解锁异常。
可选地，所述换电步骤S200包括加锁模式S220；，在所述加锁模式S220，进行：对接子步骤S221，在第二设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合；和/或加锁子步骤S222，在设定加锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩增大至设定加锁力矩，此时判定紧固件加锁成功；和/或异常判定子步骤S223，当旋拧力矩增大至设定加锁力矩时，若紧固件加解锁装置的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定紧固件加锁 异常；和/或当紧固件加解锁装置的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定紧固件加锁异常。
可选地，所述紧固件状态结论包括：紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数；或紧固件使用状态正常，适应性加解锁参数包括增大或减小的紧固件的旋拧力矩；且/或增多或减少的紧固件的旋拧圈数；或紧固件使用状态异常，更换紧固件。
为实现本发明的目的，根据本发明的又一个方面，还提供一种换电加解锁控制系统，其包括：参数监测模块，其用于监测各个紧固件的实时加解锁操作参数；参数存储模块，其用于存储各个紧固件的实时加解锁操作参数；换电控制模块，其用于比较各个紧固件的实时加解锁操作参数与加解锁参数标准，得出对应的紧固件状态结论，所述紧固件状态结论包括各个紧固件的紧固件使用状态及适应性加解锁参数；基于存储的各个紧固件的紧固件状态结论来设置该紧固件的预设加解锁参数和/或更换该紧固件；以及换电执行模块，其基于所述换电控制模块设置得到的各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作。
可选地，所述紧固件状态结论包括：紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数；或紧固件使用状态正常，适应性加解锁参数包括增加或减少紧固件的旋拧力矩；且/或增加或减少紧固件的旋拧圈数；或紧固件使用状态异常，更换紧固件。
可选地，所述实时加解锁操作参数、加解锁参数标准以及预设加解锁参数包括：旋拧力矩、旋拧圈数。
根据本发明的再一方面，还提供一种控制器，其包括处理器与存储器，所述存储器用于存储指令，在所述处理器执行所述指令时，如前所述的方法被实现。
根据本发明的再一方面，还提供一种存储介质，用于存储程序，在所述程序被执行时能够实现如前所述的方法。根据本发明的换电加解锁控制方法及换电加解锁控制系统及控制器与存储介质。通过对加解锁过程中各个紧固件的加解锁操作参数进行采集，实现了对各个紧固件的状态记录和数据追溯，并在下次加解锁过程之前分析这些参数来获取对应的紧固件使用状态，并基于该紧固件使用状态来调整加解锁过程的控制变量，实现了对多个紧固件在加解锁过程中的闭环控制，并获得更为适合与可靠的加解锁过程。
附图说明
图1是本发明的换电加解锁控制系统的示意图。
图2是本发明的换电加解锁控制方法的控制流程框图。
图3是本发明的换电加锁控制方法的一个实施例的流程示意图。
具体实施方式
参见图1，根据本发明的一个实施例，提供一种换电加解锁控制系统。该换电加解锁控制系统100包括：参数监测模块110、参数存储模块120、换电控制模块130以及换电执行模块140。
其中，参数监测模块110用于监测各个紧固件的实时加解锁操作参数，为参数的后续使用提供数据基础，例如存储、分析与追溯。参数存储模块120则用于存储各个紧固件的实时加解锁操作参数，以便换电控制模块130对数据进行分析及后续换电过程中的数据追溯。尤其，在本发明的示例中，作为实现数据分析与追溯的核心部件，换电控制模块130用于将各个紧固件的实时加解锁操作参数与加解锁参数标准进行比较，得出对应的紧固件状态结论，紧固件状态结论包括各个紧固件的紧固件使用状态及适应性加解锁参数；并基于存储的各个紧固件的紧固件状态结论来设置该紧固件的预设加解锁参数和/或更换该紧固件。此外，在完成数据分析与追溯后，换电执行模块140基于换电控制模块设置得到的各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作。
