CN114312448B

CN114312448B - Battery replacement device control method, system, electronic device and storage medium

Info

Publication number: CN114312448B
Application number: CN202011065935.XA
Authority: CN
Inventors: 张建平; 陈志民; 陆文成; 陈志浩
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2024-04-02
Anticipated expiration: 2040-09-30
Also published as: CN114312448A

Abstract

The invention discloses a battery replacement equipment control method, a battery replacement equipment control system, electronic equipment and a storage medium. The battery changing device is provided with a driving channel for a vehicle to drive through and a battery changing platform for disassembling and assembling a battery pack at the bottom of the vehicle, and the method comprises the following steps: controlling the driving channel to move to a position where the vehicle can travel through along the second direction; adjusting the gesture of the power conversion platform to meet the battery dismantling condition; after the battery pack is disassembled, the position of the battery changing platform in the first direction is adjusted, so that the two ends of the battery pack loaded by the battery changing equipment along the first direction are not collided with wheels in the process of leaving the bottom of the battery changing vehicle, and the first direction is in the same horizontal plane and vertical to the direction of leaving the bottom of the battery changing vehicle. According to the invention, through the control of the power conversion equipment, particularly the power conversion platform on the power conversion equipment, the power conversion equipment is prevented from colliding with the wheels of the power conversion vehicle, the power conversion safety is ensured, the damage to the power conversion equipment, the battery pack and the vehicle is avoided, and the power conversion efficiency is further improved.

Description

Battery replacement device control method, system, electronic device and storage medium

Technical Field

The invention belongs to the field of battery replacement equipment control, and particularly relates to a battery replacement equipment control method, a battery replacement equipment control system, electronic equipment and a storage medium.

Background

The existing electric automobile mainly has two charging modes, one is of a direct charging type, and the other is of a quick-change type. The electric vehicle is charged by the direct charging type charging pile, but the charging time is long and the efficiency is low. The battery replacement station is required to be arranged, and the quick battery replacement is realized by replacing the battery of the electric automobile, so that the battery replacement device is shortened for a long time relative to a direct charging type.

The battery exchange device is an important device in the battery exchange station, and is used for carrying out main work of vehicle battery exchange, including the disassembly of a battery pack from the battery exchange vehicle, the installation of the battery pack on the battery exchange vehicle and the like. For the vehicle bottom power exchange scene, the power exchange equipment needs to enter the vehicle bottom of the vehicle to detach the battery pack, then load out the detached battery pack, and also needs to load a new battery pack to enter the bottom of the vehicle again, and then install the new battery pack.

Patent application publication CN108688625a discloses a battery loading and unloading control system, an electric vehicle battery change control system and a method thereof, which relate to a battery unloading and installing method and structures of a battery change device, a battery mounting seat and a battery transfer device used in the battery change process.

CN107193253a discloses a method for handling abnormal actions of a power exchange system of a power exchange station, which can execute logic interlocking protection in the execution process of the power exchange action, and prevent the occurrence of the abnormal actions as far as possible; after the abnormality occurs, the abnormal state can be selectively processed according to the abnormal property, so that the safety of equipment, vehicles and personnel in the power change process is ensured.

CN108128286a discloses a power-changing trolley, a power-changing control system and a control method thereof, which relate to a specific structure of the power-changing trolley and control of movement and lifting of the power-changing trolley in the power-changing process of a battery, thereby completing the disassembly and the installation of the battery.

However, these prior arts disclose the structure of the battery exchange device and the battery exchange control, but they do not consider the following problems:

because the volume of the battery pack is larger than that of the battery pack which is not loaded, the battery pack can be easily collided with wheels of a vehicle in the process of exiting the battery pack or the process of entering the battery pack before the battery pack is mounted, so that the safety problem is generated, and the battery pack, the battery pack and the vehicle can be damaged, and the battery pack replacement efficiency is also influenced.

Disclosure of Invention

The invention aims to overcome the defects that in the prior art, a battery replacement device is easy to collide with a vehicle in the process of removing a battery pack from a vehicle bottom or in the process of removing the battery pack from the vehicle bottom before installing the battery pack, so that the safety problem is generated and the battery replacement efficiency is influenced.

The invention solves the technical problems through the following technical scheme:

the invention provides a battery changing device control method, the battery changing device is provided with a driving channel for a vehicle to drive through and a battery changing platform for disassembling and assembling a battery pack at the bottom of the vehicle, the method comprises the following steps:

controlling a driving channel of the power changing equipment to move to a position where a power changing vehicle can drive through along a second direction;

adjusting the gesture of a power conversion platform of the power conversion equipment to meet the battery dismantling condition;

after the battery pack is disassembled, the position of the battery changing platform in the first direction is adjusted, so that the two ends of the battery pack loaded by the battery changing equipment in the first direction are not collided with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, and the first direction is in the same horizontal plane and vertical to the direction of leaving the bottom of the battery changing vehicle by the battery changing equipment.

The battery pack and the battery replacement device can be regarded as a whole after the battery pack is loaded on the battery replacement device, and two ends of the battery replacement device along the first direction refer to two ends of the whole containing the battery pack after the battery pack is loaded on the battery replacement device, the two ends do not collide with wheels, the battery pack on the battery replacement device does not collide with wheels, and the battery pack on the battery replacement device does not collide with the wheels. The battery disassembly process is controlled by the scheme, and the battery replacement equipment is controlled by the battery replacement platform on the battery replacement equipment, particularly the battery replacement equipment, so that the two ends of the battery replacement equipment along the first direction after the battery pack is loaded are prevented from colliding with wheels of the battery replacement vehicle in the process of leaving the bottom of the battery replacement vehicle, the safety of battery replacement is ensured, the battery replacement equipment, the battery pack and the vehicle are prevented from being damaged, and the battery replacement efficiency is further improved.

Preferably, the level changing table comprises an upper layer plate and a lower layer plate, and the upper layer plate and the lower layer plate synchronously move in the horizontal direction;

after the battery pack is disassembled, the position of the battery changing platform in the first direction is adjusted, so that the two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, and the battery changing device comprises the following components:

after the battery pack is dismounted, the lower layer plate is controlled to drive the upper layer plate to move along the first direction, so that the two ends of the battery pack loaded by the power conversion equipment along the first direction do not collide with wheels of the power conversion vehicle in the process of leaving the bottom of the power conversion vehicle.

This scheme provides specific control step to the level platform that trades including top plate and bottom plate, has realized that the bottom plate drives top plate, top plate drive battery package, and the effect of three synchronous motion guarantees that the battery replacement equipment is not collided with the wheel of trading the electric vehicle in the in-process that leaves trading the electric vehicle bottom along the both ends of first direction behind loading battery package.

Preferably, the control the lower layer board drives the upper layer board moves along a first direction, so that two ends of the battery pack loaded by the battery changing device along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, and the control method comprises the following steps:

Acquiring the vehicle type information of the battery changing equipment;

acquiring the lower layer plate movement displacement corresponding to the vehicle type information according to the vehicle type information;

and controlling the lower layer plate to move by the lower layer plate moving displacement amount, so that the two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle.

According to the scheme, the lower layer plate moving displacement corresponding to the vehicle replacing device is quickly obtained through the corresponding relation between the vehicle type information and the lower layer plate moving displacement, so that the lower layer plate is controlled to move, the moving time is shortened, and the control efficiency is improved.

