CN111231755A - Battery replacement equipment and battery replacement equipment control method - Google Patents
Battery replacement equipment and battery replacement equipment control method Download PDFInfo
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- CN111231755A CN111231755A CN202010085442.6A CN202010085442A CN111231755A CN 111231755 A CN111231755 A CN 111231755A CN 202010085442 A CN202010085442 A CN 202010085442A CN 111231755 A CN111231755 A CN 111231755A
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- battery
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- mobile platform
- unlocking
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- 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
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- 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
Abstract
The invention discloses a battery replacement device and a battery replacement device control method, wherein the battery replacement device comprises a walking mechanism, a first mobile platform and a controller, the first mobile platform is positioned on the walking mechanism, and the controller is used for controlling the walking mechanism to walk; the controller is also used for controlling the first moving platform to move to a disassembling station or an installing station of the battery pack relative to the travelling mechanism. The battery replacement equipment and the battery replacement equipment control method can realize quick battery replacement operation, and improve the battery replacement efficiency and the stability of the battery replacement operation.
Description
Technical Field
The invention relates to a battery replacement device.
The invention also relates to a control method of the battery replacement equipment.
Background
The quick-change electric automobile can meet the power supply requirement of the quick-change electric automobile in a mode of replacing the battery pack. In the process of replacing the battery pack, a battery replacement device (namely a battery replacement trolley) is generally required to be used. The battery replacement equipment is used for transporting the battery pack between the electric automobile and the battery cabin, and also has the functions of unlocking the old battery pack from the electric automobile and packaging the new battery pack into the electric automobile and locking the new battery pack. How to design the battery replacement equipment and enable the battery replacement equipment to realize the battery replacement operation is a problem which needs to be solved urgently.
Disclosure of Invention
The invention aims to solve the technical problem of providing a battery replacement device and a control method of the battery replacement device for achieving the purpose of controlling unlocking and locking of a battery pack by the battery replacement device.
The invention solves the technical problems through the following technical scheme:
the invention provides a battery replacing device, which comprises:
a traveling mechanism;
the first mobile platform is positioned on the walking mechanism;
the controller is used for controlling the travelling mechanism to travel; the controller is also used for controlling the first moving platform to move to a disassembling station or an installing station of the battery pack relative to the travelling mechanism.
In the technical scheme, the traveling mechanism is controlled to move, so that the battery replacing device reaches a battery replacing position below the electric vehicle, and the battery pack can be disassembled and assembled. The first mobile platform can move to the dismantlement station to dismantle the operation to the battery package. The first mobile platform can also move to the installation station to be able to install the battery pack on the electric vehicle.
Preferably, the first mobile platform and the traveling mechanism are respectively provided with a first positioning origin and a first origin sensor for detecting the first positioning origin.
In this technical scheme, utilize first initial point sensor to detect the position of first location initial point, according to detecting first location initial point position and dismantling station, installation station and carry out the comparison, and then control first moving platform and remove to dismantling station or installation station.
Preferably, the first disassembly standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the disassembly station; the first origin sensor is a vision sensor, the vision sensor is used for obtaining the actual coordinate of the first positioning origin, the controller is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor to generate a first disassembly standard coordinate difference, and the controller is further used for controlling the first mobile platform to move according to the coordinate difference.
In the technical scheme, the first disassembly standard coordinate difference can be acquired in real time by using the vision sensor, the controller controls the first mobile platform to move according to the first disassembly standard coordinate difference, and the position of the first mobile platform can be accurately controlled so as to facilitate subsequent disassembly operation.
Preferably, the first installation standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the installation station; the first origin sensor is a vision sensor, the vision sensor is used for obtaining the actual coordinate of the first positioning origin, the controller is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor to generate a first installation standard coordinate difference, and the controller is further used for controlling the first mobile platform to move according to the coordinate difference.
In the technical scheme, the first installation standard coordinate difference can be acquired in real time by using the vision sensor, the controller controls the first mobile platform to move according to the first installation standard coordinate difference, and the position of the first mobile platform can be accurately controlled so as to facilitate subsequent installation operation.
Preferably, the first origin sensor is an infrared sensor, the battery replacement device includes an infrared emitter, the infrared emitter is disposed at the first positioning origin, the infrared sensor is configured to obtain a distance between the infrared sensor and the infrared emitter, and the controller is further configured to control the first mobile platform to move according to the distance.
In the technical scheme, the infrared sensor can be used for acquiring the coordinate difference between the first positioning origin and the infrared sensor, and the controller controls the first mobile platform to move according to the coordinate difference.
Preferably, the battery replacement equipment further comprises a second mobile platform, the second mobile platform is arranged above the first mobile platform, and the controller is further configured to control the second mobile platform to move.
In this technical scheme, can be through adjusting second moving platform to trading the electric station, make trade electric equipment and electric automobile counterpoint to carry out subsequent battery package dismouting operation.
Preferably, a second positioning origin and a second origin sensor for detecting the second positioning origin are respectively arranged on the second mobile platform and the traveling mechanism.
In the technical scheme, the position of the second positioning origin is detected by using the second origin sensor, and when the second origin sensor detects the second positioning origin, the second mobile platform reaches the preset position.
Preferably, the second mobile platform is provided with an unlocking device, the unlocking device comprises an unlocking rod and a driving mechanism, and the driving mechanism is used for controlling the unlocking rod to move to a locking position or an unlocking position so as to lock and unlock the battery pack.
In the technical scheme, the battery pack is locked and unlocked by controlling the movement of the unlocking rod of the unlocking device.