根据本发明的换电加解锁控制系统，通过对加解锁过程中各个紧固件的加解锁操作参数进行采集，实现了对各个紧固件的状态记录和数据追溯，并在下次加解锁过程之前分析这些参数来获取对应的紧固件使用状态，并基于该紧固件使用状态来调整加解锁过程的控制变量，实现了对多个紧固件在加解锁过程中的闭环控制，并获得更为适合与可靠的加解锁过程。
作为该换电加解锁控制系统涉及到的若干关键参数，如下将举例进一步说明。其中，前文中提及的实时加解锁操作参数，意指在执行加解锁过程中所被实时地采集到的参数，但并未限制于其后的数据存储及数据分析过程也必须实时进行。例如，存储动作及分析动作既可以阶段性地进行，也可以实时地进行，这将取决于实际情况的需求。
此外，紧固件状态结论包括：紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数；或紧固件使用状态正常，适应性加解锁参数包括增加或 减少紧固件的旋拧力矩；且/或增加或减少紧固件的旋拧圈数；或紧固件使用状态异常，更换紧固件。这两类参数，第一种关于紧固件使用状态的提示，可以使操作人员直观地了解到该紧固件的当前状态，而适应性加解锁参数则便于促进加解锁过程的可靠无误地完成。
再如，实时加解锁操作参数、加解锁参数标准以及预设加解锁参数包括：旋拧力矩、旋拧圈数。此两种参数也为紧固件加解锁过程中的常见控制参数，此种目标控制参数的设置，使得该控制系统也能与现有技术中的其他控制系统更好地兼容，从而在其他系统中也能实现本系统所期望的闭环控制。
参见图2，在此还提供一种换电加解锁控制方法的实施例。该方法包括下文将要描述的步骤S100、S200与S300。
在步骤S100，基于存储的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和/或触发更换该紧固件的操作以便在换电操作过程中更换掉该紧固件，需要说明的是，基于存储的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和/或触发更换该紧固件的操作可以是以下三种情况中的任意一种：基于存储的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和触发更换该紧固件的操作，基于存储的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数，基于存储的各个紧固件的紧固件状态结论来触发更换该紧固件的操作。
在步骤S200，基于各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作。
在步骤S300，实时监测并存储各个紧固件的实时加解锁操作参数，通过将各个紧固件的实时加解锁操作参数与加解锁参数标准对比，从而得到各个紧固件的紧固件状态结论；紧固件状态结论包括各个紧固件的紧固件使用状态及适应性加解锁参数。此种控制方法，可通过在常规的换电步骤前后略作改动来应用于常规换电方法中。例如，在换电过程中检测获取实时加解锁操作参数，对此类数据进行存储，并进行实时分析或者追溯分析，将实时加解锁操作参数与加解锁参数标准对比来获取各个紧固件的紧固件状态结论；且在下次针对同一批紧固件所对应的车辆或车用电池进行换电时调阅这批数据，以建立合适的预设加解锁参数和/或触发更换该紧固件的操作来用于执行加解锁操作，确保每次换电步骤都能可靠且无误地进行。此外，在本文的示例性描述中，也将步骤S100称为预处理步骤，这并不是限定步骤 S100一定是预先处理，而是为描述之便。类似地，步骤S200也示例性而非限制地称为换电步骤，S300也示例性而非限制地称为加解锁参数处理步骤。
如下将对这些步骤进行更细化地阐述，以举例说明在各种具体情形下执行何种操作。
例如，预处理步骤S100进一步包括：步骤S110，若未存储紧固件状态结论，很有可能是该紧固件为首次使用，不易存在紧固件老坏或损坏等情形，此时可直接将预设加解锁参数设置成加解锁参数标准；步骤S120，若存储的紧固件状态结论显示紧固件使用状态正常，此时意指该紧固件已被使用过若干次，但尚未磨损至不可用状态，也未经受过滑丝等旋拧故障，此时可基于适应性加解锁参数来设置预设加解锁参数；以及步骤S130，若存储的紧固件状态结论显示紧固件使用状态异常，此时意指该紧固件已经使用超过特定次数，需要报废更换，否则存在突发故障的风险，或者此类紧固件在上次旋拧中已发生过故障，此时触发更换该紧固件的操作，以便在完成换电解锁操作后更换紧固件。