Preferably, the power conversion device further comprises a detection sensor, and the method further comprises:

after the battery pack is detached, whether wheels exist in the advancing range of the battery changing device when the battery changing device leaves or not is detected by the detection sensor, and the width of the advancing range is equal to the width of the two ends of the battery changing device in the first direction after the battery pack is loaded on the battery changing device:

and if so, executing the step of adjusting the position of the power conversion platform in the first direction so that the two ends of the battery pack loaded by the power conversion equipment along the first direction do not collide with the wheels of the power conversion vehicle in the process of leaving the bottom of the power conversion vehicle.

According to the scheme, through the detection sensor and the steps, the position of the power conversion platform can be adjusted when wheels are arranged in the travelling range, the position of the power conversion platform does not need to be adjusted when the wheels are arranged in the travelling range, the position of the power conversion platform is prevented from being adjusted before the power conversion equipment leaves the vehicle bottom every time, and the power conversion efficiency is further improved.

Preferably, the power conversion device comprises two detection sensors, and the two detection sensors are arranged on the power conversion device in an angle mode to form a fan-shaped detection area, and the detection area covers the travelling range.

According to the scheme, whether wheels exist in the advancing range or not is detected through the detection sensor arranged at the angle, and the accuracy of detection is improved.

Preferably, the conditions to be met for the two ends of the battery pack loaded by the battery changing device along the first direction not to collide with the wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle include:

the first distance is larger than a first width, the first distance is the distance from an exit point of the power conversion equipment to a first wheel nearest to the exit point in the first direction, and the first width is the width from the exit point to an end point on the same side as the first wheel after the battery pack is loaded on the power conversion equipment.

The scheme provides the condition that the two ends of the battery pack loaded by the battery changing equipment along the first direction are not required to be met when the two ends leave the bottom of the battery changing vehicle and collide with the wheels of the battery changing vehicle, and the requirement of the movement displacement of the battery changing platform is limited through the relation between the first distance and the first width. In addition, the first distance and the first width are measured from the exit point, so that smooth passing of the battery exchange equipment can be realized even if the battery exchange equipment is misplaced with the battery pack, and collision is avoided.

Preferably, the method further comprises:

and after the position of the power conversion platform in the first direction is adjusted, so that the two ends of the power conversion equipment, which are arranged along the first direction after the battery pack is loaded, do not collide with the wheels of the power conversion vehicle in the process of leaving the bottom of the power conversion vehicle, the power conversion equipment is controlled to move to a battery exchange area, and the power conversion equipment exchanges the battery pack with a stacker crane.

The scheme provides a follow-up flow after the battery replacement equipment is controlled to leave the bottom of the vehicle, and the battery pack exchange between the battery replacement equipment and the stacker is realized.

Preferably, the level changing table comprises an upper layer plate and a lower layer plate, and the upper layer plate and the lower layer plate synchronously move in the horizontal direction; controlling the power exchanging device to move to a battery exchanging area and exchanging battery packs with a stacker, wherein the power exchanging device comprises:

And controlling the lower layer plate to drive the upper layer plate to move along the horizontal direction, so that the upper layer plate is in butt joint with the stacker crane, the detached battery pack is transferred to the stacker crane, and a new battery pack is acquired from the stacker crane.

The scheme provides specific operation of battery pack exchange, and the battery pack is transferred between the battery exchange equipment and the stacker crane through control of the lower layer plate, so that the battery exchange efficiency is improved.

The invention also provides a battery changing device control method, the battery changing device is provided with a driving channel for a vehicle to drive through and a battery changing platform for disassembling and assembling a battery pack at the bottom of the vehicle, and the battery changing device control method comprises the following steps:

after the battery pack is acquired by the battery replacement equipment, the position of the battery replacement platform in a first direction is adjusted, so that two ends of the battery pack loaded by the battery replacement equipment along the first direction do not collide with wheels of the battery replacement vehicle in the process of entering the bottom of the battery replacement vehicle, and the first direction is in the same horizontal plane and perpendicular to the direction of the battery replacement equipment entering the bottom of the battery replacement vehicle;

controlling a driving channel of the power conversion equipment to move to a power conversion position;

adjusting the gesture of the power conversion platform to meet the battery loading condition;

After the battery pack is installed, the level changing platform is controlled to reset;

and controlling the power conversion equipment to leave the bottom of the power conversion vehicle.

The battery pack and the battery replacement device can be regarded as a whole after the battery pack is loaded on the battery replacement device, and two ends of the battery replacement device along the first direction refer to two ends of the whole containing the battery pack after the battery pack is loaded on the battery replacement device, the two ends do not collide with wheels, the battery pack on the battery replacement device does not collide with wheels, and the battery pack on the battery replacement device does not collide with the wheels. According to the scheme, the battery installation process is controlled, and the battery replacement equipment is controlled, particularly the battery replacement platform on the battery replacement equipment, so that the two ends of the battery replacement equipment along the first direction after the battery pack is loaded do not collide with wheels of the battery replacement vehicle in the process of entering the bottom of the battery replacement vehicle, the safety of battery replacement is guaranteed, the battery replacement equipment, the battery pack and the vehicle are prevented from being damaged, and the battery replacement efficiency is further improved.

after the battery pack is obtained by the battery exchange equipment, the position of the battery exchange platform in the first direction is adjusted, so that two ends of the battery pack loaded by the battery pack along the first direction do not collide with wheels of the battery exchange vehicle in the process of entering the bottom of the battery exchange vehicle, and the battery exchange platform comprises the following components:

After the battery pack is obtained by the battery replacement equipment, the lower layer plate is controlled to drive the upper layer plate to move along the first direction, so that the two ends of the battery pack loaded by the battery replacement equipment along the first direction do not collide with wheels of the battery replacement vehicle in the process of entering the bottom of the battery replacement vehicle.

This scheme provides specific control step to the level platform that trades including top plate and bottom plate, has realized that the bottom plate drives top plate, top plate drive battery package, and the effect of three synchronous motion guarantees that the battery replacement equipment is not collided with the wheel of trading the electric vehicle at the both ends of entering trading the electric vehicle bottom at the in-process of the first direction behind the loading battery package.

Preferably, the control the lower layer board drives the upper layer board moves along a first direction, so that two ends of the battery pack loaded by the battery changing device along the first direction do not collide with wheels of the battery changing vehicle in the process of entering the bottom of the battery changing vehicle, and the control method comprises the following steps:

acquiring the vehicle type information of the battery changing equipment;

and controlling the lower layer plate to move by the lower layer plate moving displacement amount, so that the two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of entering the bottom of the battery changing vehicle.

after the battery pack is acquired by the battery replacement equipment, whether wheels exist in the advancing range of the battery replacement equipment when the battery pack is accessed is detected by the detection sensor, and the width of the advancing range is equal to the width of two ends of the battery pack loaded by the battery replacement equipment in the first direction:

and if so, executing the step of adjusting the position of the power conversion platform in the first direction so that the two ends of the battery pack loaded by the power conversion equipment along the first direction do not collide with the wheels of the power conversion vehicle in the process of entering the bottom of the power conversion vehicle.

According to the scheme, through the detection sensor and the steps, the position of the power conversion platform can be adjusted when wheels are arranged in the travelling range, the position of the power conversion platform does not need to be adjusted when the wheels are arranged in the travelling range, the position of the power conversion platform is prevented from being adjusted before the power conversion equipment enters the vehicle bottom every time, and the power conversion efficiency is further improved.

The detection sensor that this scheme was through being the angle setting can provide effectively, the detection area of accurate scope, is favorable to realizing the detection of whether there is the wheel in the scope of marcing, has improved the accuracy of detection.

