CN114919453A - Battery replacement control system and method - Google Patents
Battery replacement control system and method Download PDFInfo
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- CN114919453A CN114919453A CN202210482385.4A CN202210482385A CN114919453A CN 114919453 A CN114919453 A CN 114919453A CN 202210482385 A CN202210482385 A CN 202210482385A CN 114919453 A CN114919453 A CN 114919453A
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- battery
- placing
- rack
- electric vehicle
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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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- 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 swapping control system and a battery swapping control method. Wherein the system includes: the power supply device comprises a control unit and a power conversion device; the control unit is used for determining the type of the battery suitable for the electric vehicle; selecting a first battery placing frame from at least one battery placing frame, and selecting a second battery placing frame from at least one battery placing frame; the battery replacing device is used for moving to a preset battery replacing position, taking down an electricity-lacking battery from the electric vehicle, transporting the electricity-lacking battery to the second placing frame and placing the electricity-lacking battery in the empty battery placing bin, then moving to the first battery placing frame, taking down the battery of the battery model from the first battery placing frame, transporting the battery of the battery model to the preset battery replacing position and installing the battery in the electric vehicle, wherein the preset battery replacing position is a position suitable for the electric vehicle to take and install the battery. The invention can reduce the moving times of the battery replacing equipment in the battery replacing process, shorten the time consumed by battery replacing and improve the battery replacing efficiency.
Description
The application is a divisional application of a Chinese patent application with the application date of 2018, 20/07/78 and the application number of 201810805309.6, and is named as a battery swapping control system and a battery swapping control method.
Technical Field
The invention belongs to the field of battery replacement control, and particularly relates to a battery replacement control system and a battery replacement control method.
Background
The existing electric automobile mainly has two battery changing modes, one is a direct charging mode, and the other is a quick-change mode with a replaceable battery.
The quick-change type is generally carried out in a battery replacement station, after a vehicle drives into the battery replacement station and is parked on a vehicle carrying platform, a battery replacement device of the battery replacement station moves to the position below the vehicle carrying platform, a battery with insufficient or no electricity on the vehicle is taken down and placed on a uniform charging frame for charging, and then a new or full-charge battery is taken down from the charging frame by the battery replacement device and is loaded into the vehicle. In this way, the battery replacement equipment needs to be moved for multiple times, the time consumed for replacing the battery is long, and the efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects that in the prior art, a battery replacement device needs to move for many times in a battery replacement process, so that the battery replacement time is long and the efficiency is low, and provides a battery replacement control system and a battery replacement control method.
The invention solves the technical problems through the following technical scheme:
the invention provides a battery replacement control system, comprising: the power supply device comprises a control unit and a power conversion device;
the control unit is used for determining the type of the battery suitable for the electric vehicle;
the control unit is further used for selecting a battery placing frame meeting a first condition from at least one battery placing frame as a first battery placing frame, selecting a battery placing frame meeting a second condition from the at least one battery placing frame as a second battery placing frame, wherein the battery placing frame is provided with a plurality of battery placing bins for placing batteries, the first condition is set to place the batteries with the battery types, and the second condition is set to have an empty battery placing bin;
the battery replacing device is used for moving to a preset battery replacing position, taking down an electricity-lacking battery from the electric vehicle, transporting the electricity-lacking battery to the second placing frame and placing the electricity-lacking battery in the empty battery placing bin, then moving to the first battery placing frame, taking down the battery of the battery model from the first battery placing frame, transporting the battery of the battery model to the preset battery replacing position and installing the battery in the electric vehicle, wherein the preset battery replacing position is a position suitable for the electric vehicle to take and install the battery.
Preferably, the control unit is further configured to monitor an electric quantity of a battery placed on the battery placement rack;
the first condition is set as a fully charged battery with the battery type placed;
or the first condition is preferentially set as placing the battery with the battery model and full charge, and if the at least one battery placing frame does not have the battery placing frame meeting the first condition, the first condition is modified and set as placing the battery with the battery model and the highest electric quantity.
Preferably, the control unit is further configured to randomly select one battery placing rack as the first battery placing rack from the battery placing racks meeting the first condition when more than one battery placing racks meeting the first condition exist, or select one battery placing rack closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle as the first battery placing rack, or select one battery placing rack located on a path between the second battery placing rack and the electric vehicle as the first battery placing rack, or select one battery placing rack located on the path and closest to the electric vehicle or the vehicle carrying platform as the first battery placing rack;
and/or the control unit is further used for randomly selecting one battery placing frame as the second battery placing frame from the battery placing frames meeting the second condition when more than one battery placing frame meeting the second condition exists, or selecting one battery placing frame closest to the electric vehicle or the vehicle carrying platform as the second battery placing frame.
Preferably, the battery placing frames are arranged on two sides of the vehicle carrying platform along the direction that the electric vehicle drives into the vehicle carrying platform.
Preferably, if there is a multifunctional battery rack in the at least one battery rack, the multifunctional battery rack is a battery rack that both the first condition and the second condition meet, then the control unit is further configured to:
and simultaneously using the multifunctional battery placing frame as the first battery placing frame and the second battery placing frame.
Preferably, the empty battery placing bin is also used for charging the power-lack battery.
Preferably, the empty battery compartment has a battery charging circuit;
the battery charging circuit has fixed power parameters, which match the battery model;
or, the battery charging circuit has an adjustable power parameter, and the control unit is further configured to adjust the power parameter according to the battery model, so that the power parameter matches the battery model.
Preferably, the control unit is further configured to scan a license plate of the electric vehicle, and determine a battery model suitable for the electric vehicle through the license plate.
Preferably, the battery replacement device is controlled by the control unit:
the control unit sends the following instructions to the battery replacement device and is executed by the battery replacement device before the electric vehicle is parked on the vehicle loading platform:
and the parking instruction is used for commanding the battery swapping device to be parked at a preset waiting position in advance.
Preferably, when the preset switching level is set to be in the berthable state, the preset waiting position and the preset switching level are set to be at the same position.