再如，换电步骤S200包括解锁模式S210。在解锁模式S210下执行：对接子步骤S211，在第一设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合，直至紧固件加解锁装置的旋拧力矩增大至设定对中力矩，此时判定紧固件加解锁装置与紧固件对中成功；相对于紧固件加锁对接而言，由于此时需要对接的紧固件处于被紧固状态，因此还需要额外参考接合状态下的旋拧力矩来判定是否对接成功。通过对接子步骤S211，可以实现紧固件加解锁装置对待旋拧紧固件端部的识别与接合，例如，可以实现螺栓旋拧抢对待旋拧螺栓端部螺帽的识别与接合。此步骤为旋拧螺栓的前置步骤，不应耗费过多精力，因此通常要求在较短的时间内完成。此时，可选地，将第一设定对接旋拧圈数区间设定为1-2圈。
在对接子步骤S211执行完成后，还包括：解锁子步骤S212，在设定解锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩减小至设定解锁力矩，此时判定紧固件解锁成功。通过解锁子步骤S212，可以实现紧固件加解锁装置将待旋拧紧固件旋拧至处于释放状态。若以车用电池为例说明，也即通过螺栓旋拧抢将螺栓从电池与汽车底盘上拧松，解除对二者的固定。此外，还可以根据对旋拧力矩及旋拧圈数的数据反馈，来识别前述解锁过程是否成功。例如，当在设定解锁旋拧圈数区间内将拧螺栓元件拧至其旋拧力矩减小至设定解锁力矩时，方才判定螺栓解锁成功。作为一个示例，可选地，设定解锁旋拧圈数区间为8到12圈。
具体而言，在前述解锁过程中，在螺栓旋拧抢与螺栓端部接合之前，旋拧扭矩几乎为0。在此过程中，螺栓旋拧抢的旋拧圈数也是均匀增加。在螺栓旋拧抢与螺栓端部成功接合后，螺栓旋拧抢受到的静预紧力急剧增大。随后将开始解锁过程，经过施加一段时间的旋拧力矩后，螺栓开始松动，此时螺栓旋拧抢受到的静预紧力开始转变成动预紧力，且开始大幅降低，直至螺栓旋拧抢的旋拧力矩减小至设定解锁力矩，从而完成螺栓解锁过程。考虑到实验误差及实际应用中可能出现的影响因素，前述设定参数同样可以设置合理的范围，而非拘泥于某一特定值。
此外，为保护螺栓结构并提高螺栓解锁过程的可靠性，还包括：异常判定子步骤S213，当紧固件加解锁装置的对接旋拧圈数在第一设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定紧固件对中异常；和/或当紧固件加解锁装置的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定紧固件解锁异常。
又如，换电步骤S200包括加锁模式S220；在加锁模式S220下执行：对接子步骤S221，在第二设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合。通过对接子步骤S221，可以实现紧固件加解锁装置对待旋拧紧固件端部的识别与接合，例如，为螺栓旋拧抢对螺栓端部螺帽的识别与接合。此步骤为旋拧紧固件的前置步骤，不应耗费过多精力，因此通常要求在较短的时间内完成。此时，可选地，将第二设定对接旋拧圈数区间设定为1-2圈。
在对接子步骤S221执行完成后，还包括加锁子步骤S222，在设定加锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩增大至设定加锁力矩，此时判定紧固件加锁成功。通过加锁子步骤S222，可以实现紧固件加解锁装置将待旋拧紧固件旋拧至目标位置。若以车用电池为例说明，也即通过螺栓旋拧抢将螺栓旋拧至把电池固定于汽车底盘上。此外，还可以根据对旋拧力矩及旋拧圈数的数据反馈，来识别前述加锁过程是否成功。例如，当在设定加锁旋拧圈数区间内将螺栓旋拧抢拧至其旋拧力矩增大至设定加锁力矩时，方才判定螺栓加锁成功。
具体而言，在前述加锁过程中，在螺栓旋拧抢与螺栓端部接合之前，旋拧扭矩几乎为0；且随着螺栓旋拧抢愈发靠近螺栓端部，其行进速度匀减速降低。在此过程中，螺栓旋拧抢的旋拧圈数也是均匀增加。在螺栓旋拧抢与螺栓端部成功接合后，将开始加锁过程，螺栓旋拧抢保持匀速旋拧螺栓，随着螺栓旋拧的深入，受到的动预紧力逐步增大，因此需要施加的加锁力矩也跟随设定值进行快速调整而逐步 增大，直至到达设定值，从而完成螺栓加锁过程。考虑到实验误差及实际应用中可能出现的影响因素，前述设定参数均可以设置合理的范围，而非拘泥于某一特定值。
