CN114987272A

CN114987272A - Battery replacement control system and method

Info

Publication number: CN114987272A
Application number: CN202210483952.8A
Authority: CN
Inventors: 陆文成
Original assignee: Aulton New Energy Automotive Technology Co Ltd
Current assignee: Aulton New Energy Automotive Technology Co Ltd
Priority date: 2018-07-20
Filing date: 2018-07-20
Publication date: 2022-09-02
Anticipated expiration: 2038-07-20
Also published as: CN114683951B; CN110803139A; CN110803139B; CN114683951A; CN114987272B; CN114987274A; CN114987271B; CN114714960B; CN114714960A; CN114987271A

Abstract

The invention discloses a battery swapping control system and a battery swapping control method. Wherein the system includes: the device comprises a control unit and at least two battery replacement devices; the control unit is used for determining the type of a battery suitable for the electric vehicle to be charged; 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; configuring at least one of the at least two battery replacing devices as a battery loading and replacing device and as a battery unloading and replacing device; the battery loading and replacing equipment is used for transporting a battery to be loaded; the battery unloading and replacing equipment is used for transporting the battery with power shortage. According to the invention, through the control of the control unit, two battery replacement devices are used in the whole process of replacing the battery for the vehicle: the two battery replacing devices have different responsibilities and complete the battery replacing task together, so that the whole battery replacing time is at least shortened by half compared with the battery replacing time realized by only one battery replacing device, and the battery replacing speed and efficiency are improved.

Description

Battery replacement control system and method

The application is a divisional application of Chinese patent application with the application date of 2018, month 07, month 20 and the application number of 201810805306.2, and the name of the invention is 'battery swapping control system and method'.

Technical Field

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

Background

The existing electric automobile mainly has two battery changing modes, one is a direct charging mode, and the other is a quick-changing mode with a replaceable battery.

The quick-change type is usually performed in a battery replacement station, a battery replacement device of the battery replacement station takes down a battery with insufficient or no electric quantity on a vehicle, the battery replacement device is placed on a uniform charging rack for charging, and then the battery replacement device takes down a new or full battery from the charging rack and loads the battery into the vehicle. In this way, the battery replacement equipment needs to move back and forth between the vehicle and the charging rack to realize the removal of the battery and the loading of the battery, so that the time consumption for replacing the battery is long, and the efficiency is low.

Disclosure of Invention

The invention aims to overcome the defects of long time consumption and low efficiency of battery replacement caused by the fact that the battery is taken down and put in by the same battery replacement equipment in the prior art, 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, which comprises: the control unit and the at least two battery replacement devices;

the control unit is used for determining the type of a battery suitable for the electric vehicle to be charged;

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 control unit is further configured to configure at least one of the at least two battery replacement devices as a battery charging and replacing device, and configure at least one of the at least two battery replacement devices as a battery discharging and replacing device;

the battery loading and replacing equipment is used for transporting a battery to be loaded, and the battery to be loaded is a battery which is taken from the first battery placing frame, has the battery model and is to be installed on the electric vehicle;

the battery unloading and replacing equipment is used for transporting a power-shortage battery, and the power-shortage battery is a battery which is taken down from the electric vehicle and is to be placed in the empty battery placing bin.

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;

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:

simultaneously using the multifunctional battery placing rack as the first battery placing rack and the second battery placing rack;

or the multifunctional battery placing frame is used as any one of the first battery placing frame and the second battery placing frame;

or, any one of the following conditions is taken as a necessary condition for taking the multifunctional battery placing rack as a first battery placing rack:

the rest of the battery placing racks do not meet the first condition;

among the rest of the battery placing frames, the number of the battery placing frames meeting the first condition is less than that of the battery placing frames meeting the second condition;

among the rest of the battery placing frames, the number of the battery placing frames meeting the first condition is less than that of the battery placing frames meeting the second condition, and the absolute value of the difference value between the battery placing frames and the battery placing frames is less than a first difference threshold value;

among the rest of the battery placing frames, the number of the battery placing frames meeting the first condition is less than a first number threshold value;

or, any one of the conditions is taken as a necessary condition for taking the multifunctional battery placing rack as a second battery placing rack:

the rest of the battery placing racks do not meet the second condition;

among the rest of the battery placing frames, the number of the battery placing frames meeting the second condition is less than that of the battery placing frames meeting the first condition;

among the rest of the battery placing frames, the number of the battery placing frames meeting the second condition is less than that of the battery placing frames meeting the first condition, and the absolute value of the difference value between the two is less than a second difference threshold value;

among the rest of the battery placing racks, the number of the battery placing racks meeting the second condition is less than a second number threshold.

Preferably, the battery placing cabin is also used for charging the battery.

Preferably, the at least two battery replacement devices are single-function battery replacement devices;

or, the power supply equipment is multifunctional power changing equipment;

or, part of the battery replacement device is single-function battery replacement device, and part of the battery replacement device is multifunctional battery replacement device;

the single-function battery replacement device has a first structure and can only be configured as a battery replacement device, or has a second structure and can only be configured as a battery replacement device;

the multifunctional battery replacing device has a first structure and a second structure and can be configured to be any one of a battery unloading and replacing device and a battery loading and replacing device.

Preferably, the battery replacement device configured to be the battery replacement device closest to the first battery placing rack;

or the battery replacing device configured to be the battery replacing device closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle;

or each battery placing rack and at least one battery replacing device have a preset binding relationship; the battery replacing device configured to be the battery replacing device which is in binding relationship with the first battery placing rack, or the battery replacing device which is in binding relationship with the first battery placing rack and is closest to the first battery placing rack; the battery replacing device configured as the battery unloading and replacing device is a battery replacing device which has a binding relationship with the second battery placing frame, or a battery replacing device which has a binding relationship with the second battery placing frame and is closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle.

Preferably, the control unit is further configured to send a battery taking instruction to the battery loading and replacing device after the first battery placing frame is selected, where the battery taking instruction is used to instruct the battery loading and replacing device to take down the battery to be loaded from the first battery placing frame;

the battery loading and replacing device is also used for executing the battery taking instruction;

the control unit is further configured to send a first moving instruction to the battery loading and replacing device after the battery loading and replacing device finishes executing the battery taking instruction, where the first moving instruction is used to instruct the battery loading and replacing device to be parked at a first preset waiting position in advance, and the first preset waiting position is a position which is not more than a first distance threshold from the vehicle loading platform;

the battery loading and replacing equipment is also used for executing the first moving instruction.

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 control unit is further configured to send a second movement instruction to the battery discharge and replacement device before the electric vehicle is parked on the vehicle loading platform, where the second movement instruction is used to instruct the battery discharge and replacement device to be parked at a second preset waiting position in advance; the battery unloading and replacing device is also used for executing the second moving instruction.

Preferably, when the preset swapping position is in a berthable state, the second preset waiting position and the preset swapping position are at the same position, and the preset swapping position is a position suitable for taking a battery from an electric vehicle parked on the vehicle carrying platform.

Preferably, when the preset battery swapping position is in the non-berthable state, the second preset waiting position is a position which is not more than a second distance threshold from the preset battery swapping position, and the preset battery swapping position is a position suitable for taking a battery from an electric vehicle berthed on the vehicle carrying platform;

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 unloading and replacing device to move from the second 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 unloading and replacing equipment to move to the preset battery replacing position exists;

when the battery unloading and replacing device is predicted to be parked at the preset battery replacing position, the battery unloading and replacing device cannot block the electric vehicle running into the vehicle loading 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 control unit is further configured to send a third moving instruction to the battery unloading and replacing device after the electric vehicle is parked on the vehicle loading platform, where the third moving instruction is used to instruct the battery unloading and replacing device to move and park at a preset replacing position, where the preset replacing position is a position suitable for taking a battery from the electric vehicle parked on the vehicle loading platform; the battery unloading and replacing device is also used for executing the third moving instruction.