Preferably, the unlocking device further comprises a first unlocking sensor, and the first unlocking sensor is used for detecting whether the unlocking rod is located at the locking position; the controller is also used for controlling the unlocking rod to stop when the unlocking rod is positioned at the locking position.
In the technical scheme, whether the unlocking rod reaches the locking position or not is detected by using the first unlocking sensor, so that the safe locking of the battery pack is ensured.
Preferably, the unlocking device further comprises a second unlocking sensor, and the second unlocking sensor is used for detecting whether the unlocking rod is located at the unlocking position or not; the controller is also used for controlling the unlocking rod to stop acting when the unlocking rod is positioned at the unlocking position.
In the technical scheme, whether the unlocking rod reaches the unlocking position or not is detected by the second unlocking sensor, so that the safe unlocking of the battery pack is ensured.
Preferably, the battery replacement position is provided with an alignment origin, the battery replacement equipment is provided with an alignment sensor, and the alignment sensor is used for detecting whether the battery replacement equipment reaches the alignment origin.
In the technical scheme, the position of the alignment origin is detected by using the alignment sensor, and when the alignment sensor detects the alignment origin, the battery replacement device is indicated to reach the battery replacement position, so that the battery replacement device can be accurately stopped at the battery replacement position.
Preferably, the battery swapping device travels between a battery swapping position and an exchange position along a traveling channel, the traveling channel is provided with a first waiting position, the first waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the first waiting position along the traveling channel when receiving a first waiting signal.
In the technical scheme, the battery swapping device may be stopped at the first waiting position to wait for another battery swapping device to leave the battery swapping position.
Preferably, the battery swapping device travels between a battery swapping position and an exchange position along a traveling channel, the traveling channel is provided with a second waiting position, the second waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the second waiting position along the traveling channel when receiving a second waiting signal.
In this technical solution, the swapping device may stop at the second waiting position to wait for another swapping device to leave the swapping position.
Preferably, the battery replacement equipment runs between a battery replacement position and an exchange position along a running channel, the running channel is provided with a limit position, and the battery replacement equipment is further configured to stop moving when moving to the limit position.
In the technical scheme, when the limit sensor detects the limit positioning point, the battery replacing device stops moving, and danger caused by the fact that the battery replacing device exceeds the limit position is prevented.
The invention also provides a control method of the battery replacing device, the battery replacing device is used for replacing a battery pack on an electric automobile, the battery replacing device comprises a first mobile platform and a traveling mechanism, the first mobile platform is positioned on the traveling mechanism, and the control method of the battery replacing device comprises the following steps:
and controlling the first mobile platform to move to a disassembling station or an installing station of the battery pack, and disassembling the battery pack at a battery replacing position below the electric automobile.
In the technical scheme, through the steps, the first mobile platform can be accurately positioned, and the reliability of the operation of the battery replacement equipment is ensured.
Preferably, the first mobile platform is controlled to move to a disassembly station of the battery pack, and the battery pack is disassembled and assembled at a battery replacement position below the electric automobile, and the method comprises the following steps:
when a battery disassembly signal is received, acquiring the current position of the first mobile platform and comparing the current position with a disassembly station of the first mobile platform;
and controlling the first moving platform to move to the disassembling station.
In the technical scheme, the first moving platform can be accurately moved to the disassembling station through the steps.
Preferably, the first mobile platform is controlled to move to an installation station of the battery pack, and the battery pack is disassembled and assembled at a battery replacement position below the electric automobile, and the method comprises the following steps:
when a battery installation signal is received, acquiring the current position of the first mobile platform and comparing the current position with an installation station of the first mobile platform;
and controlling the first moving platform to move to the installation station.
In the technical scheme, the first moving platform can be accurately moved to the installation station through the steps.
Preferably, a first positioning origin and a first origin sensor for detecting the first positioning origin are respectively arranged on the first mobile platform and the travelling mechanism;
controlling the first mobile platform to move to a disassembly station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a first disassembly standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is positioned at the disassembly station;
obtaining an actual coordinate difference between the first origin sensor and the first positioning origin;
and controlling the first mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is the first disassembly standard coordinate difference.
In the technical scheme, the first mobile platform can be controlled to accurately move to the disassembling station through the steps.
Preferably, a first positioning origin is arranged on the first mobile platform, and the traveling mechanism is provided with a first origin sensor for detecting the first positioning origin;
controlling the first mobile platform to move to an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a first installation standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is positioned at the installation station;
obtaining an actual coordinate difference between the first origin sensor and the first positioning origin;
and controlling the first mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is the first installation standard coordinate difference.
In the technical scheme, the first mobile platform can be controlled to accurately move to the installation station through the steps.
Preferably, the battery replacement equipment further comprises a second mobile platform, and the second mobile platform is arranged below the first mobile platform and used for arranging a battery replacement component;
the battery replacement equipment control method further comprises the following steps:
and controlling the second mobile platform to move so that the second mobile platform is positioned at a power changing station.
In the technical scheme, through the steps, the second mobile platform can be controlled to move to the battery replacing station so as to perform subsequent battery pack disassembling and assembling work.
Preferably, the second mobile platform is controlled to move so as to be located at a power exchanging station, and the method includes the following steps:
when a battery dismounting signal or a battery mounting signal is received, acquiring the current position of the second mobile platform and comparing the current position with a battery changing station of the second mobile platform;
and controlling the second mobile platform to move to the battery replacement station.
In the technical scheme, the second mobile platform can be controlled to accurately move to the battery replacement station through the steps.