Preferably, the conditions to be met for the two ends of the battery pack loaded by the battery changing device along the first direction not to collide with the wheels of the battery changing vehicle in the process of entering the bottom of the battery changing vehicle include:

the second distance is greater than a second width, the second distance is a distance from an exit point of the power conversion device to a second wheel nearest to the entry point in the first direction, and the second width is a width from the entry point to an end point on the same side as the second wheel after the battery pack is loaded on the power conversion device.

The scheme provides the condition that the two ends of the battery pack loaded by the battery changing equipment along the first direction are not required to be met when the two ends enter the bottom of the battery changing vehicle and collide with the wheels of the battery changing vehicle, and the requirement of the movement displacement of the battery changing platform is limited through the relation between the second distance and the second width. In addition, the second distance and the second width are measured from the entry point, so that smooth passing of the battery exchange equipment can be realized even if the battery exchange equipment is misplaced with the battery pack, and collision is avoided.

The invention also provides a battery changing device control system, the battery changing device is provided with a driving channel for a vehicle to drive through and a battery changing platform for disassembling and assembling a battery pack at the bottom of the vehicle, and the battery changing device control system comprises:

the first movement control module is used for controlling the driving channel of the power exchange equipment to move to a position where the power exchange vehicle can drive through along the second direction;

the first gesture control module is used for adjusting the gesture of the power conversion platform of the power conversion equipment so as to meet the battery dismantling condition;

the first battery changing platform control module is used for adjusting the position of the battery changing platform in the first direction after the battery pack is detached, so that the two ends of the battery pack, which are arranged at the back of the battery changing equipment and are arranged at the front edge of the battery pack, do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, and the first direction is the same horizontal plane and perpendicular to the direction of leaving the bottom of the battery changing vehicle by the battery changing equipment.

the first level changing platform control module is used for:

acquiring the vehicle type information of the battery changing equipment;

Preferably, the power conversion device further comprises a detection sensor, and the system further comprises:

the first wheel detection module is used for detecting whether wheels exist in a traveling range when the battery replacing equipment leaves after the battery pack is detached through the detection sensor, and the width of the traveling range is equal to the width of two ends of the battery pack in the first direction after the battery replacing equipment loads the battery pack:

and if so, calling the first level shifting platform control module.

Preferably, the system further comprises:

and the battery exchange module is used for controlling the battery exchange equipment to move to a battery exchange area after adjusting the position of the battery exchange platform in the first direction so that the two ends of the battery pack loaded by the battery exchange equipment in the first direction do not collide with the wheels of the battery exchange vehicle in the process of leaving the bottom of the battery exchange vehicle, and exchanging the battery pack with a stacker.

Preferably, the level changing table comprises an upper layer plate and a lower layer plate, and the upper layer plate and the lower layer plate synchronously move in the horizontal direction; the battery exchange module is used for:

the second battery exchange platform control module is used for adjusting the position of the battery exchange platform in a first direction after the battery pack is acquired by the battery exchange equipment, so that two ends of the battery pack loaded by the battery exchange equipment along the first direction are not collided with wheels of the battery exchange vehicle in the process of entering the bottom of the battery exchange vehicle, and the first direction is in the same horizontal plane as and perpendicular to the direction of the battery exchange equipment entering the bottom of the battery exchange vehicle;

the second movement control module is used for controlling the driving channel of the power conversion equipment to move to a power conversion position;

the second gesture control module is used for adjusting the gesture of the power conversion platform so as to meet the battery loading condition;

the reset control module is used for controlling the level changing platform to reset after the battery pack is installed;

And the ending control module is used for controlling the battery exchange equipment to leave the bottom of the battery exchange vehicle.

the second level changing platform control module is used for:

acquiring the vehicle type information of the battery changing equipment;

the second wheel detection module is used for detecting whether wheels exist in a traveling range when the battery pack is acquired by the battery replacement device through the detection sensor, and the width of the traveling range is equal to the width of two ends of the battery pack loaded by the battery replacement device in the first direction:

and if so, calling the second level shifting platform control module.

The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the battery exchange equipment control method when executing the computer program.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the battery exchange device control method as described above.

On the basis of conforming to the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.

The invention has the positive progress effects that: according to the invention, through the control of the battery changing equipment, particularly the battery changing platform on the battery changing equipment, the battery changing equipment does not collide with the wheels of the battery changing vehicle in the process of entering or leaving the bottom of the battery changing vehicle along the two ends of the first direction after the battery pack is loaded, so that the safety of battery changing is ensured, the damage of the battery changing equipment, the battery pack and the vehicle is avoided, and the battery changing efficiency is further improved.

Drawings

FIG. 1 is a flowchart of a power conversion control method according to a preferred embodiment 1 of the present invention;

FIGS. 2A-2E are schematic diagrams of a battery change device entering and exiting a vehicle bottom;

FIG. 3 is a flowchart of a power conversion control method according to a preferred embodiment 2 of the present invention;

FIG. 4 is a flowchart showing the step S11 in the embodiment 2;

FIG. 5 is a schematic diagram illustrating the movement of the power conversion platform;

FIG. 6 is a flowchart of a power conversion control method according to a preferred embodiment 3 of the present invention;

FIG. 7 is a schematic diagram of the detection sensor in example 3;

FIG. 8 is a flowchart of a power conversion control method according to a preferred embodiment 4 of the present invention;

FIGS. 9A-9B are schematic illustrations of a battery change apparatus entering the underbody of a vehicle;

FIG. 10 is a flowchart of a power conversion control method according to the preferred embodiment 5 of the present invention;

FIG. 11 is a specific flowchart of step S21 in example 5;

FIG. 12 is a flowchart of a power conversion control method according to a preferred embodiment 6 of the present invention;

FIG. 13 is a schematic block diagram of a power conversion control system according to a preferred embodiment 7 of the present invention;

FIG. 14 is a schematic block diagram of a power conversion control system according to a preferred embodiment 8 of the present invention;

fig. 15 is a schematic structural diagram of an electronic device according to a preferred embodiment 9 of the present invention.

Detailed Description

The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.

Example 1

The power exchange equipment is equipment capable of realizing power exchange at the bottom of a vehicle. In this embodiment, the battery exchange device has a driving channel through which a vehicle drives and a battery exchange platform for disassembling and assembling a battery pack at the bottom of the vehicle. The battery pack can be lifted and translated in order to match the bottom height of the vehicle and the position of the battery pack, and the main functions of the battery pack replacing platform can comprise bearing the battery pack, unlocking the battery pack from the vehicle, locking the battery pack after the battery pack is mounted on the vehicle, and the like.

Considering that after the battery pack is detached from the battery exchange vehicle by the battery exchange device, the whole volume of the loaded battery pack is often larger than that of the original battery exchange device, and the battery pack is easy to collide with wheels when the battery pack is driven out of the bottom of the vehicle, the embodiment designs a control method of the battery exchange device, which can control aspects such as walking and posture adjustment of the battery exchange device, as shown in fig. 1, and specifically comprises the following steps:

step S11: and controlling the driving channel of the power exchange equipment to move to a position where the power exchange vehicle can drive through along the second direction.

Step S12: and adjusting the gesture of a power conversion platform of the power conversion equipment to meet the battery dismantling condition.

Step S13: after the battery pack is disassembled, the position of the battery changing platform in the first direction is adjusted, so that the two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle. The first direction is in the same horizontal plane and perpendicular to the direction in which the battery changing device leaves the bottom of the battery changing vehicle.