Preferably, the control unit is further configured to send a battery unloading instruction to the battery unloading and replacing device after the electric vehicle is parked on the vehicle loading platform and the battery unloading and replacing device is parked at the preset battery replacing position, where the battery unloading instruction is used to instruct the battery unloading and replacing device to remove the power-deficient battery from the electric vehicle;

the battery unloading and replacing equipment is also used for executing the battery unloading instruction;

the control unit is further configured to send a fourth moving instruction to the battery unloading and replacing device after the battery unloading and replacing device executes the battery unloading instruction, where the fourth moving instruction is used to instruct the battery unloading and replacing device to move to the second battery placing rack and place the power-deficient battery in the empty battery placing bin;

the battery unloading and replacing device is further used for executing the fourth moving instruction.

Preferably, the control unit is further configured to send a fifth moving instruction to the battery charging and replacing device after the battery unloading and replacing device leaves the preset battery replacing position or leaves the preset battery replacing position beyond a third distance threshold, where the fifth moving instruction is used to instruct the battery charging and replacing device to move to the preset battery replacing position;

the battery charging and replacing device is further used for executing the fifth moving instruction;

the control unit is further configured to send a battery loading instruction to the battery loading and replacing device after the battery loading and replacing device executes the fifth moving instruction, where the battery loading instruction is used to instruct the battery loading and replacing device to load the battery to be loaded into the electric vehicle;

the battery loading and replacing device is also used for executing the battery loading instruction.

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 to be charged;

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 condition is set to be an empty battery placing bin;

configuring at least one of the at least two battery replacing devices as a battery loading and replacing device, wherein the battery loading and replacing device is used for transporting a battery to be loaded, and the battery to be loaded is a battery which is taken down from the first battery placing frame, has the battery model and is to be installed on the electric vehicle;

configuring at least one of the at least two battery replacing devices as a battery unloading and replacing device, wherein the battery unloading and replacing device is used for transporting a battery which is short of electricity, and the battery which is taken down from the electric vehicle and is to be placed in the empty battery placing bin is the battery.

Preferably, the battery swapping control method further includes: monitoring the electric quantity of a battery placed on the battery placing frame;

the first condition is set as a battery with the battery type and full charge;

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;

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 replacement 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:

the rest of the battery placing racks do not meet the first condition;

the rest of the battery placing racks do not meet the second condition;

or, the power supply equipment is multifunctional power changing equipment;

or the battery replacing equipment configured to be the battery replacing equipment closest to the electric vehicle or a vehicle loading platform for parking the electric vehicle;

Preferably, the battery replacement control method further includes:

after the first battery placing frame is selected, the battery loading and replacing equipment is instructed to take the battery to be loaded down from the first battery placing frame;

after the battery loading and replacing equipment takes the battery to be loaded down from the first battery placing frame, the battery loading and replacing equipment is ordered to be parked at a first preset waiting position in advance, and the first preset waiting position is a position which is not more than a first distance threshold value away from the vehicle loading platform.

Preferably, the determining the battery type 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.

Preferably, the battery replacement control method further includes:

and commanding the battery unloading and replacing equipment to be pre-parked at a second preset waiting position before the electric vehicle is parked at the vehicle loading platform.

Preferably, when the preset swapping position is in a parking-enabled state, the second preset waiting position and the preset swapping position are at the same position, and the preset swapping position is a position suitable for taking a battery from an electric vehicle parked on the vehicle-carrying platform.

the battery replacement control method further comprises the following steps: and after the electric vehicle is parked on the vehicle-carrying platform, commanding the battery unloading and replacing equipment to move from the second preset waiting position to the preset battery replacing position.

the preset battery replacement position is a vacant position;

when the battery unloading and replacing equipment is predicted to be parked at the preset battery replacing position, the battery unloading and replacing equipment cannot block the electric vehicle driving into the vehicle carrying platform.

Preferably, the battery replacement control method further includes:

after the electric vehicle is parked on the vehicle-mounted platform, the battery unloading and replacing device is commanded to move and park at a preset battery replacing position, wherein the preset battery replacing position is a position suitable for taking a battery from the electric vehicle parked on the vehicle-mounted platform.

Preferably, the battery replacement control method further includes:

after the electric vehicle is parked on the vehicle loading platform and the battery unloading and replacing device is parked at the preset battery replacing position, the battery unloading and replacing device is commanded to take the power-lack battery off from the electric vehicle;

after the battery unloading and replacing device takes the power-shortage battery from the electric vehicle, the battery unloading and replacing device is commanded to move to the second battery placing frame, and the power-shortage battery is placed in the empty battery placing bin.

Preferably, the battery replacement control method further includes:

when the battery unloading and replacing device leaves the preset battery replacing position or leaves the preset battery replacing position and exceeds a third distance threshold value, commanding the battery loading and replacing device to move to the preset battery replacing position;

and after the battery charging and replacing device moves to the preset charging and replacing position, commanding the battery charging and replacing device to load the battery to be charged into the electric vehicle.

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 confirms the applicable battery model of the electric vehicle through the control unit, is convenient to select the first battery placing rack and call the battery to be installed, and in addition, through the control of the control unit, two battery replacing devices are used in the whole process of replacing the battery for the vehicle:

the battery loading and replacing equipment has a moving track between the first battery placing frame and the electric vehicle, so that the transportation of the battery to be loaded is realized;

and the battery unloading and replacing equipment has a moving track between the electric vehicle and the second battery placing frame, so that the transportation of the power-shortage battery is realized.

The two battery replacing devices have different responsibilities and complete the battery replacing task together, so that the whole battery replacing time is at least shortened by half compared with the battery replacing time realized by only one battery replacing device, and the battery replacing speed and efficiency are improved.

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 plan view of a battery replacement control system configured with a battery charging and replacing device and a battery discharging and replacing device in embodiment 5 of the present invention;

fig. 3 is a schematic side view of a vehicle carrying platform of a first structure according to embodiment 6 of the present invention;

fig. 4 is a schematic side view of a vehicle carrying platform of a second structure according to embodiment 6 of the present invention;

fig. 5 is a flowchart of a power swapping control method according to embodiment 8 of the present invention;

fig. 6 is a flowchart of a battery swapping control method according to embodiment 13 of the present invention;

fig. 7 is a flowchart of a power swapping control method according to embodiment 14 of the present invention.

Detailed Description

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

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 at least two battery swapping devices 12. The control unit 11 is in communication connection with each battery swapping device 12, the communication connection is preferably wireless communication connection, and specifically may be implemented by communication means such as 2G, 3G, 4G, and bluetooth, 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 swapping device 12, and the movement range of the battery swapping device 12 is very small).

The control unit 11 is configured to determine a battery model applicable to the electric vehicle to be replaced.

The control unit 11 is further configured to select a battery placing rack meeting a first condition from at least one battery placing rack 13 as a first battery placing rack 13A, the battery placing rack is provided with a plurality of battery placing bins for placing batteries, and the first condition is set to place the batteries of the battery types.

The control unit 11 is further configured to select a battery placing rack meeting a second condition from the at least one battery placing rack as a second battery placing rack 13B, where the second condition is set to have an empty battery placing bin.

The control unit 11 is further configured to configure at least one of the at least two battery swapping devices 12 as a battery swapping device 12A. The battery loading and replacing device 12A is used for transporting a battery to be loaded, and the battery to be loaded is a battery which is taken down from the first battery placing frame 13A, has the battery type and is to be installed on the electric vehicle.

The control unit 11 is further configured to configure at least one of the at least two battery swapping devices 12 as a battery unloading and swapping device 12B. The battery unloading and replacing device 12B is used for transporting a battery which is taken from the electric vehicle and is to be placed in the empty battery placing bin.

In this embodiment, the control unit 11 determines the type of the battery suitable for the electric vehicle, so that the first battery placing frame can be conveniently selected and the battery to be placed can be conveniently taken; in the whole process of replacing the battery for the vehicle, two battery replacing devices 12 are used, namely a battery loading and replacing device 12A and a battery unloading and replacing device 12B, the moving track of the battery loading and replacing device 12A is between a first battery placing frame 13A and the electric vehicle, transportation of the battery to be loaded is realized, the moving track of the battery unloading and replacing device 12B is between the electric vehicle and a second battery placing frame 13B, transportation of the power-deficient battery is realized, the two battery replacing devices have different responsibilities respectively and complete a battery replacing task together, so that the whole battery replacing time is at least shortened by half compared with the battery replacing time realized by only one battery replacing device, and the battery replacing speed and efficiency are improved.