Preferably, a second positioning origin is arranged on the second mobile platform, and a second origin sensor for detecting the second positioning origin is arranged on the travelling mechanism; a guide fork is arranged on the second mobile platform, a positioning seat is arranged on the electric automobile, and when the second positioning original point is located at a second standard coordinate, the guide fork is aligned with the positioning seat;
controlling the second mobile platform to move so that the second mobile platform is positioned at a power changing station, and the method comprises the following steps:
establishing an origin coordinate system, wherein a second standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is positioned at the disassembling station;
obtaining an actual coordinate difference between the second origin sensor and the second positioning origin;
and controlling the second mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the first rated origin is the second standard coordinate difference.
In the technical scheme, through the steps, the second mobile platform can move accurately, so that the reliability of subsequent battery pack dismounting work is facilitated.
Preferably, a guide fork is arranged on the second mobile platform, a positioning seat is arranged on the electric vehicle, and when the second positioning origin is located at the second standard coordinate, the guide fork is aligned with the positioning seat.
In this technical scheme, when second moving platform moved to trade the electric station, the guide fork was aligned with the positioning seat.
Preferably, the second mobile platform is provided with an unlocking device, the unlocking device comprises an unlocking rod,
the second mobile platform is controlled to move to a locking station or an unlocking station of the battery pack so as to disassemble and assemble the battery pack, and the method further comprises the following steps:
and controlling the unlocking rod to move to a locking position or an unlocking position.
In the technical scheme, the unlocking device can lock and unlock the battery pack through the steps.
Preferably, the unlocking device further comprises a first unlocking sensor, and the first unlocking sensor is used for detecting whether the unlocking rod is located at the locking position;
controlling the unlocking lever to move to the locking position, comprising the steps of:
the first unlocking sensor detects that the unlocking rod reaches the locking position, and controls the unlocking rod to stop acting.
In the technical scheme, the unlocking rod can be ensured to reach the locking position through the steps, and the locking reliability is ensured.
Preferably, the unlocking device comprises a second unlocking sensor, and the second unlocking sensor is used for detecting whether the unlocking rod is located at the unlocking position or not;
controlling the unlocking rod to move to the unlocking position, comprising the following steps:
the second unlocking sensor detects that the unlocking rod reaches the unlocking position, and controls the unlocking rod to stop acting.
In the technical scheme, the unlocking rod can be ensured to reach the unlocking position through the steps, and the battery pack can be ensured to be unlocked smoothly.
Preferably, the battery replacement equipment runs between a battery replacement position and an exchange position along a running channel; the battery replacement equipment control method comprises the following steps:
and when a battery disassembly or battery installation signal is received, the battery replacement equipment is controlled to move to a battery replacement position along the walking channel.
In the technical scheme, the battery replacement equipment can be stopped at the battery replacement position through the steps.
Preferably, the battery replacing equipment runs between a battery replacing position and an exchange position along a walking channel, the walking channel is provided with a first waiting position, and the first waiting position is located between the battery replacing position and the exchange position;
the battery replacement equipment control method comprises the following steps:
and when receiving a first waiting signal, controlling the battery replacement equipment to move to a first waiting position along the walking channel.
In the technical scheme, through the steps, the battery replacing device can be accurately stopped at the first waiting position, and the battery replacing operation of the other battery replacing device cannot be influenced.
Preferably, the battery replacing equipment runs between the battery replacing position and the exchange position along a walking channel, the walking channel is provided with a second waiting position, the second waiting position is located between the battery replacing position and the exchange position,
the battery replacement equipment control method comprises the following steps:
and when receiving a second waiting signal, controlling the battery replacement equipment to move to a second waiting position along the walking channel.
In the technical scheme, through the steps, the battery replacing device can be accurately stopped at the first waiting position, and the battery pack can not be placed into the battery bin by another battery replacing device.
Preferably, the battery replacement equipment runs between a battery replacement position and an exchange position along a running channel, and the running channel is provided with a limit position;
controlling the first mobile platform to move to a disassembly station or an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
and when the battery replacement equipment moves to the limit positioning point, the battery replacement equipment stops moving.
In the technical scheme, the battery replacement equipment can be prevented from driving away from a working area and causing danger through the steps.
The positive progress effects of the invention are as follows: the battery replacement equipment and the battery replacement equipment control method can realize quick battery replacement operation, and improve the battery replacement efficiency and the stability of the battery replacement operation.
Drawings
Fig. 1 is a schematic structural diagram of a battery swapping device in embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of an unlocking device of the battery replacement device shown in fig. 1.
Fig. 3 is a schematic structural diagram of the battery swapping device shown in fig. 1.
Fig. 4 is a schematic step diagram of a power swapping device control method according to embodiment 3 of the present invention.
Fig. 5 is a schematic step diagram of a power swapping device control method according to embodiment 4 of the present invention.
Fig. 6 is a step schematic diagram of a power swapping device control method according to embodiment 5 of the present invention.
Fig. 7 is a step diagram illustrating a method for controlling a battery swapping device according to embodiment 6 of the present invention.
Fig. 8 is a step diagram illustrating a method for controlling a battery swapping device according to embodiment 8 of the present invention.
Fig. 9 is a step diagram illustrating a method for controlling a battery swapping device according to embodiment 9 of the present invention.