Considering that the direction of the battery exchange equipment leaving the battery exchange vehicle is different, the wheels where the battery exchange equipment and the vehicle possibly collide are also not different:

if the battery exchange device leaves the battery exchange vehicle from the side of the battery exchange vehicle, the first direction is the length direction of the vehicle, and the wheels possibly colliding with the battery pack loaded by the battery exchange device are usually the front wheels and the rear wheels of the battery exchange vehicle on the side of the battery exchange device. Step S13 may specifically include:

The position of the power conversion platform in the first direction is adjusted before the power conversion equipment leaves the bottom of the power conversion vehicle, so that the two ends of the power conversion equipment, which are arranged along the first direction after the battery pack is loaded, do not collide with the front wheels and the rear wheels of the power conversion vehicle on the side, which leaves the power conversion equipment, in the process of leaving the bottom of the power conversion vehicle.

In short, if the battery exchange device leaves from the left side of the battery exchange vehicle, the battery pack is loaded on the battery exchange device by controlling the battery exchange device, and then the two ends of the battery pack in the length direction of the vehicle do not collide with the front wheels and the rear wheels on the left side of the vehicle; if the battery exchange device leaves from the right side of the battery exchange vehicle, the battery exchange device is controlled to load the battery pack, and then the two ends of the battery pack in the vehicle length direction do not collide with the front wheels and the rear wheels on the right side of the vehicle.

If the power conversion device is separated from the front or rear of the power conversion vehicle, the first direction is the width direction of the vehicle, and the wheels possibly colliding with the power conversion device and the battery pack loaded by the power conversion device are usually front wheels or rear wheels of the power conversion vehicle. Step S13 may specifically include:

the position of the power conversion platform in the first direction is adjusted before the power conversion equipment leaves the bottom of the power conversion vehicle, so that two ends of the power conversion equipment, which are arranged along the first direction after the battery pack is loaded, do not collide with front wheels or rear wheels of the power conversion vehicle in the process of leaving the bottom of the power conversion vehicle.

In short, if the battery changing device leaves from the head of the battery changing vehicle, the battery changing device is controlled so that the two ends of the battery pack in the vehicle width direction are not collided with the front wheels of the vehicle after the battery pack is loaded on the battery changing device; if the battery exchange device is separated from the tail of the battery exchange vehicle, the battery exchange device is controlled to load the battery pack, and then the two ends of the battery pack in the width direction of the vehicle do not collide with the rear wheels of the vehicle.

The above method is further described below in conjunction with fig. 2A-2E:

fig. 2A shows the bottom of the battery-powered vehicle 1 in simplified form, representing the positions of the wheels 11, 12, 13 and 14 and the battery pack 15. The battery exchange device 2 is driven into the vehicle bottom from the right side of the battery exchange vehicle 1 in an empty state, the battery exchange device 2 does not collide with the wheels 11, 12 during the driving, reaches the position shown in fig. 2B (below the battery pack 15), and then the battery pack 15 is detached from the vehicle bottom, so that the process of detaching the battery pack 15 from the vehicle bottom by the battery exchange device 2 is not an important point of the present invention, and will not be described in detail herein. After the battery pack 15 is dismounted from the battery exchange device 2, the battery pack 15 is loaded on a battery exchange platform of the battery exchange device 2. Since the volume of the battery pack 15, particularly the width of the battery pack 15 in the vehicle longitudinal direction, i.e., the first direction y, is larger than the battery exchange device, if the battery exchange device 2 is directly driven out from the vehicle bottom along the route into the vehicle bottom, the battery pack 15 is likely to collide with the wheels 12, as shown in fig. 2C. In order to avoid the collision of fig. 2C, the method of the present embodiment controls the level-changing platform to drive the battery pack 15 to move in the opposite direction, as shown in fig. 2D, so that the battery pack 15 on the battery-changing device 2 after moving and the battery pack 15 thereon will not collide with the wheels even if they exit from the right side of the vehicle bottom along the original path into the vehicle bottom, thereby realizing safe passing, as shown in fig. 2E.

In this embodiment, the conditions to be met for the two ends of the battery pack loaded by the battery exchange device along the first direction not to collide with the wheels of the battery exchange vehicle in the process of leaving the bottom of the battery exchange vehicle may specifically include:

the first distance is greater than the first width. The first distance is a vertical distance from an exit point of the battery changer to a first wheel nearest to the exit point in the first direction, and the first width is a width from the exit point to an end point on the same side as the first wheel after the battery pack is loaded in the battery changer.

Taking fig. 2D as an example, the battery exchange device 2 is driven out of the vehicle bottom from the position P1, that is, P1 is a driving-out point, the driving-out point P1 is aligned with the middle point of the battery exchange device 2 in the y direction, the wheel closest to the driving-out point P1 is the wheel 12, the vertical distance between the driving-out point P1 and the wheel 12 is the first distance D1, the vertical distance between the driving-out point P1 and the end point E1 of the battery exchange device close to the wheel 12 is the first width w1, and when D1 > w1 is satisfied, the two ends of the battery pack 15 loaded by the battery exchange device 2 along the first direction y do not collide with the wheel of the battery exchange vehicle in the process of leaving the vehicle bottom.

According to the battery replacement equipment control method, the battery replacement equipment, particularly the battery replacement platform on the battery replacement equipment, is controlled, so that the two ends of the battery replacement equipment along the first direction after the battery pack is loaded do not collide with wheels of the battery replacement vehicle in the process of leaving the bottom of the battery replacement vehicle, the safety of battery replacement is guaranteed, the damage to the battery replacement equipment, the battery pack and the vehicle is avoided, and the battery replacement efficiency is further improved.

Example 2

This embodiment is a further refinement on the basis of the battery exchange apparatus control method of embodiment 1. The level changing platform comprises an upper layer plate and a lower layer plate, and the upper layer plate and the lower layer plate synchronously move in the horizontal direction. Of course, in order to realize synchronous movement between the upper plate and the lower plate, a connection mechanism for connecting the upper plate and the lower plate, a movement mechanism for horizontally moving the lower plate, etc. may be provided on the power conversion platform. The upper layer plate is mainly used for bearing the battery pack, the lower layer plate is mainly used for supporting the upper layer plate, and the upper layer plate or the lower layer plate can be provided with an unlocking mechanism for unlocking the battery pack from the vehicle according to practical application, a locking mechanism for locking the battery pack after the battery pack is mounted on the vehicle, and the like.

In the method for controlling a power conversion device of the present embodiment, as shown in fig. 3, step S13 may specifically include:

step S131: after the battery pack is dismounted, the lower layer plate is controlled to drive the upper layer plate to move along the first direction, so that the two ends of the battery pack loaded by the battery exchange equipment along the first direction do not collide with wheels of the battery exchange vehicle in the process of leaving the bottom of the battery exchange vehicle.

As shown in fig. 4, the control lower layer board drives the upper layer board to move along the first direction, so that two ends of the battery pack loaded by the battery changing device along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, including:

Step S1311: and acquiring the vehicle type information of the battery replacing equipment.

Step S1312: and acquiring the lower layer plate movement displacement corresponding to the vehicle type information according to the vehicle type information, wherein the lower layer plate movement displacement represents the displacement of the lower layer plate moving along the first direction.

Step S1313: and controlling the lower layer plate to move by the lower layer plate moving displacement amount so that two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle.