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 matching 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 each of the battery placement racks.

Specifically, the first condition may be set to a battery that is placed in the battery size and is fully charged. 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 for placing the battery with the highest battery model and the highest electric quantity, judging whether the at least one battery placing frame has a battery placing frame which meets the current first condition again, and if so, selecting one battery placing frame from the battery placing frames as a first battery placing frame 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 battery placing bin may further include a battery charging circuit for charging the battery, and the control unit 11 monitors the electric quantity of each battery in real time, so as to facilitate selection of the first battery placing rack 13A.

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 may further set the selection requirements of the first battery placing rack 13A and the second battery placing rack 13B according to the 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, and if so:

randomly selecting one battery placing frame from the battery placing frames meeting the first condition as the first battery placing frame 13A;

or, in order to shorten the moving distance and moving time of the battery loading and replacing device 12A and accelerate the battery replacing 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 13A.

Of course, if there is only one battery rack satisfying the first condition, it is usually only possible to use it as the first battery 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 so:

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 discharge and replacement device 12B 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 movement distance of the battery loading and replacing device 12A/the battery unloading and replacing device 12B, 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 replacing power for vehicles or other common platforms which can be used for parking vehicles and are convenient for replacing power.

In this embodiment, the first battery placing frame 13A and the second battery placing frame 13B are selected independently, that is, the selection requirements of the first battery placing frame 13A and the second battery placing frame 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 in that the control unit 11 selects the first battery placing rack 13A and the second battery placing rack 13B. Unlike embodiment 3, in this embodiment, the first battery holder 13A and the second battery holder 13B are selected with consideration given to the relationship therebetween to some extent.

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 rack exists, the control unit 11 may also preferentially use the multifunctional battery rack to configure the identity thereof in any one of the following four ways:

firstly, the multifunctional battery placing rack is used as the first battery placing rack 13A and the second battery placing rack 13B at the same time.

Second, the multifunctional battery holder is used as any one of the first battery holder 13A and the second battery holder 13B.

Thirdly, in order to keep the balance of the number of the battery racks conforming to the first condition and the number of the battery racks conforming to the second condition, any one of the following conditions is taken as a necessary condition for using the multifunctional battery rack as the first battery rack 13A:

condition (1): the rest of the battery placing racks do not meet the first condition;

condition (2): among the rest of the battery placing frames, the number of the battery placing frames meeting the first condition is less than that of the battery placing frames meeting the second condition;

condition (3): among the rest of the battery placing frames, the number of the battery placing frames meeting the first condition is less than that of the battery placing frames meeting the second condition, and the absolute value of the difference value between the battery placing frames and the battery placing frames is less than a first difference threshold value;

condition (4): among the rest of the battery placing racks, the number of the battery placing racks meeting the first condition is less than a first number threshold value.

For the third, for example: taking the condition (1) as a necessary condition for taking the multifunctional battery placing rack as the first battery placing rack 13A, that is, correspondingly, the control unit 11 needs to judge whether the rest of the battery placing racks except the multifunctional battery placing rack in the at least one battery placing rack do not meet the first condition, and if so, taking the multifunctional battery placing rack as the first battery placing rack 13A;

as another example, the condition (2) is taken as a necessary condition for taking the multifunctional battery rack as the first battery rack 13A, that is, correspondingly, the control unit 11 needs to determine whether the number of the battery racks meeting the first condition in the rest of the battery racks, except for the multifunctional battery rack, is less than the number of the battery racks meeting the second condition, if so, taking the multifunctional battery rack as the first battery rack 13A (for example, 2 battery racks meeting the first condition and 3 battery racks meeting the second condition, taking the multifunctional battery rack as the first battery rack 13A);

as another example, the condition (3) is taken as a necessary condition for taking the multifunctional battery rack as the first battery rack 13A, that is, correspondingly, the control unit 11 needs to determine whether the number of the battery racks meeting the first condition in the at least one battery rack except the multifunctional battery rack is less than the number of the battery racks meeting the second condition and an absolute value of a difference between the two is less than a first difference threshold, if so, the multifunctional battery rack is taken as the first battery rack 13A (for example, 2 battery racks meeting the first condition, 6 battery racks meeting the second condition, and a first difference threshold is 3, the multifunctional battery rack is taken as the first battery rack 13A);

for another example, the condition (4) is taken as a necessary condition for using the multifunctional battery rack as the first battery rack 13A, that is, correspondingly, the control unit 11 needs to determine whether the number of the battery racks meeting the first condition in the at least one battery rack, except for the multifunctional battery rack, is less than a first number threshold, and if so, the multifunctional battery rack is taken as the first battery rack 13A (for example, if the number of the battery racks meeting the first condition is 1, and the first number threshold is 2, the multifunctional battery rack is taken as the first battery rack 13A).

Fourthly, in order to keep the balance of the battery placing rack conforming to the first condition and the battery placing rack conforming to the second condition in terms of number, any one condition is taken as a necessary condition for taking the multifunctional battery placing rack as a second battery placing rack 13B:

condition (1): the rest of the battery placing racks do not meet the second condition;

condition (2): among the rest of the battery placing frames, the number of the battery placing frames meeting the second condition is less than that of the battery placing frames meeting the first condition;

condition (3): in the rest battery placing racks, the number of the battery placing racks meeting the second condition is less than that of the battery placing racks meeting the first condition, and the absolute value of the difference value between the battery placing racks and the battery placing racks is less than a second difference threshold value;

condition (4): among the rest of the battery placing racks, the number of the battery placing racks meeting the second condition is less than a second number threshold.

For the fourth, refer to the third, which is not described in detail herein.

Example 5

The battery replacement control system of the present embodiment is a further improvement on embodiment 1, and is mainly embodied in the configuration of the control unit 11 for the battery charging and discharging

device

12A and 12B. The battery swapping device 12 can be roughly divided into two types:

the single-function battery replacement device has a single structure, and can have a first structure and only be configured to be a battery replacement device 12A, or have a second structure and only be configured to be a battery replacement device 12B;

the multifunctional battery replacing device has a complex structure, has the first structure and the second structure, and can be configured as any one of the battery unloading and replacing device 12B and the battery loading and replacing device 12A.

The first structure includes a structure required for removing the battery to be mounted from the first battery rack 13A and mounting the battery to the electric vehicle, for example, a gripping mechanism for removing the battery to be mounted from the first battery rack 13A, a lifting mechanism for mounting the battery to be mounted on the electric vehicle, and the like.

The second structure includes a structure necessary for realizing that the short-of-battery is removed from the electric vehicle and placed in the second battery placement rack 13B, for example, an unlocking mechanism that unlocks the short-of-battery from the electric vehicle, a placement mechanism that places the short-of-battery in the second battery placement rack 13B, and the like.

In the battery swapping control system of this embodiment, the at least two battery swapping devices 12 may be both single-function battery swapping devices (but the single-function battery swapping device having the first structure and the single-function battery swapping device having the second structure need to be both available); or, the power supply equipment is multifunctional power changing equipment; or part of the single-function battery replacing equipment is the multifunctional battery replacing equipment.

In order to shorten the moving distance and moving time of the battery charging and replacing device 12A and increase the battery replacing efficiency, when the battery charging and replacing device 12A is configured, the control unit 11 preferably selects the battery replacing device closest to the first battery placing frame 13A. Specifically, as shown in fig. 2, after the first battery holding rack 13A is selected, the control unit 11 may determine the position of the first battery holding rack 13A, screen the single-function battery swapping device and the multi-function battery swapping device with the first structure (indicated by ≈ in the figure), calculate the distance from each of the single-function battery swapping device and the multi-function battery swapping device with the first structure to the first battery holding rack 13A, select one of the battery swapping devices with the closest distance to be configured as the battery loading and swapping device 12A, and an arrow at 12A in the figure indicates the moving direction of the battery loading and swapping device 12A.