Description of the reference numerals
First moving platform 1
First origin sensor 11
Second moving platform 2
Second origin sensor 21
Running gear 3
Unlocking device 4
Unlocking lever 41
First unlock sensor 42
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 to 3, an electricity swapping device includes a traveling mechanism 3, a first moving platform 1, and a controller 10. The first mobile platform 1 is positioned on the traveling mechanism 3, and the controller 10 is used for controlling the traveling mechanism 3 to travel along the traveling channel; the controller 10 is also used for controlling the first moving platform 1 to move to a battery pack dismounting station or mounting station relative to the travelling mechanism 3. Through controlling the traveling mechanism 3 to move, the battery replacing device reaches a battery replacing position below the electric vehicle, and the battery pack can be disassembled and assembled. The first moving platform 1 can move to the disassembling station, so that the battery pack is disassembled. The first moving platform 1 may also move to an installation station to enable installation of the battery pack onto the electric vehicle.
Wherein, be equipped with first location initial point, be used for detecting first initial point sensor 11 of first location initial point on first moving platform 1 and the running gear 3 respectively. Utilize first origin sensor 11 to detect the position of first location origin, according to detecting first location origin position and dismantling station, installation station and carry out the comparison, and then control first moving platform 1 and remove to dismantling station or installation station for trade the electrical equipment can accurately dismantle operation or installation operation next.
A specific control mode for moving the first moving platform 1 to the disassembling station is as follows: the first disassembly standard coordinate difference is the coordinate difference between a first positioning origin and the first origin sensor 11 when the first mobile platform 1 is at the disassembly station; the first origin sensor 11 is a vision sensor, the vision sensor is used for acquiring an actual coordinate of the first positioning origin, the controller 10 is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor 11 to generate a first disassembly standard coordinate difference, and the controller 10 is further used for controlling the first mobile platform 1 to move according to the coordinate difference. The first disassembly standard coordinate difference can be acquired in real time by using the vision sensor, and the controller 10 controls the first mobile platform 1 to move according to the first disassembly standard coordinate difference, so that the position of the first mobile platform 1 can be accurately controlled, and the subsequent disassembly operation is facilitated.
Similarly, the first installation standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor 11 when the first mobile platform 1 is at the installation station; the first origin sensor 11 is a vision sensor, the vision sensor is used for acquiring an actual coordinate of the first positioning origin, the controller 10 is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor 11 to generate a first installation standard coordinate difference, and the controller 10 is further used for controlling the first mobile platform 1 to move according to the coordinate difference. The first installation standard coordinate difference can be obtained in real time by using the vision sensor, and the controller 10 controls the first mobile platform 1 to move according to the first installation standard coordinate difference, so that the position of the first mobile platform 1 can be accurately controlled, and the subsequent installation operation is facilitated.
In some other preferred embodiments, the first origin sensor 11 may also be another type of sensor, such as an infrared sensor, and the movement of the first mobile platform 1 is controlled by: trade electric equipment and include infrared emitter, infrared emitter sets up in first location initial point, and infrared sensor is used for acquireing infrared sensor and infrared emitter's distance, controller 10 still is used for moving according to the first moving platform 1 of distance control. The coordinate difference between the first positioning origin and the infrared sensor may be obtained by the infrared sensor, and the controller 10 controls the first mobile platform 1 to move according to the coordinate difference.
The battery replacing equipment further comprises a second mobile platform 2, the second mobile platform 2 is arranged below the first mobile platform 1, and the controller 10 is further used for controlling the second mobile platform 2 to move to the battery replacing station. Can shift electric position through adjusting second moving platform 2 to trading electric station, make trade electric equipment and electric automobile counterpoint to carry out subsequent battery package dismouting operation.
The second moving platform 2 is provided with a second positioning origin, and the traveling mechanism 3 is provided with a second origin sensor 21 for detecting the second positioning origin. And detecting the position of a second positioning origin by using a second origin sensor 21, and controlling the second mobile platform 2 to move to the battery replacement station according to the comparison between the position of the second positioning origin detected by the second origin sensor 21 and the battery replacement station. The control manner of the second mobile platform 2 can refer to the first mobile platform 1, and is not described herein again.
The second moving platform 2 is provided with an unlocking device 4, the unlocking device 4 comprises an unlocking rod 41 and a driving mechanism, and the driving mechanism is used for controlling the unlocking rod 41 to move to a locking position or an unlocking position so as to lock and unlock the battery pack. When the unlocking lever 41 is moved to the locking position, the battery pack is locked on the electric vehicle; when the lock release lever 41 is moved to the lock release position, the battery pack can be removed from the electric vehicle. By controlling the movement of the unlocking rod 41 of the unlocking device 4, the battery pack is locked and unlocked,
the unlocking device 4 further includes a first unlocking sensor 42, and the first unlocking sensor 42 is used for detecting whether the unlocking lever 41 is located at the locking position; the controller 10 is also configured to control the lock release lever 41 to stop when the lock release lever 41 is in the lock position. The lock release lever 41 is controlled to be in the lock position so that the lock release lever 41 does not interfere with the movement of the lock mechanism when the battery pack is mounted.
Similarly, the unlocking device 4 further includes a second unlocking sensor 43, and the second unlocking sensor 43 is used for detecting whether the unlocking lever 41 is located at the unlocking position; the controller 10 is also configured to control the lock release lever 41 to stop when the lock release lever 41 is in the lock release position. Whether the lock release lever 41 reaches the lock release position is detected by the second lock release sensor 43, so that the lock release lever 41 is aligned with the lock release point on the lock mechanism.