In this embodiment, the vehicle type information may be obtained by means of scanning a license plate of the battery-powered vehicle, identifying a brand, an appearance, and the like of the battery-powered vehicle, and the vehicle type information may specifically include a brand, a model, and the like of the vehicle. The correspondence between the information of different vehicle types and the displacement amount of the lower plate movement can be obtained through means such as experiments and calculation, and the like, and data such as the distance between two wheels of different vehicles in the first direction, the width of a battery pack on the vehicle in the first direction, the vertical distance between an outgoing point and a first wheel closest to the outgoing point in the first direction, the width from the outgoing point to an end point on the same side as the first wheel after the battery pack is loaded on the battery exchange device and the like are generally required to be known. As shown in fig. 5, by moving the lower plate (the base of the battery changing device 2 is not moved), the position of the battery pack 15 on the battery changing device 2 translates along the y direction by a distance D, and after moving, the first distance is larger than the first width, so that the two ends of the battery pack 15 loaded by the battery changing device 2 along the first direction do not collide with the wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle.

According to the method, the lower layer plate movement displacement corresponding to the vehicle replacement is obtained rapidly through the corresponding relation between the pre-stored vehicle type information and the lower layer plate movement displacement, so that the lower layer plate movement is controlled, the movement time is shortened, and the control efficiency is improved.

Example 3

This embodiment is a further refinement on the basis of the battery exchange apparatus control methods of embodiments 1 and 2. In order to further improve the power conversion efficiency, the power conversion device is prevented from adjusting the position of the power conversion platform before leaving the vehicle bottom each time, and the power conversion device may further include a detection sensor, as shown in fig. 6, and the power conversion device control method of the embodiment may further include:

step S130: whether wheels exist in the advancing range of the battery pack detaching after the battery pack detaching is completed when the battery replacing equipment is detected by the detection sensor, and the width of the advancing range is equal to the width of two ends of the battery pack in the first direction after the battery pack is loaded by the battery replacing equipment:

if yes, executing step S13;

and if the vehicle does not exist, controlling the power exchange equipment to drive out of the bottom of the power exchange vehicle.

As shown in fig. 7, the power conversion apparatus 2 may specifically include two detection sensors 21 and 22 provided at both ends in the first direction, and may specifically employ an infrared sensor. The two detection sensors 21 and 22 are arranged angularly on the battery exchange device 2 to form a sector-shaped detection area covering the travel range, in order to detect whether a wheel or other obstacle is present in the travel range. Of course, the arrangement of the detection sensors is not limited to two, and only one detection sensor may be provided at a preset angle for detecting a sector area at a horizontal position. Three or more detection sensors can be arranged according to preset angles to detect the advancing area in all directions.

Further, the battery exchange apparatus control method of the present embodiment may further include performing, after performing step S13 and driving out of the bottom of the battery exchange vehicle:

step S14: and controlling the power exchange equipment to move to a battery exchange area, and exchanging battery packs with the stacker crane.

The step S14 specifically includes:

the lower layer plate is controlled to drive the upper layer plate to move along the horizontal direction, so that the upper layer plate is in butt joint with the stacker so as to transfer the detached battery pack onto the stacker and acquire a new battery pack from the stacker.

Example 6

The power exchange equipment is equipment capable of realizing power exchange at the bottom of a vehicle. In this embodiment, the battery exchange device has a driving channel for a vehicle to drive through and a battery exchange platform for disassembling and assembling a battery pack at the bottom of the vehicle, so that the battery exchange platform can be lifted and translated in order to match with the bottom height of the vehicle and the position of the battery pack, and the main functions of the battery exchange platform can include bearing the battery pack, unlocking the battery pack from the vehicle, locking the battery pack after the battery pack is mounted on the vehicle, and the like.

Considering that after the battery pack to be mounted on the battery-changing vehicle is loaded on the battery-changing device, the overall volume is often larger than that of the original battery-changing device, and the battery-changing device is easy to collide with wheels when entering the bottom of the vehicle, the embodiment designs a battery-changing device control method, which can control aspects of walking, posture adjustment and the like of the battery-changing device, as shown in fig. 8, and specifically comprises the following steps:

Step S21: the position of the battery pack on the battery exchange platform is adjusted after the battery pack is acquired by the battery exchange equipment, so that two ends of the battery pack loaded by the battery pack along the first direction do not collide with wheels of the battery exchange vehicle in the process of entering the bottom of the battery exchange vehicle, and the first direction is in the same horizontal plane and perpendicular to the direction of the battery exchange device entering the bottom of the battery exchange vehicle.

Step S22: and controlling the driving channel of the power conversion equipment to move to the power conversion position.

Step S23: and adjusting the gesture of the power conversion platform to meet the battery loading condition.

Step S24: and after the battery pack is installed, the level changing table is controlled to reset.

Step S25: the battery changing device is controlled to leave the bottom of the battery changing vehicle.

Considering that the directions of the battery changing equipment entering the battery changing vehicle are different, the wheels where the battery changing equipment and the vehicle possibly collide are also not different:

if the battery exchange device enters the battery exchange vehicle from the side of the battery exchange vehicle, the first direction is the length direction of the vehicle, and the wheels possibly colliding with the battery pack loaded by the battery exchange device are usually the front wheels and the rear wheels of the battery exchange vehicle on the side where the battery exchange device enters. Step S21 may specifically include:

the position of the power conversion platform in the first direction is adjusted before the power conversion equipment enters the bottom of the power conversion vehicle, so that two ends of the power conversion equipment, which are arranged along the first direction after the battery pack is loaded, do not collide with front wheels and rear wheels of the power conversion vehicle on the entering side of the power conversion equipment in the process of entering the bottom of the power conversion vehicle.

In short, if the battery exchange device enters from the left side of the battery exchange vehicle, the battery pack is loaded on the battery exchange device by controlling the battery exchange device, and then the two ends of the battery pack in the length direction of the vehicle do not collide with the front wheels and the rear wheels on the left side of the vehicle; if the battery exchange device enters from the right side of the battery exchange vehicle, the battery exchange device is controlled to load the battery pack, and then the two ends of the battery pack in the length direction of the vehicle do not collide with front and rear wheels on the right side of the vehicle.

If the power conversion device enters from the front or the rear of the power conversion vehicle, the first direction is the width direction of the vehicle, and the wheels possibly colliding with the power conversion device and the battery pack loaded by the power conversion device are usually front wheels or rear wheels of the power conversion vehicle. Step S21 may specifically include:

the position of the power conversion platform in the first direction is adjusted before the power conversion equipment enters the bottom of the power conversion vehicle, so that two ends of the power conversion equipment, which are arranged along the first direction after the battery pack is loaded, do not collide with front wheels or rear wheels of the power conversion vehicle in the process of entering the bottom of the power conversion vehicle.

In short, if the battery exchange device enters from the head of the battery exchange vehicle, the battery pack is loaded on the battery exchange device by controlling the battery exchange device, and then the two ends of the battery pack in the width direction of the vehicle do not collide with the front wheels of the vehicle; if the battery changing device enters from the tail of the battery changing vehicle, the battery changing device is controlled so that the two ends of the battery pack in the width direction of the vehicle are not collided with the rear wheels of the vehicle after the battery pack is loaded on the battery changing device.