In order to shorten the moving distance and moving time of the battery unloading and replacing device 12B and increase the battery replacing efficiency, when the battery unloading and replacing device 12B is configured, the control unit 11 preferably selects the battery replacing device which is closest to the battery replacing device of the electric vehicle or the battery replacing device which is closest to the vehicle loading platform for parking the electric vehicle. Specifically, the control unit 11 may screen the single-function battery swapping device and the multi-function battery swapping device with the second structure (indicated by □ in the figure), calculate a distance from each of the single-function battery swapping device and the multi-function battery swapping device with the second structure to the electric vehicle 14 or the vehicle-mounted platform 15, select a battery swapping device closest to the single-function battery swapping device with the second structure to be configured as the battery unloading battery swapping device 12B, and an arrow at the position of 12B in the figure indicates a moving direction of the battery loading battery swapping device 12A.

In other embodiments, in order to facilitate management and allocation of the battery replacement devices, each battery placing rack and at least one battery replacement device have a preset binding relationship, that is, each battery placing rack can only take and place a battery by the battery replacement device having the binding relationship.

When configuring the battery replacing device 12A, the control unit 11 preferably selects the battery replacing device having a binding relationship with the first battery placing frame 13A, or the battery replacing device having a binding relationship with the first battery placing frame 13A and being closest to the first battery placing frame 13A. Specifically, after the first battery placing frame 13A is selected, the control unit 11 may screen a single-function battery replacement device and a multi-function battery replacement device that are in a binding relationship with the first battery placing frame 13A and have a first structure, randomly select one of the single-function battery replacement devices and the multi-function battery replacement device to be configured as the battery loading and replacement device 12A, or further determine the position of the first battery placing frame 13A, respectively calculate the distance between the selected battery replacement device and the first battery placing frame 13A, and select the battery replacement device with the closest distance to be configured as the battery loading and replacement device 12A.

When configuring the battery unloading and replacing device 12B, the control unit 11 preferably selects a battery replacing device having a binding relationship with the second battery placing rack 13B, or a battery replacing device having a binding relationship with the second battery placing rack 13B and being closest to the electric vehicle, or a battery replacing device closest to a vehicle platform rack for parking the electric vehicle. Specifically, after selecting the second battery holding frame 13B, the control unit 11 may filter a single-function battery swapping device and a multi-function battery swapping device that are bound to the second battery holding frame 13B and have a second structure, randomly select one of the single-function battery swapping devices as the battery unloading and swapping device 12B, or further calculate a distance from the filtered battery swapping device to the electric vehicle or a distance from the filtered battery swapping device to the vehicle-carrying platform, and select a battery swapping device closest to the selected battery swapping device as the battery unloading and swapping device 12B.

Example 6

The battery swapping control system of this embodiment is a further improvement on the basis of embodiment 1, and is mainly embodied in a battery swapping control process of the battery swapping control system. In this embodiment, the power exchange control process includes a power exchange preparation process before the electric vehicle is parked on the vehicle-mounted platform and a power exchange operation process after the electric vehicle is parked on the vehicle-mounted platform.

In the battery replacement preparation process, the control unit 11 is configured to select the second battery placing rack 13B in advance before the electric vehicle is parked on the vehicle loading platform, and then configure the battery unloading and replacing device 12B. The process of selecting the second battery placing rack 13B can be referred to in examples 2 to 4, and the process of configuring the battery discharging and replacing device 12B can be referred to in example 5.

In the battery replacing operation process, the control unit 11 is further configured to send a third moving instruction to the battery unloading and replacing device 12B after the electric vehicle is parked on the vehicle loading platform, where the third moving instruction is used to instruct the battery unloading and replacing device 12B to move and park at a preset battery replacing position. The battery discharging and replacing device 12B is further configured to execute the third moving instruction.

The control unit 11 is further configured to send a battery unloading instruction to the battery unloading and replacing device 12B after the electric vehicle is parked on the vehicle loading platform and the battery unloading and replacing device 12B is parked at the preset battery replacing position, where the battery unloading instruction is used to instruct the battery unloading and replacing device 12B to remove the power-deficient battery from the electric vehicle. The battery unloading and replacing device 12B is further configured to execute the battery unloading instruction.

In this embodiment, the preset battery replacement position is a position suitable for taking a battery from an electric vehicle parked on the vehicle-carrying platform, and it can be understood that when the battery-unloading and battery-replacing device 12B is located at the preset battery replacement position, the battery-unloading and battery-replacing device 12B can take the battery from the electric vehicle parked on the vehicle-carrying platform with minimum actions. The preset battery replacement position can be specifically determined to be located below or above the vehicle carrying platform according to the structure of the vehicle carrying platform.

Taking the vehicle carrying platform of the first structure as an example, as shown in fig. 3, 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 power replacing position P1 is usually located below the vehicle carrying platform, especially below the hollow area, and is aligned with the battery outer box of the electric vehicle 14. For the electric vehicle 14 parked on the vehicle carrying platform 15 for battery replacement, the battery unloading and battery replacing device 12B 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 of a battery box of a lock at the preset battery replacing position P1, so that the power-lacking battery can be unlocked, and the power-lacking battery can be taken down.

Taking the vehicle carrying platform with the second structure as an example, as shown in fig. 4, 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 unloading and replacing device 12B 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.

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, and further in combination with the second structure of the battery unloading and replacing device 12B, according to conditions such as a moving path of the second structure when the battery is in short of power.

The control unit 11 is further configured to send a fourth moving instruction to the battery unloading and replacing device 12B after the battery unloading and replacing device 12B executes the battery unloading instruction, where the fourth moving instruction is used to instruct the battery unloading and replacing device 12B to move to the second battery placing rack 13B and place the power-deficient battery in the empty battery placing bin. The battery discharging and replacing device 12B is further configured to execute the fourth moving instruction.

In the battery replacement operation process, the control unit 11 is further configured to scan the license plate of the electric vehicle when the electric vehicle is parked behind a vehicle-carrying platform or the license plate of the electric vehicle can be observed, determine the battery model suitable for the electric vehicle through the license plate, further select the first battery placing frame 13A, configure the battery loading and replacing device 12A, send a battery taking instruction to the battery loading and replacing device 12A, and the battery taking instruction is used for instructing the battery loading and replacing device 12A to take down the battery to be loaded from the first battery placing frame 13A. The battery charging and replacing device 12A is further configured to execute the battery taking instruction. The process of selecting the first battery placing frame 13A can be referred to in examples 2 to 4, and the process of configuring the battery replacing device 12A can be referred to in example 5.

The control unit 11 is further configured to send a first moving instruction to the battery loading and swapping device 12A after the battery loading and swapping device 12A executes the battery fetching instruction, where the first moving instruction is used to instruct the battery loading and swapping device 12A to stop at a first preset waiting position in advance, and the first preset waiting position is a position which is not more than a first distance threshold from the vehicle loading platform. The battery charging and replacing device is further used for executing the first moving instruction.

The control unit 11 is further configured to send a fifth moving instruction to the battery charging and swapping device 12A after the battery unloading and swapping device 12B leaves the preset swapping position or leaves the preset swapping position beyond a third distance threshold, where the fifth moving instruction is used to instruct the battery charging and swapping device 12A to move to the preset swapping position. The battery charging and replacing device 12A is further configured to execute the fifth moving instruction.

The control unit 11 is further configured to send a battery loading instruction to the battery loading and swapping device 12A after the battery loading and swapping device 12A executes the fifth moving instruction, where the battery loading instruction is used to instruct the battery loading and swapping device 12A to load the battery to be loaded into the electric vehicle. The battery charging and replacing device 12A is further configured to execute the battery charging instruction. At this point, after the electric vehicle is switched, the battery charging and switching device 12A moves away from the preset battery switching position.