The battery replacement position is provided with an alignment origin, the battery replacement equipment is provided with an alignment sensor, and the alignment sensor is used for detecting whether the battery replacement equipment reaches the alignment origin. The position of the alignment origin is detected by the alignment sensor, and when the alignment sensor detects the alignment origin, the battery replacement device is indicated to reach the battery replacement position, so that the battery replacement device can be accurately stopped at the battery replacement position.
The battery replacing device runs between a battery replacing position and an exchange position along a running channel, the running channel is provided with a first waiting position, the first waiting position is located between the battery replacing position and the exchange position, and the battery replacing device is further used for moving to the first waiting position along the running channel when receiving a first waiting signal. Before the electric automobile stops in place, the battery replacing device can stop at the first waiting position in advance, and after the electric automobile stops in place, the battery replacing device can enter the battery replacing position from the first waiting position to disassemble and assemble the battery pack.
The battery replacing equipment runs between a battery replacing position and an exchange position along the walking channel, the walking channel is provided with a second waiting position, the battery replacing position is located between the exchange position and the second waiting position, and the battery replacing equipment is further used for moving to the second waiting position along the walking channel when receiving a second waiting signal. When the battery replacing device moves to the battery replacing position along the walking channel to perform the action of disassembling and assembling the battery pack, the battery replacing device continues to move forwards to the second waiting position along the original walking direction so as to execute the next battery replacing action. If the battery pack is disassembled, the battery pack loading action can be executed by waiting for another battery replacing device to move to the battery replacing position along the same walking channel, or the battery pack is moved to a second waiting position after the battery pack is assembled, and the electric automobile leaves.
The walking channel is further provided with a limit position, and the battery replacing equipment is further used for stopping moving when moving to the limit position. When the limit sensor detects the limit positioning point, the battery replacing device stops moving, and danger caused by the fact that the battery replacing device exceeds the limit position is prevented.
Example 2
The invention also provides a control method of the battery replacement equipment, the battery replacement equipment is used for replacing a battery pack on the electric automobile, the battery replacement equipment comprises a first mobile platform 1 and a travelling mechanism 3, the first mobile platform 1 is positioned on the travelling mechanism 3, and the control method of the battery replacement equipment comprises the following steps:
and S1, controlling the first mobile platform 1 to move to a disassembling station or an installing station of the battery pack, and disassembling the battery pack at a battery replacing position below the electric automobile.
Through the mode, the accurate positioning of the battery replacement equipment and the first mobile platform 1 can be realized, and the reliability of the operation of the battery replacement system is ensured.
Example 3
As shown in fig. 4, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 2.
Step S1 includes:
s11, when the battery disassembling signal is received, acquiring the current position of the first mobile platform 1 and comparing the current position with the disassembling station of the first mobile platform 1;
and S12, controlling the first moving platform 1 to move to the disassembling station.
When the battery replacing device receives a battery disassembling signal, the current position of the first mobile platform 1 is acquired and compared with the disassembling station of the first mobile platform 1, the first mobile platform 1 is controlled to move according to the position comparison result, and the first mobile platform 1 can be accurately moved to the disassembling station so as to facilitate subsequent disassembling operation.
Example 4
As shown in fig. 5, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 2.
Step S1 includes:
s110, when a battery installation signal is received, acquiring the current position of the first mobile platform 1 and comparing the current position with the installation station of the first mobile platform 1;
and S120, controlling the first mobile platform 1 to move to an installation station.
When the battery replacement equipment receives a battery installation signal, the current position of the first mobile platform 1 is acquired and compared with the installation station of the first mobile platform 1, the first mobile platform 1 is controlled to move according to the position comparison result, and the first mobile platform 1 can be accurately moved to the installation station so as to facilitate subsequent installation operation.
Example 5
As shown in fig. 6, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 2.
The first moving platform 1 and the traveling mechanism 3 are respectively provided with a first positioning origin and a first origin sensor 11 for detecting the first positioning origin.
Step S1 includes:
s1100, establishing an origin coordinate system, wherein a first disassembly standard coordinate difference is a coordinate difference between a first positioning origin and a first origin sensor 11 when the first mobile platform 1 is positioned at a disassembly station;
s1200, obtaining an actual coordinate difference between the first origin sensor 11 and the first positioning origin;
and S1300, controlling the first mobile platform 1 to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor 11 and the first positioning origin is the first disassembly standard coordinate difference.
In the above steps, the first origin sensor 11 may be a vision sensor, the vision sensor may be used to obtain a first disassembly standard coordinate difference in real time, the controller 10 controls the first moving platform 1 to move according to the first disassembly standard coordinate difference, and the first moving platform 1 may be accurately controlled to move to the disassembly station, so as to facilitate subsequent disassembly operations.
Example 6
As shown in fig. 7, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 2.
The first moving platform 1 is provided with a first positioning origin, and the traveling mechanism 3 is provided with a first origin sensor 11 for detecting the first positioning origin.
Step S1 includes:
s1010, establishing an origin coordinate system, wherein a first installation standard coordinate difference is a coordinate difference between a first positioning origin and a first origin sensor 11 when the first mobile platform 1 is positioned at an installation station;
s1020, obtaining an actual coordinate difference between the first origin sensor 11 and the first positioning origin;
and S1030, controlling the first mobile platform 1 to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor 11 and the first positioning origin is the first installation standard coordinate difference.
Through the above steps, the first origin sensor 11 may be a vision sensor, the vision sensor may be used to obtain a first disassembly standard coordinate difference in real time, the controller 10 controls the first mobile platform 1 to move according to the first disassembly standard coordinate difference, and the first mobile platform 1 may be accurately controlled to move to the installation station, so as to facilitate subsequent installation operation.