此外，为保护螺栓结构并提高螺栓加锁过程的可靠性，还包括异常判定子步骤S223，当旋拧力矩增大至设定加锁力矩时，若紧固件加解锁装置的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定紧固件加锁异常，且此时的异常情况可能是螺栓卡滞；和/或当紧固件加解锁装置的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定紧固件加锁异常，且此时的异常情况可能是螺栓滑丝。通过异常判定子步骤S223，可以在螺栓加锁未成功时，基于反馈回来的参数进一步判断是否发生异常情况及可能存在的异常类型。
再者，在S300中，紧固件状态结论包括：当紧固件为首次使用时，则紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数。当紧固件为首次使用，但依然可以继续使用时，则紧固件使用状态正常，适应性加解锁参数包括增大或减小的紧固件的旋拧力矩和/或增多或减少的紧固件的旋拧圈数。例如，当紧固件经过多次使用后，虽然未发生故障，但可能需要更大的旋拧力矩或者更多的旋拧圈数才能将其拧紧或拧松，或者当其存在轻微破损时，可能需要较小的旋拧力矩来避免其进一步破损严重。当紧固件已经破损严重，或使用次数超过了设定的安全次数后，则认定紧固件使用状态异常，需更换紧固件。
继续参见图2，在此还提供换电加解锁控制方法的另一种实施例，其与前述换电加解锁控制方法的实施例大致上相近，如下将主要阐述二者的不同之处，其他相近之处则可以借鉴前述实施例中的具体描述。
该换电加解锁控制方法包括：预处理步骤S100，将存储的各个紧固件的实时加解锁操作参数与加解锁参数标准对比，处理得到各个紧固件的紧固件状态结论，紧固件状态结论包括紧固件使用状态及适应性加解锁参数；并基于获取的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和/或更换该紧固件；换电步骤S200，基于各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作；以及加解锁参数处理步骤S300，监测并存储各个紧固件的实时加解锁操作参数。
与前述实施例相比，本实施例的主要不同点在于将数据的分析与追溯过程置于预处理步骤S100中，而非换电加解锁参数处理步骤S300中。也即，在完成当 前换电过程后，对涉及的实时加解锁操作参数仅进行监测与存储，而将分析与追溯操作留置于下次换电过程前。
如下也将对该改进后的预处理步骤S100做出进一步的细化。
例如，预处理步骤S100包括：步骤S110，若不存在实时加解锁操作参数，且未存储紧固件状态结论，则将预设加解锁参数设置成加解锁参数标准；步骤S120，若存储的紧固件状态结论显示紧固件使用状态正常，则基于适应性加解锁参数来设置预设加解锁参数；以及步骤S130，若存储的紧固件状态结论显示紧固件使用状态异常，则在完成换电解锁操作后更换紧固件。
为便于理解，下文将结合前述实施例中所记载的方法来描述图3中所示出的换电加锁过程。
首先，将该换电加解锁控制系统上电并完成系统自检。在自检无误后，系统处于待机状态。此时，可执行预处理步骤S100，来追溯当前待换电车辆所关联的车用电池及紧固件是否存在使用记录及记录的紧固件状态结论，以便进一步地确定采用首次换电模式S110、非首次换电模式S120以及更换紧固件模式S130中的何种操作策略。完成策略指定后，开始执行换电步骤S200，将待更换电池移动至期望的拧紧位置开始拧紧操作并同步进行数据监控。具体而言，可先启动拧紧枪来执行对接与拧紧动作，并通过是否达到旋拧扭矩值来确认是否停止拧紧枪的旋拧动作。在达成旋拧扭矩值后，开始进行结果判断，若旋拧圈数/旋拧角度达标、不存在漏拧、误拧或拧歪现象的话，则认定为加锁成功，完成了此次加锁过程，并执行换电加解锁参数处理步骤S300，做好数据分析与追溯准备；若存在以上任意一种意外情形的话，则认定为加锁失败，一方面需向系统进行报警反馈，另一方面，同样需行换电加解锁参数处理步骤S300，做好数据分析与追溯准备。
以上例子主要说明了本发明的换电加解锁控制方法及换电加解锁控制系统。尽管只对其中一些本发明的实施方式进行了描述，但是本领域普通技术人员应当了解，本发明可以在不偏离其主旨与范围内以许多其他的形式实施。因此，所展示的例子与实施方式被视为示意性的而非限制性的，在不脱离如所附各权利要求所定义的本发明精神及范围的情况下，本发明可能涵盖各种的修改与替换。