Preferably, when the preset power switching position is in an unparked state, the preset waiting position is a position which is not more than a first distance threshold from the preset power switching position;
the control unit is further configured to send a fine adjustment instruction to the battery unloading and replacing device after the electric vehicle is parked on the vehicle loading platform, where the fine adjustment instruction is used to instruct the battery replacing device to move from the preset waiting position to the preset battery replacing position.
Preferably, the preset transposition potential is set to be in a mooring state when the following conditions are simultaneously met, otherwise, the preset transposition potential is set to be in a non-mooring state:
the preset battery replacement position is a vacant position;
a path for the battery replacement equipment to move to the preset battery replacement position exists;
and when the battery replacement device is predicted to be parked at the preset battery replacement position, the battery replacement device cannot block the electric vehicle running into the vehicle carrying platform.
Preferably, the preset battery replacement position is determined to be located below or above the vehicle carrying platform according to the structure of the vehicle carrying platform.
Preferably, the battery replacement device is controlled by the control unit:
the control unit is also used for sending the following instructions to the electric vehicle and executing the instructions by the battery replacement equipment after the electric vehicle is parked on the vehicle loading platform:
a battery removal instruction for instructing the battery swapping device to remove the power-deficient battery from the electric vehicle;
a first moving instruction for instructing the battery swapping device to move to the second battery placing rack;
a battery discharge instruction for instructing the battery replacement device to place the power-deficient battery in the empty battery placement bin;
a second moving instruction for instructing the battery swapping device to move to the first battery placing rack;
a battery taking instruction for instructing the battery replacement device to take off the battery of the battery type from the first battery placing frame;
a third moving instruction, configured to instruct the battery swapping device to move to the preset battery swapping position;
a battery loading instruction for instructing the battery swapping device to install the battery of the battery type in the electric vehicle.
The invention also provides a battery replacement control method, which comprises the following steps:
determining the type of a battery suitable for the electric vehicle;
selecting a battery placing frame meeting a first condition from at least one battery placing frame as a first battery placing frame, wherein the battery placing frame is provided with a plurality of battery placing bins for placing batteries, and the first condition is set to place the batteries with the battery types;
selecting a battery placing frame meeting a second condition from the at least one battery placing frame as a second battery placing frame, wherein the second strip is provided with an empty battery placing bin;
the battery replacement equipment is moved to a preset battery replacement position, the power-lack battery is taken down from the electric vehicle, the power-lack battery is transported to the second placing rack and placed in the empty battery placing bin, and the preset battery replacement position is a position suitable for taking and loading the battery from the electric vehicle;
and moving the battery replacement equipment to the first battery placing frame, taking down the battery with the battery model from the first battery placing frame, transporting the battery with the battery model to the preset battery replacement position, and installing the battery in the electric vehicle.
Preferably, the battery replacement control method further includes: monitoring the electric quantity of a battery placed on the battery placing frame;
the first condition is set as a fully charged battery with the battery type placed;
or the first condition is preferentially set to be used for placing the battery with the battery model and full charge, and if the at least one battery placing rack does not have the battery placing rack meeting the first condition, the first condition is modified and set to be used for placing the battery with the battery model and the highest electric quantity.
Preferably, the battery replacement control method further includes:
when more than one battery placing rack meeting the first condition exists, randomly selecting one battery placing rack from the battery placing racks meeting the first condition as the first battery placing rack, or selecting one battery placing rack which is closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle as the first battery placing rack, or selecting one battery placing rack which is positioned on a path between the second battery placing rack and the electric vehicle as the first battery placing rack, or selecting one battery placing rack which is positioned on the path and is closest to the electric vehicle or the vehicle carrying platform as the first battery placing rack;
and/or when more than one battery placing rack meeting the second condition exists, randomly selecting one battery placing rack from the battery placing racks meeting the second condition as the second battery placing rack, or selecting one battery placing rack which is closest to the electric vehicle or the vehicle carrying platform as the second battery placing rack.
Preferably, the battery swapping control method further includes:
judging whether a multifunctional battery placing rack exists in the at least one battery placing rack, wherein the multifunctional battery placing rack is a battery placing rack meeting the first condition and the second condition;
if so, then:
and simultaneously using the multifunctional battery placing frame as the first battery placing frame and the second battery placing frame.
Preferably, the empty battery placing bin is also used for charging the power-lack battery.
Preferably, the empty battery compartment has a battery charging circuit;
the battery charging circuit has fixed power parameters, which match the battery model;
or, the battery charging circuit has adjustable power parameters, and the battery swapping control method further includes: adjusting the power parameter according to the battery model so that the power parameter matches the battery model.
Preferably, the determining of the type of the battery applicable to the electric vehicle to be replaced specifically includes:
and scanning the license plate of the electric vehicle, and determining the battery model suitable for the electric vehicle through the license plate.
Preferably, the battery replacement control method further includes:
and before the electric vehicle is parked on the vehicle-carrying platform, the battery replacement equipment is parked at a preset waiting position in advance.
Preferably, when the preset reset potential is set to be in the parking-enabled state, the preset waiting position and the preset reset potential are set to be at the same position.
Preferably, when the preset power switching position is in the non-berthable state, the preset waiting position is a position which is not more than a first distance threshold value away from the preset power switching position;
the battery replacement control method further comprises the following steps:
and after the electric vehicle is parked on the vehicle-carrying platform, the battery replacement equipment is moved to the preset battery replacement position from the preset waiting position.
Preferably, when the following conditions are simultaneously satisfied, the preset shift potential is set to be in a berthable state, otherwise, the preset shift potential is set to be in a berthable state:
the preset battery replacement position is a vacant position;
a path for the battery replacement equipment to move to the preset battery replacement position exists;
and when the battery replacement device is predicted to be parked at the preset battery replacement position, the battery replacement device cannot block the electric vehicle running into the vehicle carrying platform.
Preferably, the preset battery replacement position is determined to be located below or above the vehicle carrying platform according to the structure of the vehicle carrying platform.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows: the invention can reduce the moving times of the battery replacing equipment in the battery replacing process, shorten the time consumed by battery replacing and improve the battery replacing efficiency.