Example 7
The method for controlling a battery swapping device in this embodiment further includes the following steps based on embodiment 2.
The battery replacing equipment further comprises a second mobile platform 2, and the second mobile platform 2 is arranged below the first mobile platform 1 and used for arranging a battery replacing component.
The battery replacement equipment control method further comprises the following operations before the step of S1:
and S10, controlling the second mobile platform 2 to move, and enabling the second mobile platform 2 to be located at a power changing station.
Through the operation, the second mobile platform 2 can be controlled to move to the battery replacing station, so that the battery replacing equipment is aligned with the electric automobile, and subsequent battery pack dismounting and mounting work is carried out.
Example 8
As shown in fig. 8, the method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 7.
S10 includes:
s101, when a battery disassembling signal or a battery installing signal is received, the current position of the second mobile platform 2 is obtained and compared with a battery replacing station of the second mobile platform 2;
and S102, controlling the second mobile platform 2 to move to a power changing station.
When the battery replacing equipment receives a battery disassembling signal or a battery installing signal, the current position of the second mobile platform 2 is obtained and compared with the battery replacing station of the second mobile platform 2, and the second mobile platform 2 can be controlled to accurately move to the battery replacing station according to the position comparison result.
Example 9
As shown in fig. 9, the method for controlling a battery replacement device in this embodiment adds the following steps to embodiment 7.
A second positioning origin and a second origin sensor 21 for detecting the second positioning origin are respectively arranged on the second mobile platform 2 and the travelling mechanism 3; a guide fork 5 is arranged on the second moving platform 2, a positioning seat is arranged on the electric automobile, and when a second positioning original point is located at a second standard coordinate, the guide fork 5 is aligned with the positioning seat;
s10 includes:
controlling the second mobile platform 2 to move to enable the second mobile platform 2 to be in a power changing station, and the method comprises the following steps:
s1001, establishing an origin coordinate system, wherein a second standard coordinate difference is a coordinate difference between a second positioning origin and a second origin sensor 21 when the second mobile platform 2 is positioned at a disassembly station;
s1002, obtaining an actual coordinate difference between the second origin sensor 21 and a second positioning origin;
and S1003, controlling the second moving platform 2 to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor 21 and the first rated origin is a second standard coordinate difference.
Through the steps, the second mobile platform 2 is controlled to move to the battery replacing station according to the comparison between the position of the second positioning origin detected by the second origin sensor 21 and the battery replacing station, so that the reliability of subsequent battery pack dismounting work is facilitated. Wherein the second origin sensor may be a vision sensor, an infrared distance measuring sensor, etc.
The second mobile platform 2 is provided with a guide fork 5, the electric automobile is provided with a positioning seat, and when the second positioning original point is located at the second standard coordinate, the guide fork 5 is aligned with the positioning seat. When the second moving platform 2 moves to the power exchanging station, the guide fork 5 is aligned with the positioning seat.
Example 10
The method for controlling a battery swapping device in this embodiment adds the following steps to embodiment 7.
The second moving platform 2 is provided with an unlocking device 4, and the unlocking device 4 comprises an unlocking rod 41.
S10 includes:
and S1004, controlling the unlocking rod 41 to move to the locking position or the unlocking position.
In the technical scheme, through the steps, the unlocking device 4 can lock and unlock the battery pack.
The unlocking device 4 further includes a first unlocking sensor 42, and the first unlocking sensor 42 is used for detecting whether the unlocking lever 41 is located at the locking position.
S1004 includes the steps of:
s10041 and the first unlock sensor 42 detect that the unlock lever 41 reaches the lock position, and control the unlock lever 41 to stop operating.
The unlocking rod 41 is controlled to be located at the locking position, so that when the battery pack is installed, the unlocking rod 41 does not interfere with the movement of the locking mechanism, the unlocking rod 41 can be ensured to reach the locking position, and the locking reliability is ensured.
The unlocking device 4 includes a second unlocking sensor 43, and the second unlocking sensor 43 is used to detect whether the unlocking lever 41 is located at the unlocking position.
S1004 includes the steps of:
s10042 and the second unlock sensor 43 detect that the unlock lever 41 reaches the unlock position, and control the unlock lever 41 to stop operating.
Through the above steps, the unlocking rod 41 is aligned with the unlocking point on the locking mechanism, so that the unlocking rod 41 can be ensured to reach the unlocking position, and the battery pack can be ensured to be unlocked smoothly.
Example 11
The method for controlling a battery swapping device in this embodiment further includes the following steps based on embodiment 2.
The battery replacement equipment runs between the battery replacement position and the exchange position along the walking channel. The battery replacement equipment control method comprises the following steps:
and S100, when a battery disassembling or battery installing signal is received, controlling the battery replacement equipment to move to a battery replacement position along the walking channel.
When the battery replacing device receives a battery disassembling or battery installing signal, the controller of the battery replacing device controls the battery replacing device to move to a battery replacing position along the walking channel, so that the battery replacing device can reach the battery replacing position to perform battery replacing operation.
In addition, the walking channel is also provided with a first waiting position, the first waiting position is positioned between the battery replacement position and the exchange position, and the battery replacement equipment control method comprises the following steps:
and S200, when the first waiting signal is received, controlling the battery replacement equipment to move to a first waiting position along the walking channel.
When the battery replacing device receives the first waiting signal, the controller of the battery replacing device controls the battery replacing device to move to the first waiting position along the walking channel, and through the steps, the battery replacing device can be accurately stopped at the first waiting position. Before the electric automobile stops in place, the battery replacing device can stop at the first waiting position in advance, and after the electric automobile stops in place, the battery replacing device can enter the battery replacing position from the first waiting position to disassemble and assemble the battery pack.