Claims (17)

  1. 一种换电加解锁控制方法，其特征在于，包括：
    步骤S100，基于已存储的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和/或触发更换该紧固件的操作；
    步骤S200，基于各个紧固件的预设加解锁参数来执行换电解锁操作、执行更换电池操作以及换电加锁操作；以及
    步骤S300，在解锁、加锁操作过程中，监测并存储各个紧固件的实时加解锁操作参数，通过将各个紧固件的实时加解锁操作参数与加解锁参数标准对比，获得各个紧固件的紧固件状态结论，所述紧固件状态结论包括各个紧固件的紧固件使用状态及适应性加解锁参数。
  2. 根据权利要求1所述的控制方法，其特征在于，所述步骤S100包括：
    步骤S110，若没有已存储的紧固件状态结论，则将预设加解锁参数设置成加解锁参数标准；
    步骤S120，若存储的紧固件状态结论显示所述紧固件使用状态正常，则基于所述适应性加解锁参数来设置预设加解锁参数；以及
    步骤S130，若存储的紧固件状态结论显示所述紧固件使用状态异常，则触发更换该紧固件的操作以便在完成换电解锁操作后更换紧固件。
  3. 根据权利要求1所述的控制方法，其特征在于，步骤S200包括解锁模式S210；在所述解锁模式，进行：
    对接子步骤S211，在第一设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合，直至紧固件加解锁装置的旋拧力矩增大至设定对中力矩，此时判定紧固件加解锁装置与紧固件对中成功；和/或
    解锁子步骤S212，在设定解锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩减小至设定解锁力矩，此时判定紧固件解锁成功；和/或
    异常判定子步骤S213，当紧固件加解锁装置的对接旋拧圈数在第一设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定紧固件对中异常；和/或当紧固件加解锁装置的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定紧固件解锁异常。
  4. 根据权利要求1所述的控制方法，其特征在于，所述换电步骤S200包括加锁 模式S220，在所述加锁模式，进行：
    对接子步骤S221，在第二设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合；和/或
    加锁子步骤S222，在设定加锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩增大至设定加锁力矩，此时判定紧固件加锁成功；和/或
    异常判定子步骤S223，当旋拧力矩增大至设定加锁力矩时，若紧固件加解锁装置的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定紧固件加锁异常；和/或当紧固件加解锁装置的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定紧固件加锁异常。
  5. 根据权利要求1所述的控制方法，其特征在于，所述紧固件状态结论包括：
    紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数；或
    紧固件使用状态正常，适应性加解锁参数包括增大或减小的紧固件的旋拧力矩；且/或增多或减少的紧固件的旋拧圈数；或
    紧固件使用状态异常，更换紧固件。
  6. 一种换电加解锁控制方法，其特征在于，包括：
    步骤S100，将存储的各个紧固件的实时加解锁操作参数与加解锁参数标准对比，处理得到各个紧固件的紧固件状态结论，所述紧固件状态结论包括紧固件使用状态及适应性加解锁参数；并基于获取的各个紧固件的紧固件状态结论来设置各个紧固件的预设加解锁参数和/或更换该紧固件；
    步骤S200，基于各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作；以及
    步骤S300，监测并存储各个紧固件的实时加解锁操作参数。
  7. 根据权利要求6所述的控制方法，其特征在于，所述步骤S100包括：