Drawings
Fig. 1 is a schematic block diagram of a battery swapping control system according to embodiment 1 of the present invention;
fig. 2 is a schematic side view of a vehicle carrying platform of a first structure according to embodiment 1 of the present invention;
fig. 3 is a schematic side view of a vehicle carrying platform of a second structure according to embodiment 1 of the present invention;
fig. 4 is a flowchart of a battery swapping control method according to embodiment 6 of the present invention;
fig. 5 is a flowchart of a battery swapping control method according to embodiment 10 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Fig. 1 shows a battery swapping control system according to this embodiment. The battery replacement control system 10 includes: a control unit 11 and a battery swapping device 12. The control unit 11 is in communication connection with the battery replacement device 12, the communication connection is preferably wireless communication connection, and specifically may be implemented by communication means such as 2G, 3G, 4G, bluetooth, and the like, and certainly does not exclude that the communication connection may also be wired communication connection under some special conditions (for example, the control unit 11 is very close to the battery replacement device 12, and the movement range of the battery replacement device 12 is very small).
The control unit 11 is used for determining the battery model suitable for the electric vehicle. Specifically, the control unit 11 may scan a license plate of the electric vehicle, and determine a battery type suitable for the electric vehicle through the license plate.
The control unit 11 is further configured to select a battery placement rack meeting a first condition from at least one battery placement rack 13 as a first battery placement rack 13A, select a battery placement rack meeting a second condition from the at least one battery placement rack 13 as a second battery placement rack 13B, the battery placement rack has a plurality of battery placement bins for placing batteries, the first condition is set to place the batteries of the battery type, and the second condition is set to have an empty battery placement bin.
The battery replacing device 12 is used for moving to a preset battery replacing position, taking down an electricity-deficient battery from the electric vehicle, transporting the electricity-deficient battery to the second placing frame 13B and placing the electricity-deficient battery in the empty battery placing bin, then moving to the first battery placing frame 13A, taking down the battery of the battery model from the first battery placing frame 13A, transporting the battery of the battery model to the preset battery replacing position and installing the battery in the electric vehicle, wherein the preset battery replacing position is a position suitable for taking and installing the battery from the electric vehicle.
In this embodiment, the control unit 11 determines the battery model suitable for the electric vehicle, so as to facilitate selection of the first battery rack; in the whole process of replacing the battery for the vehicle, the battery replacing device 12 moves smoothly, and the battery replacing speed and efficiency are improved.
In this embodiment, the preset battery replacement position may be understood as that, when the battery replacement device 12 is located at the preset battery replacement position, the battery can be removed from or installed in the electric vehicle with minimal actions. The preset battery replacement position can be specifically determined to be positioned below or above the vehicle carrying platform according to the structure of the vehicle carrying platform for parking the electric vehicle.
Taking the vehicle carrying platform of the first structure as an example, as shown in fig. 2, the vehicle carrying platform 15 is higher than the ground level and has a hollow area in the middle, when the electric vehicle 14 needs to be parked on the vehicle carrying platform 15 and the battery box of the electric vehicle 14 is located above the hollow area, for the vehicle carrying platform 15 of this structure, the preset replacing position P1 is usually located below the vehicle carrying platform, especially located below the hollow area, and aligned with the battery box of the electric vehicle 14. For the electric vehicle 14 parked on the vehicle-carrying platform 15 for battery replacement, the battery replacement device 12 only needs to vertically lift an unlocking mechanism for unlocking the power-lacking battery from the electric vehicle, pass through the hollow area, insert the unlocking mechanism into a gap between a battery outer box of the electric vehicle 14 and the battery, and trigger a shifting block for locking the battery box at the preset battery replacement position P1, so that the power-lacking battery can be unlocked, and the power-lacking battery can be taken down. Similarly, at the preset battery replacement position P1, the battery replacement device 12 only needs to be lifted vertically to load the battery into the electric vehicle, and the installation is completed.
Taking the vehicle carrying platform with the second structure as an example, as shown in fig. 3, a lifting platform 151 is arranged in the middle of the vehicle carrying platform 15, a hollow area is arranged in the middle of the lifting platform 151, when the electric vehicle 14 needs to be driven into the vehicle carrying platform 15 and parked on the lifting platform 151, and a battery box of the electric vehicle 14 is located above the hollow area, for the vehicle carrying platform 15 with this structure, the preset power replacing position P2 is usually located above the vehicle carrying platform 15, especially below the hollow area after the lifting platform 151 is lifted. For the electric vehicle 14 parked on the lifting platform 151 for battery replacement, the battery replacement device 12 only needs to vertically lift an unlocking mechanism for unlocking the power-lacking battery from the electric vehicle 14, pass through the hollow area, insert the unlocking mechanism into a gap between a battery outer box of the electric vehicle 14 and the battery, and trigger a shifting block for locking the battery box at the preset battery replacement position P2, so that the power-lacking battery can be unlocked, and the power-lacking battery can be taken down. Similarly, at the preset battery replacement position P2, the battery replacement device 12 only needs to be lifted vertically to load the battery into the electric vehicle, and the installation is completed.
Of course, the vehicle loading platform is not limited to the above structure, and may be another structure, and the preset battery replacement position may be set according to the structure of the vehicle loading platform, further by combining with conditions such as a moving path of the battery replacement device 12 for taking a battery short or installing a structure required by a battery.
Example 2
The battery replacement control system of the present embodiment is a further improvement on the basis of embodiment 1, and is mainly embodied in setting a first condition. The first condition is used as a basis for selecting the first battery placing frame 13A, and other preferable matching conditions can be further set besides the battery with the battery type which is necessarily placed. In this embodiment, the matched condition is mainly related to the electric quantity of the battery, and the control unit 11 is further configured to monitor the electric quantity of the battery placed on the battery placement rack.