Furthermore, the walking channel is also provided with a second waiting position, the battery replacement position is positioned between the second waiting position and the exchange position,
the battery replacement equipment control method comprises the following steps:
and S300, when receiving a second waiting signal, controlling the battery replacement equipment to move to a second waiting position along the walking channel.
When the battery swapping device receives the second waiting signal, the controller of the battery swapping device controls the battery swapping device to move to the second waiting position along the traveling channel. When the battery replacing device moves to the battery replacing position along the walking channel to perform the action of disassembling and assembling the battery pack, the battery replacing device continues to move forwards to the second waiting position along the original walking direction so as to execute the next battery replacing action. If the battery pack is disassembled, the battery pack loading action can be executed by waiting for another battery replacing device to move to the battery replacing position along the same walking channel, or the battery pack is moved to a second waiting position after the battery pack is assembled, and the electric automobile leaves.
The walking channel is also provided with a limit position. Preferably, the limit position is provided in plurality.
The battery replacement equipment control method comprises the following steps:
and S400, stopping moving when the battery replacement equipment moves to the limit positioning point.
In this embodiment, through the above steps, the power swapping device can be prevented from moving away from the working area, which causes danger.
In this embodiment, the battery replacement system is provided with a plurality of positioning points and a plurality of corresponding positioning sensors, so as to realize positioning control corresponding to the battery replacement position, the first waiting position, the second waiting position, and the limit position.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (30)
1. The utility model provides a trade electric installation, its characterized in that trades electric installation and includes:
a traveling mechanism;
the first mobile platform is positioned on the walking mechanism;
the controller is used for controlling the travelling mechanism to travel; the controller is also used for controlling the first moving platform to move to a disassembling station or an installing station of the battery pack relative to the travelling mechanism.
2. The battery replacement device as claimed in claim 1, wherein a first positioning origin and a first origin sensor for detecting the first positioning origin are respectively disposed on the first moving platform and the traveling mechanism.
3. The battery swapping device of claim 2, wherein a first disassembly standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the disassembly station; the first origin sensor is a vision sensor, the vision sensor is used for obtaining the actual coordinate of the first positioning origin, the controller is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor to generate a first disassembly standard coordinate difference, and the controller is further used for controlling the first mobile platform to move according to the first disassembly standard coordinate difference.
4. The battery swapping device of claim 2, wherein a first installation standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is at the installation station; the first origin sensor is a vision sensor, the vision sensor is used for obtaining the actual coordinate of the first positioning origin, the controller is further used for comparing the actual coordinate of the first positioning origin with the actual coordinate of the first origin sensor to generate a first installation standard coordinate difference, and the controller is further used for controlling the first mobile platform to move according to the first installation standard coordinate difference.
5. The battery replacement device according to claim 2, wherein the first origin sensor is an infrared sensor, the battery replacement device includes an infrared transmitter, the infrared transmitter is disposed at the first positioning origin, the infrared sensor is configured to obtain a distance between the infrared sensor and the infrared transmitter, and the controller is further configured to control the first moving platform to move according to the distance.
6. The battery swapping device of claim 1, further comprising a second moving platform, wherein the second moving platform is disposed above the first moving platform, and the controller is further configured to control the second moving platform to move.
7. The battery swapping device as in claim 6, wherein a second positioning origin and a second origin sensor for detecting the second positioning origin are respectively disposed on the second moving platform and the traveling mechanism.
8. The battery swapping device of claim 6, wherein an unlocking device is arranged on the second moving platform, the unlocking device comprises an unlocking rod and a driving mechanism, and the driving mechanism is used for controlling the unlocking rod to move to a locking position or an unlocking position so as to lock and unlock the battery pack.
9. The battery swapping device as in claim 8, wherein the unlocking device further comprises a first unlocking sensor for detecting whether the unlocking rod is located at the locking position; the controller is also used for controlling the unlocking rod to stop when the unlocking rod is positioned at the locking position.
10. The battery swapping device as in claim 8, wherein the unlocking device further comprises a second unlocking sensor for detecting whether the unlocking lever is located at the unlocking position; the controller is also used for controlling the unlocking rod to stop acting when the unlocking rod is positioned at the unlocking position.
11. The battery replacement device according to claim 1, wherein a position of replacing batteries is provided with an origin of alignment, and a position sensor is provided on the battery replacement device and used for detecting whether the battery replacement device reaches the origin of alignment.
12. The battery swapping device of claim 1, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a first waiting position, the first waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the first waiting position along the travel path when receiving a first waiting signal.
13. The battery swapping device of claim 1, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a second waiting position, the second waiting position is located between the battery swapping position and the exchange position, and the battery swapping device is further configured to move to the second waiting position along the travel path when receiving a second waiting signal.
14. The battery swapping device of claim 1, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a limit position, and the battery swapping device is further configured to stop moving when moving to the limit position.
15. The control method of the battery replacing equipment is used for replacing a battery pack on an electric automobile, and is characterized in that the battery replacing equipment comprises a first mobile platform and a travelling mechanism, the first mobile platform is located on the travelling mechanism, and the control method of the battery replacing equipment comprises the following steps:
and controlling the first mobile platform to move to a disassembling station or an installing station of the battery pack, and disassembling the battery pack at a battery replacing position below the electric automobile.