Example 7

The battery swapping control system of this embodiment is a further improvement on the basis of embodiment 1, and is mainly embodied in a battery swapping control process of the battery swapping control system. In this embodiment, the power exchange control process includes a power exchange preparation process before the electric vehicle is parked on the vehicle-carrying platform and a power exchange operation process after the electric vehicle is parked on the vehicle-carrying platform. In the battery replacement preparation process and the battery replacement operation process, the control instruction of the control unit is different from that in embodiment 6.

In the battery replacement preparation process, the control unit 11 may select the second battery placing rack 13B in advance, complete the configuration of the battery unloading and replacing device 12B, and control the battery unloading and replacing device 12B to complete a part of instructions, so as to save the battery unloading time. The process of selecting the second battery placing rack 13B can be referred to in embodiments 2 to 4, and the process of configuring the battery discharging and replacing device 12B can be referred to in embodiment 5.

The control unit 11 controls the battery unloading and replacing device 12B to complete a part of instructions, including: the control unit 11 determines whether the preset battery swapping position is in a berthable state, so as to set a second preset waiting position, and sends a second moving instruction to the battery unloading and swapping device 12B, where the second moving instruction is used to instruct the battery unloading and swapping device 12B to be parked at the second preset waiting position in advance. The battery discharge and replacement device 12B is further configured to execute the second movement instruction. The second preset waiting position is related to the preset battery swapping position, and may be the same position as the preset battery swapping position or a position near the preset battery swapping position (for the description of the preset battery swapping position, refer to embodiment 6).

The determining whether the preset battery replacement position is in a parking-able state may specifically include:

when the following conditions are met simultaneously, the preset transposition potential is set to be in a mooring state, otherwise, the preset transposition 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 exists for the battery unloading and replacing device 12B to move to the preset battery replacing position;

condition (3): when the battery unloading and replacing device 12B is predicted to be parked at the preset battery replacing position, the battery unloading and replacing device 12B cannot block the electric vehicle running into the vehicle loading platform.

Whether the condition (3) can be met or not is generally related to the structure of the vehicle carrying platform.

Taking the vehicle loading platform with the first structure in embodiment 6 as an example, since the electric vehicle is parked on the vehicle loading platform when the electric vehicle is switched, and the preset switching position is usually located below the vehicle loading platform, even if the battery discharge and switching device 12B is parked at the preset switching position before the electric vehicle enters the vehicle loading platform, the battery discharge and switching device 12B does not block the electric vehicle entering the vehicle loading platform, and the condition (3) can be satisfied.

Taking the vehicle loading platform with the second structure in embodiment 6 as an example, since the electric vehicle is parked on the lifting platform when the electric vehicle is switched, and the preset switching position is usually located above the vehicle loading platform, if the battery discharge and switching device 12B is parked at the preset switching position before the electric vehicle drives into the vehicle loading platform, the battery discharge and switching device 12B is likely to block the driven electric vehicle when the electric vehicle drives into the vehicle loading platform. 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 second preset waiting position and the preset transposition potential are in the same position. When the preset battery swapping position is in an unparked state, the second preset waiting position is a position which is not more than a second distance threshold from the preset battery swapping position, namely a position near the preset battery swapping 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 swapping operation process, the control unit 11 determines whether the second preset waiting position where the battery unloading and swapping device 12B is located is the same as the preset swapping position:

if yes, sending a battery unloading instruction to the battery unloading and replacing device 12B, where the battery unloading instruction is used to instruct the battery unloading and replacing device 12B to take down the power-deficient battery from the electric vehicle; the battery unloading and replacing equipment 12B is further configured to execute the battery unloading instruction;

if not, sending a fine-tuning instruction to the battery unloading and replacing device 12B, where the fine-tuning instruction is used to instruct the battery unloading and replacing device 12B to move from the second preset waiting position to the preset battery replacing position; the battery unloading and replacing device 12B is configured to execute the fine adjustment instruction; then, the control unit 11 sends the battery unloading instruction to the battery unloading and replacing device 12B; the battery unloading and replacing device 12B is further configured to execute the battery unloading instruction.

In the battery replacement operation process, the control unit 11 is further configured to scan the license plate of the electric vehicle when the electric vehicle is parked behind a vehicle-carrying platform or the license plate of the electric vehicle can be observed, determine the battery model suitable for the electric vehicle through the license plate, select the first placing frame 13A, configure the battery loading and replacing device 12A, send a battery taking instruction to the battery loading and replacing device 12A, and the battery taking instruction is used for instructing the battery loading and replacing device 12A to take down the battery to be loaded from the first battery placing frame. The battery charging and replacing device 12A is further configured to execute the battery taking instruction.

The control unit 11 is further configured to send a first moving instruction to the battery loading and swapping device 12A after the battery loading and swapping device 12A executes the battery fetching instruction, where the first moving instruction is used to instruct the battery loading and swapping device 12A to be parked at a first preset waiting position in advance, and the first preset waiting position is a position which is not more than a first distance threshold from the vehicle loading platform. The battery charging and replacing device 12A is further configured to execute the first movement instruction.

The control unit 11 is further configured to send a battery loading instruction to the battery loading and swapping device 12A after the battery loading and swapping device 12A executes the fifth moving instruction, where the battery loading instruction is used to instruct the battery loading and swapping device 12A to load the battery to be loaded into the electric vehicle. The battery charging and replacing device 12A is further configured to execute the battery charging instruction. At this point, after the battery replacement of the electric vehicle is finished, the control unit 11 commands the battery charging and replacing device 12A 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 8

Fig. 5 shows a power swapping control method of the present embodiment. The battery replacement control method comprises the following steps:

and step 21, determining the type of the battery suitable for the electric vehicle to be replaced.

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. The battery placing rack is provided with a plurality of battery placing bins for placing batteries, the first condition is set to be that the batteries of the battery types are placed, and the batteries suitable for the electric vehicle are generally the same as the battery types used by the electric vehicle.

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 condition is configured to have an empty battery compartment.

And 24, configuring at least one of the at least two battery replacement devices as a battery charging device. The battery loading and replacing equipment is used for transporting a battery to be loaded, and the battery to be loaded is a battery which is taken down from the first battery placing frame, has the battery model and is to be installed on the electric vehicle.

And 25, configuring at least one battery replacement device in the at least two battery replacement devices as a battery unloading and replacing device. The battery unloading and replacing equipment is used for transporting a power-shortage battery, and the power-shortage battery is a battery which is taken down from the electric vehicle and is to be placed in the empty battery placing bin.

The above sequence of steps is only one possible order of the above steps, and in other embodiments, the above steps may be in other sequences, such as executing step 23 first, then executing step 25, step 21, step 23, and step 24 in sequence, or executing step 21 first, then executing step 22, step 24, step 23, and step 25 in sequence.

In the embodiment, the type of the battery suitable for the electric vehicle is confirmed, so that the first battery placing frame is convenient to select and the battery to be placed is convenient to fetch; in the whole process of replacing the battery for the vehicle, two battery replacing devices are used, namely a battery loading and replacing device and a battery unloading and replacing device, the moving track of the battery loading and replacing device is arranged between a first battery placing frame and the electric vehicle, so that the transportation of the battery to be loaded is realized, the moving track of the battery unloading and replacing device is arranged between the electric vehicle and a second battery placing frame, so that the transportation of the battery lack is realized, the two battery replacing devices have different duties respectively and complete a battery replacing task together, so that the whole battery replacing time is at least shortened by half compared with the time for replacing the battery by only one battery replacing device, and the battery replacing speed and efficiency are improved.

Example 9

The power swapping control method of this embodiment is a further improvement on the basis of embodiment 8, 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 frame.