Specifically, the first condition may be set to a fully charged battery in which the battery model is placed. Correspondingly, the control unit 11 is configured to determine whether there is a battery placement rack meeting the first condition in the at least one battery placement rack, and if yes, select one battery placement rack from the at least one battery placement rack as the first battery placement rack 13A. If the battery placing rack meeting the first condition does not exist, the control unit 11 can send out an alarm signal to prompt that the battery replacement for the electric vehicle cannot be carried out.
Or, in order to improve the probability of replacing the battery for the electric vehicle, the first condition may be preferentially set to place the battery with the battery model and full charge, and if the at least one battery placing rack does not have a battery placing rack meeting the first condition, the first condition is modified and set to place the battery with the battery model and the highest electric quantity. Correspondingly, the default setting of the first condition is to place the battery model and the fully charged battery, the control unit 11 is configured to determine whether there is a battery rack meeting the default first condition in the at least one battery rack, if so, then select one of the battery racks as the first battery rack 13A, and if not, then:
and modifying the first condition into a condition of placing the battery with the highest model number and the highest electric quantity, judging whether the at least one battery placing rack has a battery placing rack meeting the current first condition again, and if so, selecting one battery placing rack from the battery placing racks as a first battery placing rack 13A. If the battery placing rack meeting the first condition does not exist yet, the control unit 11 may send an alarm signal to prompt that the battery replacement for the electric vehicle is not possible.
In addition, in this embodiment, the empty battery storage bin is further used for charging the battery in short of electricity. Specifically, the empty battery placement bin has a battery charging circuit that may have fixed power parameters that match the battery model; or, the battery charging circuit has an adjustable power parameter, and the control unit is further configured to adjust the power parameter according to the battery model, so that the power parameter matches the battery model. The power parameters include current, voltage, etc.
Of course, in other embodiments, the first condition may be set as other conditions according to requirements.
Example 3
The battery replacement control system of this embodiment is a further improvement on the basis of embodiment 1 or 2, and is mainly embodied in that the control unit 11 selects the first battery placing rack 13A and the second battery placing rack 13B. When the number of the battery placing frames is two or more, it is likely that two or more battery placing frames meet the first condition or the second condition at the same time. The control unit 11 can further set selection requirements of the first battery rack 13A and the second battery rack 13B according to requirements.
In this embodiment, in order to deal with the situation that two or more battery placing racks meet the first condition at the same time, the control unit 11 may be configured to determine whether more than one battery placing rack meets the first condition, if so, then:
randomly selecting one battery placing rack from the battery placing racks meeting the first condition as the first battery placing rack 13A;
or, in order to shorten the moving distance and moving time of the battery swapping device 12 and increase the battery swapping efficiency, a battery placement rack closest to the electric vehicle or a battery placement rack closest to a vehicle platform rack for parking the electric vehicle is selected from the battery placement racks meeting the first condition as the first battery placement rack 13A;
or selecting a battery placing rack positioned on a path between the second battery placing rack and the electric vehicle as the first battery placing rack, or selecting a battery placing rack positioned on the path and closest to the electric vehicle or the vehicle carrying platform as the first battery placing rack.
Of course, if there is only one battery placement rack that meets the first condition, it is generally only possible to use it as the first battery placement rack 13A.
Similarly, in order to deal with the situation that two or more battery placing racks meet the second condition at the same time, the control unit 11 may be configured to determine that more than one battery placing rack meets the second condition, and if yes, then:
randomly selecting one battery placing rack from the battery placing racks meeting the second condition as the second battery placing rack 13B;
or, in order to shorten the moving distance and moving time of the battery replacement device 12 and accelerate the battery replacement efficiency, a battery placing rack closest to the electric vehicle or a battery placing rack closest to a vehicle loading platform rack for parking the electric vehicle is selected from the battery placing racks meeting the second condition as the second battery placing rack 13B.
Of course, if there is only one battery rack satisfying the second condition, it is usually only possible to use it as the second battery rack 13B.
In order to further facilitate positioning of the battery placement racks, selection of the first battery placement rack 13A/the second battery placement rack 13B, and shortening of the moving distance of the battery replacement device 12, the battery placement racks may be arranged on both sides of the vehicle carrying platform along the direction in which the electric vehicle drives into the vehicle carrying platform. The vehicle-carrying platform can be a special platform for vehicle power exchange or other common platforms which can be used for parking vehicles and are convenient for power exchange.
In this embodiment, the first battery rack 13A and the second battery rack 13B are selected independently, that is, the selection requirements of the first battery rack 13A and the second battery rack 13B can be set according to different requirements.
Example 4
The battery replacement control system of this embodiment is a further improvement on the basis of embodiment 1 or 2, and is mainly embodied by selecting the first battery rack 13A and the second battery rack 13B by the control unit 11. Unlike embodiment 3, in this embodiment, the first battery holder 13A and the second battery holder 13B are selected with a certain degree of consideration given to the relationship therebetween.
Specifically, the control unit 11 may be configured to determine whether a multifunctional battery placing rack exists in the at least one battery placing rack, where the multifunctional battery placing rack is a battery placing rack in which the first condition and the second condition both meet.
If the multifunctional battery placing rack does not exist, a first battery placing rack 13A can be selected from the battery placing racks meeting the first condition and a second battery placing rack 13B can be selected from the battery placing racks meeting the second condition according to the scheme of embodiment 3.
If the multifunctional battery placing frame exists, the control unit 11 may further use the multifunctional battery placing frame as the first battery placing frame and the second battery placing frame at the same time. Thereby reducing the moving distance of the battery replacing device 12.
Example 5
The battery swapping control system of this embodiment is a further improvement on the basis of embodiment 1, and is mainly embodied in a control process of the control unit 11 on the battery swapping device 12. The whole battery replacing process can be divided into a battery replacing preparation process before the electric vehicle is parked on the vehicle-carrying platform and a battery replacing operation process after the electric vehicle is parked on the vehicle-carrying platform.
The battery replacement device 12 is controlled by the control unit 11.
In the battery swapping preparation process, the control unit 11 sends the following instructions to the battery swapping device 12 and is executed by the battery swapping device 12:
a parking instruction for instructing the power swapping device 12 to park in a preset waiting position in advance. The preset waiting position is related to the preset battery swapping position and can be the same position as the preset battery swapping position or a position near the preset battery swapping position.