The above method is further described below in conjunction with fig. 9A-9B:

fig. 9A shows the bottom of the battery-powered vehicle 1 in simplified form, embodying the positions of the wheels 11, 12, 13 and 14. The battery pack 15 is carried on the battery exchanging platform of the battery exchanging device 2, and the battery exchanging device 2 is driven into the vehicle bottom from the right side of the battery exchanging vehicle 1. Since the volume of the battery pack 15, particularly the width of the battery pack 15 in the vehicle longitudinal direction, i.e., the first direction y, is larger than the battery exchanging device, if the battery pack 15 is directly taken into the vehicle bottom along the route into the vehicle bottom in the empty state, the battery pack 15 is likely to collide with the wheels 12. In order to avoid collision, the method of the present embodiment controls the level-changing platform to drive the battery pack 15 to move in the opposite direction, as shown in fig. 9B, so that the battery pack 15 on the battery-changing device 2 after moving and the battery pack 15 on the battery-changing device can not collide with the wheels even if the battery pack enters from the right side of the bottom along the original route, so as to realize safe passing, as shown in fig. 2E. When the battery pack 15 is mounted to the vehicle after the battery exchange apparatus 2 reaches the vehicle bottom and is aligned with the battery compartment of the vehicle bottom, the process of mounting the battery pack 15 by the battery exchange apparatus 2 is not an important point of the present invention, and thus will not be described in detail herein. After the battery pack 15 is mounted on the battery exchange device 2, the battery pack is driven out from the vehicle bottom.

In this embodiment, the conditions to be met for the two ends of the battery pack loaded by the battery exchange device along the first direction not to collide with the wheels of the battery exchange vehicle in the process of entering the bottom of the battery exchange vehicle may specifically include:

the second distance is greater than the second width. The second distance is a vertical distance from an entry point of the battery changing device to a second wheel nearest to the entry point in the first direction, and the second width is a width from the entry point to an end point on the same side as the second wheel after the battery pack is loaded in the battery changing device.

Taking fig. 9B as an example for illustration, the battery exchange device 2 enters the vehicle bottom from the position P2, that is, P2 is an entry point, the entry point P2 is aligned with the middle point of the battery exchange device 2 in the y direction, the wheel closest to the entry point P2 is the wheel 12, the vertical distance between the entry point P2 and the wheel 12 is the second distance d2, the vertical distance between the entry point P2 and the end point E2 of the battery exchange device close to the wheel 12 is the second width w2, and when d2 > w2 is satisfied, the two ends of the battery pack 15 loaded by the battery exchange device 2 along the first direction y do not collide with the wheel of the battery exchange vehicle in the process of entering the vehicle bottom.

According to the battery replacement equipment control method, the battery replacement equipment, particularly the battery replacement platform on the battery replacement equipment, is controlled, so that the two ends of the battery replacement equipment along the first direction after the battery pack is loaded do not collide with wheels of the battery replacement vehicle in the process of entering the bottom of the battery replacement vehicle, the safety of battery replacement is guaranteed, the damage to the battery replacement equipment, the battery pack and the vehicle is avoided, and the battery replacement efficiency is further improved.

Example 5

This embodiment is a further refinement on the basis of the battery exchange apparatus control method of embodiment 4. The level changing platform comprises an upper layer plate and a lower layer plate, and the upper layer plate and the lower layer plate synchronously move in the horizontal direction. Of course, in order to realize synchronous movement between the upper plate and the lower plate, a connection mechanism for connecting the upper plate and the lower plate, a movement mechanism for horizontally moving the lower plate, etc. may be provided on the power conversion platform. The upper layer plate is mainly used for bearing the battery pack, the lower layer plate is mainly used for supporting the upper layer plate, and the upper layer plate or the lower layer plate can be provided with an unlocking mechanism for unlocking the battery pack from the vehicle according to practical application, a locking mechanism for locking the battery pack after the battery pack is mounted on the vehicle, and the like.

In the method for controlling a power conversion device of the present embodiment, as shown in fig. 10, step S21 may specifically include:

step S211: after the battery pack is obtained by the battery exchange equipment, the lower layer plate is controlled to drive the upper layer plate to move along the first direction, so that two ends of the battery pack loaded by the battery exchange equipment along the first direction do not collide with wheels of the battery exchange vehicle in the process of entering the bottom of the battery exchange vehicle.

As shown in fig. 11, step S211 may specifically include:

step S2111: acquiring the vehicle type information of the battery changing equipment;

Step S2112: acquiring the lower layer plate movement displacement corresponding to the vehicle type information according to the vehicle type information;

step S2113: and controlling the lower layer plate to move by the lower layer plate moving displacement amount so that two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of entering the bottom of the battery changing vehicle.

In this embodiment, the vehicle type information may be obtained by means of scanning a license plate of the battery-powered vehicle, identifying a brand, an appearance, and the like of the battery-powered vehicle, and the vehicle type information may specifically include a brand, a model, and the like of the vehicle. The correspondence between the information of different vehicle types and the displacement amount of the lower plate movement can be obtained through means such as experiments and calculation, and the like, and data such as the distance between two wheels of different vehicles in the first direction, the width of a battery pack on the vehicle in the first direction, the vertical distance between a driving-in point and a first wheel closest to the driving-in point in the first direction, the width from the driving-in point to an end point on the same side as the first wheel after the battery pack is loaded on the battery exchange equipment and the like are generally required to be known. Through the removal of lower plate (the base of trading the electric installation 2 is motionless), the position of battery package 15 on trading the electric installation 2 translates along y direction, and after the removal, the second distance is greater than the second width, guarantees that trading the both ends of electric installation 2 load battery package 15 along first direction do not collide with trading the wheel of electric vehicle in the in-process that gets into trading the electric vehicle bottom.

Example 6

This embodiment is a further refinement on the basis of the battery exchange apparatus control methods of embodiments 4 and 5. In order to further improve the power conversion efficiency, avoid that the power conversion device adjusts the position of the power conversion platform before entering the vehicle bottom each time, the power conversion device may further include a detection sensor, as shown in fig. 12, and the power conversion device control method of this embodiment may further include:

step S20: after the battery pack is acquired by the battery replacement equipment, detecting whether wheels exist in the advancing range of the battery replacement equipment when the battery replacement equipment enters through the detection sensor, wherein the width of the advancing range is equal to the width of two ends of the battery pack loaded by the battery replacement equipment in the first direction:

if yes, go to step S21;

if not, step S22 is performed.

The power conversion device 2 may specifically include two detection sensors, which are disposed at both ends of the first direction, as in fig. 7, and may specifically employ an infrared sensor. The two detection sensors are arranged on the battery exchange device 2 in an angle mode to form a sector-shaped detection area, and the detection area covers a traveling range so as to be convenient for detecting whether wheels or other obstacles exist in the traveling range. Of course, the arrangement of the detection sensors is not limited to two, and only one detection sensor may be provided at a preset angle for detecting a sector area at a horizontal position. Three or more detection sensors can be arranged according to preset angles to detect the advancing area in all directions.

Example 7

Referring to the battery exchange device in embodiment 1, the battery exchange device has a driving channel for a vehicle to drive through and a battery exchange platform for disassembling and assembling a battery pack at the bottom of the vehicle, and as shown in fig. 13, a battery exchange device control system of this embodiment includes: a first movement control module 41, a first attitude control module 42, and a first level-shifting stage control module 43.

The first movement control module 41 is used for controlling the driving channel of the power exchange device to move to a position where the power exchange vehicle can drive through along the second direction.

The first gesture control module 42 is configured to adjust a gesture of a power conversion platform of the power conversion device to satisfy a battery disassembly condition.