Specifically, the first condition may be set to a fully charged battery in which the battery model is placed. Correspondingly, step 22 specifically includes: and judging whether the at least one battery placing frame has a battery placing frame meeting the first condition, if so, selecting one battery placing frame from the at least one battery placing frame as the first battery placing frame. If the battery placing rack meeting the first condition does not exist, an alarm signal can be sent out 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 may be preferentially 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 to be set to place the battery with the highest battery model and the highest electric quantity. Correspondingly, step 22 specifically includes: the first condition is defaulted to be set as placing the battery model and the fully charged battery, whether the battery placing rack meeting the defaulted first condition exists in the at least one battery placing rack is judged, if yes, one battery placing rack is selected from the battery placing rack as the first battery placing rack, and if not, then:

and modifying the first condition into a condition for placing the battery with the highest battery model and the highest electric quantity, judging whether the at least one battery placing frame has a battery placing frame which meets the current first condition, and if so, selecting one battery placing frame from the at least one battery placing frame as the first battery placing frame. 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 battery placing bin may further include a battery charging circuit for charging the battery, and the battery replacement control method monitors the electric quantity of each battery in real time, so as to facilitate selection of the first battery placing rack.

Example 10

The battery replacement control method in this embodiment is a further improvement on the basis of embodiment 8 or 9, and is mainly embodied in selection of the first battery holder and the second battery holder. 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 battery replacement control method can further set the selection requirements of the first battery placing frame and the second battery placing frame 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 may specifically include:

judging whether the battery placing rack meeting the first condition exceeds one, if so, then:

randomly selecting one battery placing rack from the battery placing racks meeting the first condition as the first battery placing rack;

or, in order to shorten the moving distance and moving time of the battery loading and replacing equipment and accelerate the battery replacing efficiency, a battery placing frame closest to the electric vehicle or a battery placing frame closest to a vehicle carrying platform frame for parking the electric vehicle is selected from the battery placing frames meeting the first condition to serve as the first battery placing frame.

Of course, if there is only one battery rack meeting the first condition, it is usually only used as the first battery rack.

Likewise, in order to deal with the situation that two or more battery placing racks meet the second condition at the same time, step 23 may specifically include:

judging that the battery placing rack meeting the second condition exceeds one, if so, then:

randomly selecting one battery placing frame as the second battery placing frame from the battery placing frames meeting the second condition;

or, in order to shorten the moving distance and moving time of the battery unloading and replacing equipment and accelerate the battery replacing efficiency, a battery placing rack closest to the electric vehicle or a battery placing rack closest to a vehicle carrying platform rack for parking the electric vehicle is selected from the battery placing racks meeting the second condition to serve 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 movement distance of battery loading and replacing equipment/battery unloading and replacing equipment, the battery placement racks can be arranged on two sides of the vehicle loading platform along the direction that 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 11

The battery replacement control method in this embodiment is a further improvement on the basis of embodiment 8 or 9, and is mainly embodied in the selection of the first battery holder and the second battery holder. Unlike embodiment 10, in this embodiment, the first battery holder and the second battery holder are selected with a certain degree of consideration given to the relationship therebetween.

The battery replacement control method further comprises the following steps:

if not, respectively selecting a first battery placing frame from the battery placing frames meeting the first condition and selecting a second battery placing frame from the battery placing frames meeting the second condition according to the scheme of the embodiment 10;

if the multifunctional battery placing rack exists, the multifunctional battery placing rack is preferentially utilized, and the identity of the multifunctional battery placing rack is configured in any one of the following four ways:

firstly, the multifunctional battery placing rack is used as the first battery placing rack and the second battery placing rack at the same time.

And secondly, the multifunctional battery placing frame is used as any one of the first battery placing frame and the second battery placing frame.

Thirdly, in order to keep the balance of the battery placing rack meeting the first condition and the battery placing rack meeting the second condition in terms of number, taking any one of the following conditions as a necessary condition for taking the multifunctional battery placing rack as the first battery placing rack:

condition (4): in the rest battery placing racks, the number of the battery placing racks meeting the first condition is less than a first number threshold value.

Fourthly, in order to keep the balance of the battery placing rack conforming to the first condition and the battery placing rack conforming to the second condition in terms of number, any one condition is taken as a necessary condition for taking the multifunctional battery placing rack as a second battery placing rack:

condition (2): in the rest of the battery placing racks, the number of the battery placing racks meeting the second condition is less than that of the battery placing racks meeting the first condition;

condition (3): among the rest of the battery placing frames, the number of the battery placing frames meeting the second condition is less than that of the battery placing frames meeting the first condition, and the absolute value of the difference value between the two is less than a second difference threshold value;

condition (4): in the rest of the battery placing racks, the number of the battery placing racks meeting the second condition is less than a second number threshold value.

Example 12

The battery replacement control method in this embodiment is a further improvement on the basis of embodiment 8, and is mainly embodied in the configuration of the battery charging and replacement device in step 24 and the configuration of the battery discharging and replacement device in step 25. The battery replacing device can be roughly divided into two types:

the single-function battery replacing device has a single structure, and can be provided with a first structure and only configured to be a battery replacing device, or provided with a second structure and only configured to be a battery disassembling and replacing device;

the multifunctional battery replacing equipment has a complex structure, has the first structure and the second structure and can be configured to be any one of battery unloading and replacing equipment and battery loading and replacing equipment.

The first structure comprises a structure required for realizing that the battery to be installed is taken down from the first battery placing frame and is installed on the electric vehicle, for example, a grabbing mechanism for taking the battery to be installed down from the first battery placing frame, a lifting mechanism for installing the battery to be installed on the electric vehicle, and the like.

The second structure includes a structure required for realizing that the power-shortage battery is taken off from the electric vehicle and placed in the second battery placing frame, for example, an unlocking mechanism for unlocking the power-shortage battery from the electric vehicle, a placing mechanism for placing the power-shortage battery in the second battery placing frame, and the like.

In the battery swapping control method in this embodiment, the at least two battery swapping devices may be both single-function battery swapping devices (but both the single-function battery swapping device with the first structure and the single-function battery swapping device with the second structure need to be provided); or, the power supply equipment is multifunctional power changing equipment; or part of the single-function battery replacing equipment is the multifunctional battery replacing equipment.

In order to shorten the moving distance and moving time of the battery charging and replacing device and increase the battery replacing efficiency, the battery replacing device configured as the battery charging and replacing device in step 24 is preferably the battery replacing device closest to the first battery placing rack. Specifically, step 24 is performed after the first battery placing rack is selected in step 22, and may include: determining the position of the first battery placing frame, screening the single-function battery replacing equipment and the multifunctional battery replacing equipment with the first structures, respectively calculating the distance from each single-function battery replacing equipment and the multifunctional battery replacing equipment with the first structures to the first battery placing frame, and selecting one battery replacing equipment with the closest distance to be configured as battery loading and replacing equipment.

In order to shorten the moving distance and moving time of the battery unloading and replacing device and to accelerate the battery replacing efficiency, the battery replacing device configured as the battery unloading and replacing device in step 25 is preferably the battery replacing device closest to the electric vehicle or the battery replacing device closest to a vehicle loading platform for parking the electric vehicle. Specifically, step 25 may include: screening the single-function battery replacing equipment and the multifunctional battery replacing equipment with the second structures, respectively calculating the distance from each single-function battery replacing equipment and the multifunctional battery replacing equipment with the second structures to the electric vehicle or the vehicle carrying platform, and selecting the battery replacing equipment with the nearest distance to be configured as the battery unloading and replacing equipment.

And 24, when the battery replacing device is configured, preferably selecting the battery replacing device which is in a binding relationship with the first battery placing frame, or selecting the battery replacing device which is in a binding relationship with the first battery placing frame and is closest to the first battery placing frame. Specifically, step 24 may include: after the first battery placing frame is selected, the single-function battery replacing equipment and the multifunctional battery replacing equipment which are in binding relation with the first battery placing frame and have a first structure are screened, one of the single-function battery replacing equipment and the multifunctional battery replacing equipment is randomly selected to be configured as battery loading and replacing equipment, or the position of the first battery placing frame is further determined, the distances from the screened battery replacing equipment to the first battery placing frame are respectively calculated, and the battery replacing equipment which is closest to the selected battery replacing equipment is selected to be configured as battery loading and replacing equipment.