Specifically, the control unit 11 determines whether the preset battery swapping position is in a berthable state, so as to set the preset waiting position. When the following conditions are simultaneously met, the preset switching potential is set to be in a mooring state, otherwise, the preset switching potential is set to be in a non-mooring state:
condition (1): the preset battery replacement position is a vacant position;
condition (2): a path for the battery swapping device 12 to move to the preset battery swapping position exists;
condition (3): when it is predicted that the battery swapping device 12 is parked at the preset battery swapping position, the battery swapping device 12 cannot block the electric vehicle which enters the vehicle carrying platform.
Whether the condition (3) can be met or not is generally related to the structure of the vehicle carrying platform.
Taking the vehicle-carrying platform with the first structure in embodiment 1 as an example, since the electric vehicle is parked on the vehicle-carrying platform when replacing the power, and the preset power replacement position is usually located below the vehicle-carrying platform, in a normal case, even if the power replacement device 12 is parked at the preset power replacement position before the electric vehicle drives into the vehicle-carrying platform, the power replacement device 12 will not block the electric vehicle that drives into the vehicle-carrying platform, and the condition (3) can be satisfied.
Taking the vehicle loading platform with the second structure in embodiment 1 as an example, since the electric vehicle is parked on the lifting platform when the electric vehicle is powered, and the preset power exchange position is usually located above the vehicle loading platform, if the power exchange device 12 is parked at the preset power exchange position before the electric vehicle drives into the vehicle loading platform, when the electric vehicle drives into the vehicle loading platform, the power exchange device 12 may possibly block the driving electric vehicle. Therefore, for the vehicle carrying platform with the second structure, the preset battery replacement position generally cannot meet the condition (3), and further is in an unparked state.
And when the preset transposition potential is in a berthable state, the preset waiting position and the preset transposition potential are in the same position. When the preset power switching position is in an un-berthable state, the preset waiting position is a position which is not more than a second distance threshold value away from the preset power switching position, namely a position near the preset power switching position.
And when the power exchange preparation process is finished, the power exchange control system waits for the electric vehicle to drive in and park on the vehicle carrying platform so as to enter a power exchange operation process.
In the battery replacement operation process, the control unit 11 determines whether the preset waiting position is the same as the preset battery replacement position:
if yes, sending a battery unloading instruction to the battery swapping device 12, where the battery unloading instruction is used to instruct the battery swapping device 12 to take the power-deficient battery off from the electric vehicle, and the battery swapping device 12 executes the battery unloading instruction;
if not, sending a fine-tuning instruction to the battery swapping device 12, where the fine-tuning instruction is used to instruct the battery swapping device 12 to move from the preset waiting position to the preset battery swapping position, and the battery swapping device 12 executes the fine-tuning instruction; then, after the battery swapping device 12 executes the fine adjustment instruction, the control unit 11 sends the battery unloading instruction to the battery swapping device 12, and the battery swapping device 12 executes the battery unloading instruction.
Then, the control unit 11 sends a first moving instruction to the battery replacement device 12, where the first moving instruction is used to instruct the battery replacement device to move to the second battery placing rack; the battery swapping device 12 executes the first movement instruction.
Then, the control unit 11 sends a battery discharging instruction to the battery replacement device 12, where the battery discharging instruction is used to instruct the battery replacement device to place the battery short in the empty battery placement bin; the battery swapping device 12 executes the battery discharging instruction.
Then, the control unit 11 sends a second moving instruction to the battery swapping device 12, where the second moving instruction is used to instruct the battery swapping device to move to the first battery placing rack; the battery swapping device 12 executes the second movement instruction.
Then, the control unit 11 sends a battery taking instruction to the battery replacement device 12, where the battery taking instruction is used to instruct the battery replacement device to take the battery of the battery model from the first battery placing rack; the battery swapping device 12 executes the battery taking instruction.
Then, the control unit 11 sends a third moving instruction to the battery swapping device 12, where the battery fetching instruction is used to instruct the battery swapping device to move to the preset battery swapping position; the battery swapping device 12 executes the battery fetching instruction.
Then, the control unit 11 sends a battery loading instruction to the battery replacement device 12, where the battery loading instruction is used to instruct the battery replacement device to install the battery of the battery model in the electric vehicle; the battery swapping device 12 executes the battery loading instruction.
At this point, after the battery replacement of the electric vehicle is finished, the control unit 11 commands the battery replacement device 12 to move away from the preset battery replacement position.
The battery replacement control system of the embodiment completes partial control in the battery replacement preparation process, greatly shortens the battery replacement time after the electric vehicle drives into the vehicle carrying platform, and improves the battery replacement efficiency.
Example 6
Fig. 4 shows a battery swapping control method according to this embodiment. The battery replacement control method comprises the following steps:
and step 21, determining the type of the battery suitable for the electric vehicle. Specifically, a license plate of the electric vehicle may be scanned, and a battery model suitable for the electric vehicle may be determined through the license plate.
And step 22, selecting a battery placing frame meeting a first condition from at least one battery placing frame as a first battery placing frame, wherein the battery placing frame is provided with a plurality of battery placing bins for placing batteries, and the first condition is set to be a condition for placing the batteries with the battery types.
And step 23, selecting a battery placing frame meeting a second condition from the at least one battery placing frame as a second battery placing frame, wherein the second strip is provided with an empty battery placing bin.
And 24, moving the battery replacement equipment to a preset battery replacement position, taking down the battery short of electricity from the electric vehicle, transporting the battery short of electricity to the second placing rack and placing the battery short of electricity in the empty battery placing bin, wherein the preset battery replacement position is a position suitable for taking and placing the battery from the electric vehicle.
And 25, moving the battery replacement equipment to the first battery placing frame, taking down the battery of the battery model from the first battery placing frame, transporting the battery of the battery model to the preset battery replacement position, and installing the battery in the electric vehicle.