The first battery changing platform control module 43 is used for adjusting the position of the battery changing platform in the first direction after the battery pack is disassembled, so that two ends of the battery pack loaded by the battery changing device along the first direction are not collided with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, and the first direction is in the same horizontal plane and perpendicular to the direction of leaving the bottom of the battery changing vehicle.

Further, the level changing table includes an upper plate and a lower plate, which move in synchronization in the horizontal direction. Of course, in order to realize synchronous movement between the upper plate and the lower plate, a connection mechanism for connecting the upper plate and the lower plate, a movement mechanism for horizontally moving the lower plate, etc. may be provided on the power conversion platform. The upper layer plate is mainly used for bearing the battery pack, the lower layer plate is mainly used for supporting the upper layer plate, and the upper layer plate or the lower layer plate can be provided with an unlocking mechanism for unlocking the battery pack from the vehicle according to practical application, a locking mechanism for locking the battery pack after the battery pack is mounted on the vehicle, and the like.

The first level shifter control module 43 may specifically be configured to:

after the battery pack is dismounted, the lower layer plate is controlled to drive the upper layer plate to move along the first direction, so that the two ends of the battery pack loaded by the battery exchange equipment along the first direction do not collide with wheels of the battery exchange vehicle in the process of leaving the bottom of the battery exchange vehicle.

Wherein, the control lower floor drives the upper deck and removes along first direction to make the both ends along first direction after the battery package is loaded to the battery replacement equipment not collide with the wheel of trading the electric vehicle in the in-process that leaves trading the electric vehicle bottom, include:

acquiring the vehicle type information of the battery changing equipment;

and controlling the lower layer plate to move by the lower layer plate moving displacement amount so that two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle.

Further, the power conversion device may further include a detection sensor, and the system may further include: a first wheel detection module 44.

The first wheel detection module 44 is configured to detect, by the detection sensor, whether a wheel exists in a travel range when the battery pack is detached, where a width of the travel range is equal to a width of two ends of the battery pack in a first direction after the battery pack is loaded by the battery pack, and the battery pack is detached from the battery pack:

if so, the first zap control module 43 is invoked.

The power conversion equipment specifically can comprise two detection sensors, wherein the two detection sensors are arranged on the power conversion equipment in an angle mode to form a fan-shaped detection area, and the detection area covers the advancing range.

Further, the system may further include: and a battery exchange module 45.

The battery exchanging module 45 is configured to control the battery exchanging device to move to a battery exchanging area and exchange a battery pack with the stacker after adjusting the position of the battery exchanging platform in the first direction so that two ends of the battery pack loaded by the battery exchanging device in the first direction do not collide with wheels of the battery exchanging vehicle during leaving the bottom of the battery exchanging vehicle.

Specifically, the battery exchange module 45 is configured to:

According to the battery replacement equipment control system, the battery replacement equipment, particularly the battery replacement platform on the battery replacement equipment, is controlled, so that the two ends of the battery replacement equipment along the first direction after the battery pack is loaded are prevented from colliding with wheels of the battery replacement vehicle in the process of leaving the bottom of the battery replacement vehicle, the safety of battery replacement is guaranteed, the damage to the battery replacement equipment, the battery pack and the vehicle is avoided, and the battery replacement efficiency is further improved. The battery replacing equipment control system of the embodiment also rapidly acquires the lower layer plate movement displacement corresponding to the battery replacing vehicle through the corresponding relation between the pre-stored vehicle type information and the lower layer plate movement displacement, so that the lower layer plate movement is controlled, the movement time is shortened, and the control efficiency is improved. The battery replacement device control system of the embodiment further improves the battery replacement efficiency through the detection sensor, and avoids the situation that the position of the battery replacement platform is adjusted before the battery replacement device leaves the vehicle bottom every time.

Example 8

Referring to the battery exchange device in embodiment 4, the battery exchange device has a driving channel for a vehicle to drive through and a battery exchange platform for disassembling and assembling a battery pack at the bottom of the vehicle, and as shown in fig. 14, a battery exchange device control system of the embodiment includes: a second level-shift control module 51, a second movement control module 52, a second attitude control module 53, a reset control module 54, and an end control module 55.

The second battery exchange platform control module 51 is configured to adjust a position of the battery exchange platform in a first direction after the battery pack is acquired by the battery exchange device, so that two ends of the battery pack loaded by the battery exchange device along the first direction do not collide with wheels of the battery exchange vehicle in a process of entering the bottom of the battery exchange vehicle, and the first direction is in the same horizontal plane and perpendicular to a direction of the battery exchange device entering the bottom of the battery exchange vehicle.

The second movement control module 52 is configured to control the driving channel of the power conversion device to move to the power conversion position.

The second gesture control module 53 is configured to adjust the gesture of the power conversion platform to meet the battery loading condition.

The reset control module 54 is used for controlling the reset of the level shifter after the battery pack is installed.

The end control module 55 is used to control the battery change device to leave the bottom of the battery change vehicle.

In this embodiment, the conditions that make the both ends along the first direction after the battery pack is loaded to the battery replacement equipment do not collide with the wheels of the battery replacement vehicle in the process of entering the bottom of the battery replacement vehicle, and need to be satisfied include:

the second distance is greater than a second width, the second distance being a distance from an exit point of the battery changer to a second wheel nearest to the entry point in the first direction, the second width being a width from the entry point to an end point on the same side of the battery pack as the second wheel after the battery pack is loaded by the battery changer.

Further, the power exchanging platform may include an upper plate and a lower plate, which move in synchronization in a horizontal direction;

the second zap control module 51 may be used to:

after the battery pack is obtained by the battery exchange equipment, the lower layer plate is controlled to drive the upper layer plate to move along the first direction, so that two ends of the battery pack loaded by the battery exchange equipment along the first direction do not collide with wheels of the battery exchange vehicle in the process of entering the bottom of the battery exchange vehicle.

Further, the control lower floor drives the upper deck and removes along first direction to make the both ends along first direction after the battery package is loaded to the battery replacement equipment not collide with the wheel of trading the electric vehicle in the in-process that gets into trading the electric vehicle bottom, include:

Acquiring the vehicle type information of the battery changing equipment;

and controlling the lower layer plate to move by the lower layer plate moving displacement amount so that two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of entering the bottom of the battery changing vehicle.

Further, the power conversion device further comprises a detection sensor, and the system further comprises: a second wheel detection module 56.

The wheel detection module 56 is configured to detect, by the detection sensor, whether a wheel exists in a travel range of the battery pack acquired by the battery pack replacement device, where a width of the travel range is equal to a width of two ends of the battery pack loaded by the battery pack replacement device in a first direction:

if so, a second zap control module 51 is invoked.

Specifically, the power conversion device comprises two detection sensors, wherein the two detection sensors are arranged on the power conversion device in an angle mode to form a fan-shaped detection area, and the detection area covers the travelling range.

Example 9

The embodiment of the invention also provides an electronic device, which can be expressed in the form of a computing device (for example, can be a server device), and comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor can realize the battery replacement device control method in the embodiments 1-6 when executing the computer program.

Fig. 15 shows a schematic diagram of the hardware structure of the present embodiment, and as shown in fig. 15, the electronic device 9 specifically includes:

at least one processor 91, at least one memory 92, and a bus 93 for connecting the different system components (including the processor 91 and the memory 92), wherein:

the bus 93 includes a data bus, an address bus, and a control bus.

The memory 92 includes volatile memory such as Random Access Memory (RAM) 921 and/or cache memory 922, and may further include Read Only Memory (ROM) 923.