And 25, when the battery unloading and replacing equipment is configured, preferably selecting the battery replacing equipment which is in a binding relationship with the second battery placing frame, or selecting the battery replacing equipment which is in a binding relationship with the second battery placing frame and is closest to the electric vehicle or selecting the battery replacing equipment which is closest to a vehicle carrying platform frame for parking the electric vehicle. Specifically, step 25 may include: after the second battery placing frame is selected, the single-function battery replacing equipment and the multifunctional battery replacing equipment which are in binding relation with the second battery placing frame and have the second structure are screened, one of the single-function battery replacing equipment and the multifunctional battery replacing equipment is randomly selected to be configured as battery unloading and replacing equipment, or the distance from the screened battery replacing equipment to the electric vehicle or the distance from the screened battery replacing equipment to the vehicle loading platform is further respectively calculated, and the battery replacing equipment which is closest to the selected battery replacing equipment is selected to be configured as battery unloading and replacing equipment.

Example 13

The battery swapping control method of this embodiment is a further improvement on the basis of embodiment 8, and is mainly embodied in a battery swapping control process of the battery swapping control method. As shown in fig. 6, the power exchange control process in this embodiment is divided into a power exchange preparation process before the electric vehicle is parked on the vehicle platform and a power exchange operation process after the electric vehicle is parked on the vehicle platform.

In the battery swapping preparation process, the battery swapping control method includes: and selecting the second battery placing rack in advance, and then configuring battery unloading and replacing equipment. The method for selecting the second battery placing rack can be seen in examples 9-11, and the method for configuring the battery discharging and replacing device can be seen in example 12.

In the battery swapping operation flow, the battery swapping control method includes: and commanding the battery unloading and replacing device to move and park at a preset battery replacing position.

And after the electric vehicle is parked at the vehicle loading platform and the battery unloading and replacing device is parked at the preset battery replacing position, the battery unloading and replacing device is commanded to take the battery short of the electric vehicle down.

In this embodiment, the preset battery replacing position is a position suitable for taking a battery from an electric vehicle parked on the vehicle-carrying platform, and it can be understood that when the battery discharging and replacing device is located at the preset battery replacing position, the battery discharging and replacing device can take the battery from the electric vehicle parked on the vehicle-carrying platform through the least actions. The preset battery replacement position may specifically be determined to be located below or above the vehicle loading platform according to a structure of the vehicle loading platform (for a specific description of the preset battery replacement position, refer to embodiment 6).

The preset battery replacing position can be further set according to the structure of the vehicle loading platform and by combining a second structure of the battery unloading and replacing equipment, the conditions such as the moving path of the second structure when the battery is short of electricity are taken.

After the battery unloading and replacing device takes the power-shortage battery from the electric vehicle, the battery unloading and replacing device is commanded to move to the second battery placing frame and place the power-shortage battery in the empty battery placing bin.

In the battery swapping operation flow, the battery swapping control method further includes: when the electric vehicle is parked behind a vehicle carrying platform or the license plate of the electric vehicle can be observed, the license plate of the electric vehicle is scanned, the battery model suitable for the electric vehicle is determined through the license plate, the first battery placing frame is further selected, then battery loading and replacing equipment is configured, and the battery loading and replacing equipment is instructed to take down the battery to be loaded from the first battery placing frame. The method for selecting the first battery placing rack can be referred to in examples 9 to 11, and the method for configuring the battery replacement device can be referred to in example 12.

And after the battery unloading and replacing device leaves the preset battery replacing position or leaves the preset battery replacing position and exceeds a third distance threshold value, commanding the battery loading and replacing device to move to the preset battery replacing position.

After the battery loading and replacing device moves to the preset battery replacing position, the battery loading and replacing device is instructed to load the battery to be loaded into the electric vehicle. And finishing the battery replacement of the electric vehicle.

And finally, commanding the battery charging and replacing equipment to drive away from the preset battery replacing position.

Example 14

The battery swapping control method of this embodiment is a further improvement on the basis of embodiment 8, and is mainly embodied in a battery swapping control process of the battery swapping control method. In this embodiment, the power exchange control process includes a power exchange preparation process before the electric vehicle is parked on the vehicle-carrying platform and a power exchange operation process after the electric vehicle is parked on the vehicle-carrying platform. As shown in fig. 7, in the power swapping preparation flow and the power swapping operation flow, the power swapping control method includes steps different from those in embodiment 13.

In the battery swapping preparation process, the battery swapping control method includes: and pre-selecting the second battery placing frame, completing configuration of the battery unloading and replacing equipment and commanding the battery unloading and replacing equipment to complete a part of operations so as to save battery unloading time. The method for selecting the second battery placing rack can be seen in examples 9-11, and the method for configuring the battery discharging and replacing device can be seen in example 12.

Wherein commanding the battery discharge and replacement device to complete a portion of operations, including: and judging whether the preset battery replacement position is in a berthable state or not, setting a second preset waiting position according to the berthable state, and commanding the battery unloading and replacement equipment to be berthed at the second preset waiting position in advance. The second preset waiting position is related to the preset battery swapping position, and may be the same position as the preset battery swapping position or a position near the preset battery swapping position (for a specific description of the preset battery swapping position, refer to embodiment 6).

condition (1): the preset battery replacement position is a vacant position;

condition (2): a path for the battery unloading and replacing equipment to move to the preset battery replacing position exists;

condition (3): when the battery unloading and replacing device is predicted to be parked at the preset battery replacing position, the battery unloading and replacing device cannot block the electric vehicle running into the vehicle loading platform.

Whether the condition (3) can be met is generally related to the structure of the vehicle carrying platform.

And when the preset transposition potential is in a berthable state, the second preset waiting position and the preset transposition potential are in the same position. When the preset power swapping position is in the non-berthable state, the second preset waiting position is a position which is not more than a second distance threshold value from the preset power swapping position, namely a position near the preset power swapping position.

And then, completing the 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 a second preset waiting position where the battery unloading and replacing equipment is located is the same as the preset replacing position or not:

if so, commanding the battery unloading and replacing equipment to remove the power-lack battery from the electric vehicle;

if not, commanding the battery unloading and replacing equipment to move from the second preset waiting position to the preset battery replacing position; then, the battery discharge and replacement device is commanded to remove the short-of-battery from the electric vehicle.

After the battery unloading and replacing device executes the battery unloading instruction, the battery unloading and replacing device is instructed to move to the second battery placing frame and place the power-lack battery in the empty battery placing bin.

In the battery swapping operation flow, the battery swapping control method further includes: when the electric vehicle is parked behind a vehicle carrying platform or the license plate of the electric vehicle can be observed, the license plate of the electric vehicle is scanned, the battery model suitable for the electric vehicle is determined through the license plate, the first placing frame is selected, then battery loading and replacing equipment is configured, and the battery loading and replacing equipment is instructed to take down the battery to be loaded from the first battery placing frame.

And after the battery unloading and replacing equipment leaves the preset battery replacing position or leaves the preset battery replacing position and exceeds a third distance threshold value, commanding the battery loading and replacing equipment to move to the preset battery replacing position.

And after the battery charging and replacing device moves to the preset charging and replacing position, commanding the battery charging and replacing device to load the battery to be charged into the electric vehicle. And finishing the battery replacement of the electric vehicle.

And commanding the battery charging and replacing equipment to drive away from the preset battery replacing position.

According to the power exchange control method, partial control is completed in the power exchange preparation process, the power exchange time after the electric vehicle drives into the vehicle carrying platform is greatly shortened, and the power exchange efficiency is improved.

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

1. A battery swapping control system, comprising: the control unit and the at least two battery replacement devices;

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 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;

the control unit is further configured to configure at least one of the at least two battery swapping devices as a battery charging and swapping device, and configure at least one of the at least two battery swapping devices as a battery discharging and swapping device;

the battery loading and replacing equipment is used for transporting a battery to be loaded, and the battery to be loaded is a battery which is taken down from the first battery placing frame, has the battery type and is to be installed on the electric vehicle;

the battery unloading and replacing equipment is used for transporting a power-lack battery, and the power-lack battery is a battery which is taken down from the electric vehicle and is to be placed in the empty battery placing bin.