In the embodiment, the first battery placing frame can be conveniently selected by confirming the applicable battery model of the electric vehicle; in the whole process of replacing the battery for the vehicle, the battery replacing equipment moves smoothly, and the battery replacing speed and efficiency are improved.
In this embodiment, the preset battery replacement position may be understood as that, when the battery replacement device is located at the preset battery replacement position, the battery may be removed from the electric vehicle or installed in the electric vehicle with the least actions. The preset battery replacement position can be specifically determined to be positioned below or above the vehicle carrying platform according to the structure of the vehicle carrying platform for parking the electric vehicle.
Example 7
The battery swapping control method of the present embodiment is a further improvement on the basis of embodiment 6, and is mainly embodied in setting the first condition. The first condition is used as a basis for selecting the first battery placing frame, and other preferable matching conditions can be further set besides the batteries of the battery types are necessarily placed. In this embodiment, the condition of the coordination is mainly related to the electric quantity of the battery, and the battery replacement control method further includes: and monitoring the electric quantity of the battery placed on the battery placing rack.
Specifically, the first condition is set to a battery that is full of the battery model number placed therein. Correspondingly, step 22 is to determine whether there is a battery rack meeting the first condition in the at least one battery rack, and if yes, one battery rack is selected as the first battery rack. And if the battery placing rack meeting the first condition does not exist, sending an alarm signal to prompt that the battery of the electric vehicle cannot be replaced.
Or, in order to improve the probability of replacing the battery for the electric vehicle, the first condition is preferably set to place the battery model and the fully charged battery, and if the at least one battery placing rack does not have a battery placing rack meeting the first condition, the first condition is modified and set to place the battery with the highest battery model and the highest electric quantity. Correspondingly, the default setting of the first condition is to place the battery with the battery model and full charge, step 22 judges whether a battery placing rack meeting the default first condition exists in the at least one battery placing rack, if so, one battery placing rack is selected from the at least one battery placing rack as the first battery placing rack, and if not, then:
and modifying the first condition into a condition of placing the battery with the highest model number and the highest electric quantity, judging whether the at least one battery placing rack has a battery placing rack meeting the current first condition again, and if so, selecting one battery placing rack from the battery placing racks as the first battery placing rack. If the battery placing rack meeting the first condition does not exist, an alarm signal can be sent out to prompt that the battery replacement for the electric vehicle cannot be carried out.
In addition, in this embodiment, the empty battery storage bin is further used for charging the battery in short of electricity. Specifically, the empty battery placement bin has a battery charging circuit that may have fixed power parameters that match the battery model; or, the battery charging circuit has an adjustable power parameter, and the control unit is further configured to adjust the power parameter according to the battery model, so that the power parameter matches the battery model. The power parameters include current, voltage, etc.
Of course, in other embodiments, the first condition may be set as other conditions according to requirements.
Example 8
The battery replacement control method in this embodiment is a further improvement on the basis of embodiment 6 or 7, and is mainly embodied in selection of the first battery holder and the second battery holder. When the number of the battery placing racks is two or more, it is highly likely that two or more battery placing racks meet the first condition or the second condition at the same time. The method can further set the selection requirements of the first battery placing rack and the second battery placing rack according to requirements.
In this embodiment, in order to deal with the situation that two or more battery placing racks meet the first condition at the same time, step 22 further includes determining whether more than one battery placing rack meets the first condition, if yes, then:
or, in order to shorten the moving distance and moving time of the battery replacement device and accelerate the battery replacement efficiency, a battery placing rack closest to the electric vehicle or a battery placing rack closest to a vehicle platform rack for parking the electric vehicle is selected from the battery placing racks meeting the first condition as the first battery placing rack;
or selecting a battery placing rack positioned on a path between the second battery placing rack and the electric vehicle as the first battery placing rack, or selecting a battery placing rack positioned on the path and closest to the electric vehicle or the vehicle carrying platform as the first battery placing rack.
Of course, if there is only one battery rack meeting the first condition, then it is usually only used as the first battery rack.
Similarly, in order to deal with the situation that two or more battery placing racks meet the second condition at the same time, step 23 further includes determining that more than one battery placing rack meets the second condition, if yes, then:
randomly selecting one battery placing rack from the battery placing racks meeting the second condition as the second battery placing rack;
or, in order to shorten the moving distance and moving time of the battery replacement device and accelerate the battery replacement efficiency, a battery placing rack closest to the electric vehicle or a battery placing rack closest to a vehicle platform rack for parking the electric vehicle is selected from the battery placing racks meeting the second condition as the second battery placing rack.
Of course, if there is only one battery rack meeting the second condition, it is usually only used as the second battery rack.
In order to further facilitate positioning of the battery placement racks, selection of the first battery placement rack/the second battery placement rack, and shortening of the movement distance of the battery replacement device, the battery placement racks may be arranged on both sides of the vehicle loading platform along the direction in which the electric vehicle drives into the vehicle loading platform. The vehicle-carrying platform can be a special platform for vehicle power exchange or other common platforms which can be used for parking vehicles and are convenient for power exchange.
In this embodiment, the first battery placing rack and the second battery placing rack are selected independently, that is, the selection requirements of the first battery placing rack and the second battery placing rack can be set according to different requirements.
Example 8
The battery replacement control method in this embodiment is a further improvement on the basis of embodiment 6 or 7, and is mainly embodied in selection of the first battery holder and the second battery holder. Unlike embodiment 7, in this embodiment, the first battery holder and the second battery holder are selected with consideration given to the relationship therebetween to some extent.
Specifically, the method further comprises the step of judging whether a multifunctional battery placing rack exists in the at least one battery placing rack, wherein the multifunctional battery placing rack is a battery placing rack meeting the first condition and the second condition.
If the multifunctional battery placing rack does not exist, a first battery placing rack can be selected from the battery placing racks meeting the first condition and a second battery placing rack can be selected from the battery placing racks meeting the second condition according to the scheme of embodiment 7.
If the multifunctional battery placing frame exists, the multifunctional battery placing frame can be used as the first battery placing frame and the second battery placing frame at the same time. Therefore, the moving distance of the battery replacement equipment is reduced.
Example 10
The battery replacement control method in this embodiment is a further improvement on the basis of embodiment 6, and is mainly embodied in a control flow of the battery replacement device as shown in fig. 5. The whole battery replacing process can be divided into a battery replacing preparation process before the electric vehicle is parked on the vehicle-carrying platform and a battery replacing operation process after the electric vehicle is parked on the vehicle-carrying platform.
In the battery swapping preparation process, the battery swapping control method includes: and enabling the battery replacement equipment to be parked at a preset waiting position in advance. The preset waiting position is related to the preset battery swapping position and can be the same position as the preset battery swapping position or a position near the preset battery swapping position.
In this embodiment, when the preset shift level is set to the berthable state, the preset waiting position is set to the same position as the preset shift level.
And when the preset power switching position is in an un-berthable state, the preset waiting position is a position which is not more than a first distance threshold value away from the preset power switching position.
Specifically, when the following conditions are simultaneously satisfied, the preset shift potential is set to be in a berthable state, otherwise, the preset shift potential is set to be in a berthable state:
the preset battery replacement position is a vacant position;
a path for the battery replacement equipment to move to the preset battery replacement position exists;
and when the battery replacement equipment is predicted to be parked at the preset battery replacement position, the battery replacement equipment cannot block the electric vehicle driving into the vehicle carrying platform.
And then, completing a battery replacement preparation process, and waiting for the electric vehicle to drive in and park on the vehicle carrying platform so as to enter a battery replacement operation process.
In the battery swapping operation flow, the battery swapping control method includes:
judging whether the preset waiting position and the preset switching position are the same position:
if so, enabling the battery replacement equipment to remove the power-lack battery from the electric vehicle;
if not, enabling the battery replacement equipment to move to the preset battery replacement position from the preset waiting position; then, the battery replacement equipment is made to remove the power-lack battery from the electric vehicle;
after the battery replacement equipment takes the battery out of the electric vehicle, the battery replacement equipment is moved to the second battery placing rack;
then, the battery replacement equipment is used for placing the battery with the power shortage into the empty battery placing bin;
then, the battery replacement equipment is moved to the first battery placing rack;
then, the battery changing equipment is made to take the battery with the battery model from the first battery placing frame;
then, the battery replacement equipment is moved to the preset battery replacement position;
then, the battery replacement equipment is made to install the battery of the battery type on the electric vehicle;
and finally, enabling the battery replacement equipment to drive away from the preset battery replacement position after the battery replacement of the electric vehicle is finished.
The battery replacement control system of the embodiment completes partial control in the battery replacement preparation process, greatly shortens the battery replacement time after the electric vehicle drives into the vehicle carrying platform, and improves the battery replacement efficiency.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are 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 (17)
1. A battery swapping control system, comprising: the power supply device comprises a control unit and a power conversion device;
the control unit is used for determining the type of a battery suitable for the electric vehicle;
the control unit is further used for selecting a battery placing rack meeting a first condition from at least one battery placing rack as a first battery placing rack, selecting a battery placing rack meeting a second condition from the at least one battery placing rack as a second battery placing rack, wherein the battery placing rack is provided with a plurality of battery placing bins for placing batteries, the first condition is set to place the batteries with the battery types, and the second condition is set to be provided with empty battery placing bins;
the battery replacement equipment is controlled by the control unit:
the control unit is further configured to send the following instruction to the battery swapping device and be executed by the battery swapping device:
a first moving instruction for instructing the battery swapping device to move to the second battery placing rack;
a battery discharge instruction for instructing the battery replacement device to place a power-deficient battery removed from the electric vehicle in the empty battery placement bin;
a second movement instruction for instructing the battery replacement device to move to the first battery placing rack;
a battery taking instruction for instructing the battery changing device to take the battery of the battery type from the first battery placing rack.
2. The battery swapping control system of claim 1, wherein before the control unit sends the first movement instruction to the battery swapping device, the following instruction is further sent to and executed by the battery swapping device:
a battery discharge instruction to instruct the battery swapping device to remove a power-starved battery from the electric vehicle.
3. The battery swapping control system of claim 1, wherein after the control unit sends the battery swapping device a battery getting instruction, the control unit further sends the following instruction to the battery swapping device and is executed by the battery swapping device:
a third moving instruction, configured to instruct the battery swapping device to move to a preset battery swapping position;
a battery loading instruction for instructing the battery swapping device to install the battery of the battery type in the electric vehicle.
4. The battery replacement control system according to claim 1, wherein the control unit is further configured to monitor a battery capacity of a battery placed on the battery placement rack;
the first condition is set as a battery with the battery type and full charge;
or the first condition is preferentially set as placing the battery with the battery model and full charge, and if the at least one battery placing frame does not have the battery placing frame meeting the first condition, the first condition is modified and set as placing the battery with the battery model and the highest electric quantity.
5. The battery replacement control system according to claim 1 or 4, wherein the control unit is further configured to randomly select one battery placement rack as the first battery placement rack from the battery placement racks meeting the first condition when more than one battery placement rack meets the first condition, or select one battery placement rack closest to the electric vehicle or a vehicle loading platform for parking the electric vehicle as the first battery placement rack, or select one battery placement rack located on a path between the second battery placement rack and the electric vehicle as the first battery placement rack, or select one battery placement rack located on the path and closest to the electric vehicle or the vehicle loading platform as the first battery placement rack;
and/or the control unit is further used for randomly selecting one battery placing frame as the second battery placing frame from the battery placing frames meeting the second condition when more than one battery placing frame meeting the second condition exists, or selecting one battery placing frame closest to the electric vehicle or the vehicle carrying platform as the second battery placing frame.
6. The battery replacement control system according to claim 5, wherein the battery placing racks are arranged on two sides of the vehicle carrying platform along a direction that the electric vehicle drives into the vehicle carrying platform.
7. The battery replacement control system according to claim 1, wherein if a multifunctional battery placing rack exists in the at least one battery placing rack, and the multifunctional battery placing rack is a battery placing rack in which both the first condition and the second condition are satisfied, the control unit is further configured to:
and simultaneously using the multifunctional battery placing frame as the first battery placing frame and the second battery placing frame.