Memory 92 also includes a program/utility 925 having a set (at least one) of program modules 924, such program modules 924 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The processor 91 executes various functional applications and data processing, such as the battery exchange device control method in embodiments 1 to 6 of the present invention, by running a computer program stored in the memory 92.

The electronic device 9 may further communicate with one or more external devices 94 (e.g., keyboard, pointing device, etc.). Such communication may occur through an input/output (I/O) interface 95. Also, the electronic device 9 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 96. The network adapter 96 communicates with other modules of the electronic device 9 via the bus 93. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in connection with the electronic device 9, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.

It should be noted that although several units/modules or sub-units/modules of an electronic device are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module according to embodiments of the present application. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.

Example 10

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the battery exchange device control method in embodiments 1-6 of the invention.

More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.

In a possible embodiment, the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps of implementing the battery charging device control method in embodiments 1-6 of the invention, when the program product is run on the terminal device.

Wherein the program code for carrying out the invention may be written in any combination of one or more programming languages, which program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on the remote device or entirely on the remote device.

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 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 principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims

1. A battery changing device control method, the battery changing device has a driving channel for a vehicle to drive through and a battery changing platform for disassembling and assembling a battery pack at the bottom of the vehicle, the method is characterized by comprising the following steps:

after the battery pack is disassembled, the position of the battery changing platform in the first direction is adjusted, so that two ends of the battery pack loaded by the battery changing equipment along the first direction do not collide with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, and the first direction is in the same horizontal plane and vertical to the direction of leaving the bottom of the battery changing vehicle;

The level changing platform comprises an upper layer plate and a lower layer plate, and the upper layer plate and the lower layer plate synchronously move in the horizontal direction;

2. The battery exchange device control method according to claim 1, wherein controlling the lower plate to drive the upper plate to move in a first direction so that both ends of the battery pack loaded by the battery exchange device in the first direction do not collide with wheels of the battery exchange vehicle in a process of leaving a bottom of the battery exchange vehicle includes:

acquiring the vehicle type information of the battery changing equipment;

3. The power conversion apparatus control method according to claim 1, wherein the power conversion apparatus further includes a detection sensor, the method further comprising:

4. A battery exchange apparatus control method according to claim 3, wherein the battery exchange apparatus comprises two of the detection sensors disposed at an angle on the battery exchange apparatus to form a sector-shaped detection area covering the travel range.

5. The battery exchange apparatus control method according to claim 1, wherein the conditions to be satisfied so that both ends of the battery pack loaded by the battery exchange apparatus in the first direction do not collide with wheels of the battery exchange vehicle in a process of leaving the bottom of the battery exchange vehicle include:

6. The battery exchange apparatus control method according to claim 1, wherein the method further comprises:

7. The power exchanging apparatus control method of claim 6, wherein the power exchanging stage comprises an upper plate and a lower plate, the upper plate and the lower plate being moved in synchronization in a horizontal direction; controlling the power exchanging device to move to a battery exchanging area and exchanging battery packs with a stacker, wherein the power exchanging device comprises:

8. A battery exchange device control method, the battery exchange device having a driving channel for a vehicle to drive through and a battery exchange platform for disassembling and assembling a battery pack at the bottom of the vehicle, comprising:

controlling the power conversion equipment to leave the bottom of the power conversion vehicle;

9. The battery exchange device control method according to claim 8, wherein controlling the lower plate to drive the upper plate to move in a first direction so that both ends of the battery pack loaded by the battery exchange device in the first direction do not collide with wheels of the battery exchange vehicle during entering a bottom of the battery exchange vehicle includes:

acquiring the vehicle type information of the battery changing equipment;

10. The power conversion apparatus control method according to claim 8, wherein the power conversion apparatus further includes a detection sensor, the method further comprising:

11. The battery exchange apparatus control method according to claim 10, wherein the battery exchange apparatus includes two of the detection sensors disposed at an angle on the battery exchange apparatus to form a sector-shaped detection area covering the travel range.

12. The battery exchange apparatus control method according to claim 8, wherein the conditions to be satisfied so that both ends of the battery pack loaded by the battery exchange apparatus in the first direction do not collide with wheels of the battery exchange vehicle during entering the bottom of the battery exchange vehicle include:

The second distance is greater than a second width, the second distance being a distance from an exit point of the battery changing device to a second wheel nearest to the entry point in the first direction, the second width being a width from the entry point to an end point on the same side as the second wheel after the battery pack is loaded by the battery changing device.

13. A battery exchange device control system having a driving path through which a vehicle passes and a battery exchange platform for disassembling and assembling a battery pack at the bottom of the vehicle, comprising:

the first battery changing platform control module is used for adjusting the position of the battery changing platform in a first direction after the battery pack is disassembled, so that two ends of the battery pack loaded by the battery changing equipment along the first direction are not collided with wheels of the battery changing vehicle in the process of leaving the bottom of the battery changing vehicle, and the first direction is in the same horizontal plane as and perpendicular to the direction of leaving the bottom of the battery changing vehicle by the battery changing equipment;

the first level changing platform control module is used for:

14. The battery exchange device control system according to claim 13, wherein controlling the lower plate to move the upper plate in a first direction so that both ends of the battery pack loaded by the battery exchange device in the first direction do not collide with wheels of the battery exchange vehicle in a process of leaving a bottom of the battery exchange vehicle comprises:

acquiring the vehicle type information of the battery changing equipment;

15. The battery pack control system of claim 13, wherein the battery pack further comprises a detection sensor, the system further comprising:

and if so, calling the first level shifting platform control module.

16. The battery pack control system of claim 15, wherein the battery pack includes two of the detection sensors disposed angularly on the battery pack to form a sector of detection area covering the travel range.

17. The battery exchange device control system according to claim 13, wherein the conditions to be satisfied so that both ends of the battery pack loaded by the battery exchange device in the first direction do not collide with wheels of the battery exchange vehicle during leaving the bottom of the battery exchange vehicle include:

18. The battery pack control system of claim 13, wherein the system further comprises:

19. The battery pack control system of claim 18, wherein the battery pack comprises an upper plate and a lower plate, the upper plate and the lower plate moving in synchronization in a horizontal direction; the battery exchange module is used for:

20. A battery exchange device control system having a driving path through which a vehicle passes and a battery exchange platform for disassembling and assembling a battery pack at the bottom of the vehicle, comprising:

the ending control module is used for controlling the power conversion equipment to leave the bottom of the power conversion vehicle;

the second level changing platform control module is used for:

21. The battery exchange device control system according to claim 20, wherein controlling the lower plate to move the upper plate in a first direction so that both ends of the battery pack loaded by the battery exchange device in the first direction do not collide with wheels of the battery exchange vehicle during entering a bottom of the battery exchange vehicle comprises:

acquiring the vehicle type information of the battery changing equipment;

22. The battery pack control system of claim 20, wherein the battery pack further comprises a detection sensor, the system further comprising:

And if so, calling the second level shifting platform control module.

23. The battery pack control system of claim 22, wherein the battery pack includes two of the detection sensors disposed angularly on the battery pack to form a sector of detection area covering the travel range.

24. The battery exchange device control system according to claim 20, wherein the conditions to be satisfied so that both ends of the battery pack loaded by the battery exchange device in the first direction do not collide with wheels of the battery exchange vehicle during entering the bottom of the battery exchange vehicle include:

25. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the battery-change device control method of any one of claims 1 to 12 when executing the computer program.

26. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the battery-changing device control method of any one of claims 1 to 12.