16. The battery swapping device control method of claim 15,
controlling the first mobile platform to move to a disassembly station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
when a battery disassembly signal is received, acquiring the current position of the first mobile platform and comparing the current position with a disassembly station of the first mobile platform;
and controlling the first moving platform to move to the disassembling station.
17. The battery swapping device control method of claim 15,
controlling the first mobile platform to move to an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
when a battery installation signal is received, acquiring the current position of the first mobile platform and comparing the current position with an installation station of the first mobile platform;
and controlling the first moving platform to move to the installation station.
18. The battery replacement device control method according to claim 15, wherein a first positioning origin and a first origin sensor for detecting the first positioning origin are respectively disposed on the first moving platform and the traveling mechanism;
controlling the first mobile platform to move to a disassembly station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a first disassembly standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is positioned at the disassembly station;
obtaining an actual coordinate difference between the first origin sensor and the first positioning origin;
and controlling the first mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is the first disassembly standard coordinate difference.
19. The battery replacement device control method according to claim 15, wherein a first positioning origin and a first origin sensor for detecting the first positioning origin are respectively disposed on the first moving platform and the traveling mechanism;
controlling the first mobile platform to move to an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
establishing an origin coordinate system, wherein a first installation standard coordinate difference is a coordinate difference between the first positioning origin and the first origin sensor when the first mobile platform is positioned at the installation station;
obtaining an actual coordinate difference between the first origin sensor and the first positioning origin;
and controlling the first mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the first origin sensor and the first positioning origin is the first installation standard coordinate difference.
20. The battery replacement device control method of claim 15, wherein the battery replacement device further comprises a second mobile platform, the second mobile platform being disposed below the first mobile platform and configured to be provided with a battery replacement component;
the battery replacement equipment control method further comprises the following steps:
and controlling the second mobile platform to move so that the second mobile platform is positioned at a power changing station.
21. The battery swapping device control method of claim 20,
controlling the second mobile platform to move so that the second mobile platform is positioned at a power changing station, and the method comprises the following steps:
when a battery dismounting signal or a battery mounting signal is received, acquiring the current position of the second mobile platform and comparing the current position with a battery changing station of the second mobile platform;
and controlling the second mobile platform to move to the battery replacement station.
22. The battery replacement device control method according to claim 20, wherein a second positioning origin and a second origin sensor for detecting the second positioning origin are respectively disposed on the second moving platform and the traveling mechanism;
controlling the second mobile platform to move so that the second mobile platform is positioned at a power changing station, and the method comprises the following steps:
establishing an origin coordinate system, wherein a second standard coordinate difference is a coordinate difference between the second positioning origin and the second origin sensor when the second mobile platform is positioned at the disassembling station;
obtaining an actual coordinate difference between the second origin sensor and the second positioning origin;
and controlling the second mobile platform to move according to the actual coordinate difference until the actual coordinate difference between the second origin sensor and the second positioning origin is the second standard coordinate difference.
23. The method for controlling a battery replacement device according to claim 22, wherein a guide fork is arranged on the second moving platform, a positioning seat is arranged on the electric vehicle, and when the second positioning origin is located at a second standard coordinate, the guide fork is aligned with the positioning seat.
24. The battery swapping device control method of claim 20, wherein an unlocking device is disposed on the second moving platform, the unlocking device comprises an unlocking rod,
the second mobile platform is controlled to move to a battery locking station or an unlocking station so as to disassemble and assemble the battery pack, and the method further comprises the following steps:
and controlling the unlocking rod to move to a locking position or an unlocking position.
25. The battery swapping device control method of claim 24,
the unlocking device further comprises a first unlocking sensor, and the first unlocking sensor is used for detecting whether the unlocking rod is located at the locking position or not;
controlling the unlocking lever to move to the locking position, comprising the steps of:
the first unlocking sensor detects that the unlocking rod reaches the locking position, and controls the unlocking rod to stop acting.
26. The battery swapping device control method of claim 24,
the unlocking device comprises a second unlocking sensor, and the second unlocking sensor is used for detecting whether the unlocking rod is located at the unlocking position or not;
controlling the unlocking rod to move to the unlocking position, comprising the following steps:
the second unlocking sensor detects that the unlocking rod reaches the unlocking position, and controls the unlocking rod to stop acting.
27. The battery swapping device control method of claim 15, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position; the battery replacement equipment control method comprises the following steps:
and when a battery disassembly signal or a battery installation signal is received, the battery replacement equipment is controlled to move to a battery replacement position along the walking channel.
28. The battery swapping device control method of claim 15, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a first waiting position, and the first waiting position is located between the battery swapping position and the exchange position;
the battery replacement equipment control method comprises the following steps:
and when receiving a first waiting signal, controlling the battery replacement equipment to move to a first waiting position along the walking channel.
29. The battery swapping device control method of claim 15, wherein the battery swapping device travels along a travel path between a battery swapping position and an exchange position, the travel path is provided with a second waiting position, the second waiting position is located between the battery swapping position and the exchange position,
the battery replacement equipment control method comprises the following steps:
and when receiving a second waiting signal, controlling the battery replacement equipment to move to a second waiting position along the walking channel.
30. The battery replacement device control method of claim 15, wherein the battery replacement device travels along a travel path between a battery replacement position and a replacement position, the travel path having a limit position;
controlling the first mobile platform to move to a disassembly station or an installation station of the battery pack, and disassembling and assembling the battery pack at a battery replacement position below the electric automobile, wherein the method comprises the following steps:
and when the battery replacement equipment moves to the limit positioning point, the battery replacement equipment stops moving.
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