    步骤S110，若不存在实时加解锁操作参数，且未存储紧固件状态结论，则将预设加解锁参数设置成加解锁参数标准；
    步骤S120，若存储的紧固件状态结论显示所述紧固件使用状态正常，则基于所述适应性加解锁参数来设置预设加解锁参数；以及
    步骤S130，若存储的紧固件状态结论显示所述紧固件使用状态异常，则在完成换电解锁操作后更换紧固件。
  8. 根据权利要求6所述的控制方法，其特征在于，所述换电步骤S200包括解锁 模式S210，在所述解锁模式，进行：
    对接子步骤S211，在第一设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合，直至紧固件加解锁装置的旋拧力矩增大至设定对中力矩，此时判定紧固件加解锁装置与紧固件对中成功；和/或
    解锁子步骤S212，在设定解锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩减小至设定解锁力矩，此时判定紧固件解锁成功；和/或
    异常判定子步骤S213，当紧固件加解锁装置的对接旋拧圈数在第一设定对接旋拧圈数区间内时，若旋拧力矩未增大至设定对中力矩，则判定紧固件对中异常；和/或当紧固件加解锁装置的解锁旋拧圈数大于设定解锁旋拧圈数区间时，若旋拧力矩未减小至设定解锁力矩，则判定紧固件解锁异常。
  9. 根据权利要求6所述的控制方法，其特征在于，所述换电步骤S200包括加锁模式S220，在所述加锁模式S220，进行：
    对接子步骤S221，在第二设定对接旋拧圈数区间内，驱动紧固件加解锁装置与紧固件端部对中并接合；和/或
    加锁子步骤S222，在设定加锁旋拧圈数区间内，驱动紧固件加解锁装置旋拧紧固件，直至旋拧力矩增大至设定加锁力矩，此时判定紧固件加锁成功；和/或
    异常判定子步骤S223，当旋拧力矩增大至设定加锁力矩时，若紧固件加解锁装置的加锁旋拧圈数小于设定加锁旋拧圈数区间，则判定紧固件加锁异常；和/或当紧固件加解锁装置的加锁旋拧圈数大于设定加锁旋拧圈数区间时，若旋拧力矩未增大至设定加锁力矩，则判定紧固件加锁异常。
  10. 根据权利要求6所述的控制方法，其特征在于，所述紧固件状态结论包括：
    紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数；或
    紧固件使用状态正常，适应性加解锁参数包括增大或减小的紧固件的旋拧力矩；且/或增多或减少的紧固件的旋拧圈数；或
    紧固件使用状态异常，更换紧固件。
  11. 一种换电加解锁控制系统，其特征在于，包括：
    参数监测模块，其用于监测各个紧固件的实时加解锁操作参数；
    参数存储模块，其用于存储各个紧固件的实时加解锁操作参数；
    换电控制模块，其用于比较各个紧固件的实时加解锁操作参数与加解锁参数标准，得出对应的紧固件状态结论，所述紧固件状态结论包括各个紧固件的紧固件使 用状态及适应性加解锁参数；基于存储的各个紧固件的紧固件状态结论来设置该紧固件的预设加解锁参数和/或更换该紧固件；以及
    换电执行模块，其基于所述换电控制模块设置得到的各个紧固件的预设加解锁参数来执行换电加锁操作与换电解锁操作；以及执行更换电池操作。
  12. 根据权利要求11所述的控制系统，其特征在于，所述紧固件状态结论包括：
    紧固件使用状态正常，适应性加解锁参数对应于前次预设加解锁参数；或
    紧固件使用状态正常，适应性加解锁参数包括增加或减少紧固件的旋拧力矩；且/或增加或减少紧固件的旋拧圈数；或
    紧固件使用状态异常，更换紧固件。
  13. 根据权利要求11所述的控制系统，其特征在于，所述实时加解锁操作参数、加解锁参数标准以及预设加解锁参数包括：旋拧力矩、旋拧圈数。
  14. 一种控制器，其包括处理器与存储器，所述存储器用于存储指令，在所述处理器执行所述指令时，如权利要求1到5任意一项所述的方法被实现。
  15. 一种控制器，其包括处理器与存储器，所述存储器用于存储指令，在所述处理器执行所述指令时，如权利要求6到10任意一项所述的方法被实现。
  16. 一种存储介质，用于存储程序，在所述程序被执行时能够实现如权利要求1到5任意一项所述的方法。
  17. 一种存储介质，用于存储程序，在所述程序被执行时能够实现如权利要求6到10任意一项所述的方法。
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