8. The battery swapping control system of claim 1, wherein the control unit is further configured to scan a license plate of the electric vehicle, and determine a battery type suitable for the electric vehicle through the license plate.
9. A battery replacement control method is characterized by comprising the following steps:
determining the type of a battery suitable for the electric vehicle;
selecting a battery placing frame meeting a first condition from at least one battery placing frame as a first battery placing frame, wherein the battery placing frame is provided with a plurality of battery placing bins for placing batteries, and the first condition is set to place the batteries with the battery types;
selecting a battery placing frame meeting a second condition from the at least one battery placing frame as a second battery placing frame, wherein the second strip is provided with an empty battery placing bin;
the battery replacement device is controlled by a control unit, and after the electric vehicle is parked on the vehicle carrying platform, the method further comprises the following steps:
the control unit sends the following instructions to the electric vehicle and is executed by the battery replacement device:
a first moving instruction for instructing the battery swapping device to move to the second battery placing rack;
a battery discharge instruction for instructing the battery replacement device to place an under-charged battery in the empty battery placement bin;
a second moving instruction for instructing the battery swapping device to move to the first battery placing rack;
a battery taking instruction for instructing the battery replacement device to take the battery of the battery type off the first battery placing rack.
10. The battery swap control method of claim 9, further comprising: the control unit sends the following instructions to the electric vehicle and is executed by the battery swapping device:
a battery discharge instruction to instruct the battery swapping device to remove a power-starved battery from the electric vehicle.
11. The battery swap control method of claim 9, further comprising: the control unit sends the following instructions to the electric vehicle and is executed by the battery swapping device:
a third moving instruction, configured to instruct the battery swapping device to move to a preset battery swapping position;
a battery loading instruction for instructing the battery swapping device to install the battery of the battery type in the electric vehicle.
12. The battery swapping control method of claim 9, further comprising: monitoring the electric quantity of a battery placed on the battery placing frame;
the first condition is set as a fully charged battery with the battery type placed;
or the first condition is preferentially set to be used for placing the battery with the battery model and full charge, and if the at least one battery placing rack does not have the battery placing rack meeting the first condition, the first condition is modified and set to be used for placing the battery with the battery model and the highest electric quantity.
13. The battery swapping control method of claim 9, further comprising:
when more than one battery placing rack meeting the first condition exists, randomly selecting one battery placing rack from the battery placing racks meeting the first condition as the first battery placing rack, or selecting one battery placing rack which is closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle as the first battery placing rack, or selecting one battery placing rack which is positioned on a path between the second battery placing rack and the electric vehicle as the first battery placing rack, or selecting one battery placing rack which is positioned on the path and is closest to the electric vehicle or the vehicle carrying platform as the first battery placing rack;
and/or when more than one battery placing rack meeting the second condition exists, randomly selecting one battery placing rack from the battery placing racks meeting the second condition as the second battery placing rack, or selecting one battery placing rack which is closest to the electric vehicle or the vehicle carrying platform as the second battery placing rack.
14. The battery swapping control method of claim 9, further comprising:
judging whether a multifunctional battery placing rack exists in the at least one battery placing rack, wherein the multifunctional battery placing rack is a battery placing rack meeting the first condition and the second condition;
if so, then:
and simultaneously using the multifunctional battery placing frame as the first battery placing frame and the second battery placing frame.
15. The battery replacement control method as claimed in claim 9, wherein the empty battery placing bin is further used for charging the battery with power shortage.
16. The battery replacement control method as claimed in claim 15, wherein the empty battery placing bin has a battery charging circuit;
the battery charging circuit has fixed power parameters, which match the battery model;
or, the battery charging circuit has an adjustable power parameter, and the battery charging control method further includes: adjusting the power parameter according to the battery model so that the power parameter matches the battery model.
17. The battery replacement control method according to claim 9, wherein the determining of the type of the battery applicable to the electric vehicle to be replaced specifically includes:
and scanning the license plate of the electric vehicle, and determining the battery type suitable for the electric vehicle through the license plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210482385.4A CN114919453B (en) | 2018-07-20 | 2018-07-20 | Battery changing control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210482385.4A CN114919453B (en) | 2018-07-20 | 2018-07-20 | Battery changing control system and method |
| CN201810805309.6A CN110733375B (en) | 2018-07-20 | 2018-07-20 | Battery replacement control system and method |
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| CN202210482385.4A Active CN114919453B (en) | 2018-07-20 | 2018-07-20 | Battery changing control system and method |
| CN202210483962.1A Pending CN114750635A (en) | 2018-07-20 | 2018-07-20 | Battery replacement control system and method |
| CN202210483934.XA Active CN114954108B (en) | 2018-07-20 | 2018-07-20 | Battery changing control system and method |
| CN201810805309.6A Active CN110733375B (en) | 2018-07-20 | 2018-07-20 | Battery replacement control system and method |
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| CN201810805309.6A Active CN110733375B (en) | 2018-07-20 | 2018-07-20 | Battery replacement control system and method |
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| CN113715671A (en) * | 2020-05-25 | 2021-11-30 | 蓝谷智慧(北京)能源科技有限公司 | Battery replacement control method and system, editable logic controller and motor controller |
| CN111806291B (en) * | 2020-07-14 | 2021-11-12 | 武汉蔚来能源有限公司 | Vehicle and battery matching method, device and system and readable storage medium |
| CN116279325B (en) * | 2023-05-25 | 2023-08-18 | 北京玖行智研交通科技有限公司 | Power exchange station bin control method and power exchange station |
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| CN114954108B (en) | 2023-06-30 |
| CN114954109A (en) | 2022-08-30 |
| CN110733375A (en) | 2020-01-31 |
| CN114954109B (en) | 2023-06-27 |
| CN114750635A (en) | 2022-07-15 |
| CN114919453B (en) | 2023-06-16 |
| CN114954108A (en) | 2022-08-30 |
| CN110733375B (en) | 2022-03-22 |
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