2. The battery replacement control system according to claim 1, wherein the control unit is further configured to monitor the battery capacity of a battery placed on the battery placement rack;

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.

3. The battery replacement control system according to claim 1 or 2, wherein 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 rack meeting the first condition exists, 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;

and/or the control unit is further used for randomly selecting one battery placing rack from the battery placing racks meeting the second condition as the second battery placing rack when more than one battery placing rack meeting the second condition exists, or selecting one battery placing rack closest to the electric vehicle or the vehicle carrying platform as the second battery placing rack.

4. 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:

the rest of the battery placing racks do not meet the first condition;

the rest of the battery placing racks do not meet the second condition;

5. The battery replacement control system as claimed in claim 1, wherein the battery placement bin is further configured to charge a battery.

6. The battery swapping control system of claim 1, wherein the at least two battery swapping devices are single-function battery swapping devices;

or, the power supply equipment is multifunctional power changing equipment;

or part of the single-function battery replacing equipment is multifunctional battery replacing equipment;

7. The battery swapping control system of claim 1, wherein the battery swapping device configured to load the battery swapping device is the closest battery swapping device to the first battery holding rack;

or each battery placing rack and at least one battery replacing device have a preset binding relationship; the battery replacing device configured to be the battery replacing device which is in binding relationship with the first battery placing rack, or the battery replacing device which is in binding relationship with the first battery placing rack and is closest to the first battery placing rack; the battery replacement equipment configured as the battery unloading and replacement equipment is the battery replacement equipment which has a binding relationship with the second battery placing rack, or the battery replacement equipment which has a binding relationship with the second battery placing rack and is closest to the electric vehicle or a vehicle carrying platform for parking the electric vehicle.

8. The battery replacement control system of claim 1, wherein the control unit is further configured to send a battery taking instruction to the battery loading and replacement device after the first battery placing frame is selected, wherein the battery taking instruction is used for instructing the battery loading and replacement device to take down the battery to be loaded from the first battery placing frame;

the control unit is further configured to send a first moving instruction to the battery loading and replacing device after the battery loading and replacing device finishes executing the battery taking instruction, where the first moving instruction is used to instruct the battery loading and replacing device to be parked at a first preset waiting position in advance, and the first preset waiting position is a position which is not more than a first distance threshold from a vehicle loading platform used for parking the electric vehicle;

the battery charging and replacing device is further used for executing the first moving instruction.

9. 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 model suitable for the electric vehicle through the license plate.

10. The battery swap control system of claim 1, wherein the control unit is further configured to send a second movement instruction to the battery discharge and swap apparatus before the electric vehicle is parked on the vehicle loading platform, the second movement instruction being configured to command the battery discharge and swap apparatus to be parked at a second preset waiting position in advance; the battery unloading and replacing device is also used for executing the second moving instruction.

11. The battery swap control system of claim 10, wherein the second predetermined wait position is the same position as the predetermined battery swap position when the predetermined battery swap position is in a berthable state, the predetermined battery swap position being a position suitable for battery retrieval from an electric vehicle parked at the vehicle platform.

12. The battery swapping control system according to claim 10, wherein when the preset swapping position is in the non-parking state, the second preset waiting position is a position which is not more than a second distance threshold from the preset swapping position, and the preset swapping position is a position suitable for taking a battery from an electric vehicle parked on the vehicle carrying platform;

13. The battery swapping control system according to claim 11 or 12, wherein the preset swapping potential is set to the berthable state when the following conditions are simultaneously satisfied, otherwise, the preset swapping potential is set to the berthable state:

the preset battery replacement position is a vacant position;

14. The battery replacement control system according to claim 11 or 12, wherein the preset battery replacement position is determined to be located below or above the vehicle-mounted platform according to a structure of the vehicle-mounted platform.

15. The battery swap control system of claim 1, wherein the control unit is further configured to send a third movement instruction to the battery discharge and swap apparatus after the electric vehicle is parked on the vehicle loading platform, the third movement instruction being used to command the battery discharge and swap apparatus to move and park at a preset swap position, the preset swap position being a position suitable for taking a battery from the electric vehicle parked on the vehicle loading platform; the battery unloading and replacing device is also used for executing the third moving instruction.

16. The battery swap control system according to any one of claims 11, 12 and 15, wherein the control unit is further configured to send a battery unload instruction to the battery unload apparatus after the electric vehicle is parked at the vehicle loading platform and the battery unload apparatus is parked at the preset battery swap position, the battery unload instruction being configured to instruct the battery unload apparatus to remove the short battery from the electric vehicle;

17. The battery swapping control system according to any one of claims 11, 12 and 15, wherein the control unit is further configured to send a fifth moving instruction to the battery charging and swapping device after the battery unloading and swapping device leaves the preset swapping position or leaves the preset swapping position beyond a third distance threshold, where the fifth moving instruction is used to command the battery charging and swapping device to move to the preset swapping position;

18. A battery replacement control method is characterized by comprising the following steps:

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; 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;

configuring at least one of at least two battery replacing devices as a battery loading and replacing device, wherein the battery loading and replacing device is used for transporting a battery to be loaded, and the battery to be loaded is a battery which is taken down from the first battery placing frame, has the battery model and is to be installed on the electric vehicle;

19. The battery swapping control method of claim 18, further comprising: monitoring the electric quantity of a battery placed on the battery placing frame;

20. The battery swapping control method of claim 18 or 19, further comprising:

21. The battery swapping control method of claim 18, further comprising:

if so, then:

the rest of the battery placing racks do not meet the first condition;

the rest of the battery placing racks do not meet the second condition;

22. The battery swapping control method of claim 18, wherein the at least two battery swapping devices are single-function battery swapping devices;

or, the power supply equipment is multifunctional power changing equipment;

23. The battery swapping control method of claim 18, wherein the battery swapping device configured as the battery loading and swapping device is the closest battery swapping device to the first battery holding rack;

24. The battery swapping control method of claim 18, further comprising:

after the battery loading and replacing equipment takes the battery to be loaded down from the first battery placing frame, the battery loading and replacing equipment is instructed to be pre-parked at a first preset waiting position, and the first preset waiting position is a position which is not more than a first distance threshold value away from a vehicle loading platform for parking the electric vehicle.

25. The battery replacement control method according to claim 18, wherein the determining of the battery model applicable to the electric vehicle to be replaced specifically includes:

26. The battery swapping control method of claim 18, further comprising:

27. The battery replacement control method according to claim 26, wherein when a preset replacement potential is set to a parking-enabled state, the second preset waiting position is set to the same position as the preset replacement potential, and the preset replacement position is a position suitable for taking a battery from an electric vehicle parked on the vehicle carrying platform.

28. The battery swapping control method of claim 26, wherein when a preset battery swapping position is in an un-berthable state, the second preset waiting position is a position which is not more than a second distance threshold from the preset battery swapping position, and the preset battery swapping position is a position suitable for taking a battery from an electric vehicle parked on the vehicle carrying platform;

the battery replacement control method further comprises the following steps: and after the electric vehicle is parked on the vehicle loading platform, commanding the battery unloading and replacing device to move from the second preset waiting position to the preset battery replacing position.

29. The battery replacement control method according to claim 27 or 28, wherein the preset replacement potential is set to the parking-enabled state when the following conditions are simultaneously satisfied, otherwise, the preset replacement potential is set to the parking-disabled state:

the preset battery replacement position is a vacant position;

30. The battery replacement control method according to claim 27 or 28, wherein the preset battery replacement position is determined to be located below or above the vehicle-carrying platform according to a structure of the vehicle-carrying platform.

31. The battery swapping control method of claim 18, further comprising:

32. The battery replacement control method according to any one of claims 27, 28 and 31, further comprising:

after the electric vehicle is parked at the vehicle loading platform and the battery unloading and replacing device is parked at the preset battery replacing position, commanding the battery unloading and replacing device to take the battery short of the electric vehicle down;

33. The battery replacement control method according to any one of claims 27, 28 and 31, further comprising: