CN115257657A - Battery replacement system and battery replacement method thereof - Google Patents
Battery replacement system and battery replacement method thereof Download PDFInfo
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- CN115257657A CN115257657A CN202211055753.3A CN202211055753A CN115257657A CN 115257657 A CN115257657 A CN 115257657A CN 202211055753 A CN202211055753 A CN 202211055753A CN 115257657 A CN115257657 A CN 115257657A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004146 energy storage Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 64
- 230000002457 bidirectional effect Effects 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 15
- 239000000126 substance Substances 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 abstract description 5
- 238000010248 power generation Methods 0.000 abstract description 5
- 230000003993 interaction Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000002567 autonomic effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses a battery replacing system and a battery replacing method thereof, wherein the system comprises a centralized control center and a battery replacing station, the battery replacing station comprises a battery replacing bin, a battery bin and an autonomous robot, the centralized control center comprises a battery replacing centralized control unit, a vehicle to be replaced is parked through the battery replacing bin, vehicle information of the vehicle to be replaced is acquired, and the vehicle information is acquired; the vehicle information is received through the battery replacement centralized control unit, a control instruction is generated according to the vehicle information, the control instruction is sent to the autonomous robot, the autonomous robot is controlled to lift a power-shortage battery pack on the vehicle to be replaced off and convey the power-shortage battery pack to a battery compartment, and a full-charge battery pack in the battery compartment is conveyed to the battery compartment and is installed on the vehicle to be replaced. The embodiment of the invention improves the compatibility of the battery replacement vehicle and multiple batteries; the construction period of the power station is shortened; the battery replacement time is reduced, and the battery replacement efficiency is improved; the battery replacement experience is improved; the multi-party energy interaction is realized, and the application of photovoltaic power generation and energy storage in the battery replacement station is realized.
Description
Technical Field
The invention relates to the technical field of battery replacement, in particular to a battery replacement system and a battery replacement method thereof.
Background
The energy supplementing mode of the electric automobile is divided into a whole automobile charging mode and a battery quick-changing mode, and the battery changing station is an energy station for providing quick battery changing for the electric automobile. With the increasingly widespread use of various types of new energy automobiles such as pure electric vehicles, hybrid electric vehicles and the like, the quick charging time, the queuing charging time and the endurance course of the whole automobile charging become the most anxious places for the use of electric vehicles, so that the quick battery replacement of the vehicles becomes more important.
The current power conversion station mainly comprises a battery bin, a charging cabinet, a control system, an RGV and a power conversion bin. Wherein the battery compartment is internally provided with mechanisms such as lifting, roller translation, chain transmission and the like; the charging cabinet comprises a unidirectional charging module and other mechanisms; the control system comprises a charging management system, a centralized control unit and other mechanisms; the RGV is composed of a rail, a scissor fork lifting mechanism, a locking mechanism and the like; the battery replacing bin is internally provided with a screw lifting/scissor fork lifting mechanism, a motor-screw transmission mechanism, a ground rail rotation mechanism and the like.
Most of the existing power change stations need to be built in a civil manner and constructed by digging pits. After a vehicle enters a battery replacing station and stops on a battery replacing platform, the vehicle is positioned through a V-shaped roller, a motor-screw mechanism and the like, and the vehicle is lifted to a certain height by a four-column lifting device or a lifting mechanism for lifting a two-tire platform on the battery replacing platform, so that an RGV can conveniently move to the bottom of the vehicle to unlock the battery, and the insufficient battery is unloaded from the vehicle. The RGV directly conveys the power-deficient battery to a lifting mechanism of the battery compartment, stores the power-deficient battery in the battery compartment through the lifting mechanism, takes out the fully-charged battery from the battery compartment, puts the fully-charged battery on the RGV, and moves to the bottom of the vehicle through the RGV to replace the fully-charged battery on the vehicle.
The mode that adopts two RGVs to change the battery also has, and first RGV walks to the car bottom from vehicle one side and dismantles the insufficient voltage battery earlier, and the RGV irrotational direct transport is deposited to the battery compartment of vehicle opposite side, and the second RGV bears the full charge battery and is gone to the car bottom along first orbit and adorn the vehicle with the full charge battery.
The current power station has the following defects: 1. the existing battery replacement station is only suitable for replacing batteries of a single vehicle type, and the batteries of a single battery are replaced; 2. the existing power station needs civil construction, pit digging and landfill, concrete pouring and ground rail laying; 3, the RGV positioning precision and the vehicle positioning precision are not high, and large errors exist; the RGV cannot compensate the positioning error by self, so that the power conversion success rate is further improved; 5. frequent and long time-consuming battery replacement operation and low battery transmission efficiency; 6. the vehicle owner battery replacement experience is poor; 7. requiring personnel to be stationed, etc.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a battery replacement system and a battery replacement method thereof.
On one hand, the battery replacing system comprises a centralized control center and a battery replacing station, wherein the battery replacing station can communicate with the centralized control center, the battery replacing station comprises a battery replacing bin, a battery bin and an autonomous robot, the centralized control center comprises a battery replacing centralized control unit, wherein,
the power conversion centralized control unit is used for realizing control management of the power conversion bin, the battery bin and the autonomous robot;
the battery swapping bin is used for parking a vehicle to be swapped, acquiring vehicle information and sending the vehicle information to the battery swapping centralized control unit;
the battery compartment is used for storing and dispatching battery packs;
the autonomous robot is used for unloading the insufficient-voltage battery pack on the vehicle to be replaced and conveying the insufficient-voltage battery pack into the battery bin, and conveying the full-voltage battery pack in the battery bin into the battery bin and installing the full-voltage battery pack on the vehicle to be replaced.
Preferably, the power transfer cabin comprises a recognition device, and the recognition device comprises a license plate recognizer and a gate; wherein the content of the first and second substances,
the license plate recognizer is used for acquiring license plate information of a vehicle to be replaced and sending the license plate information to the battery replacement centralized control unit;
the battery replacement centralized control unit is used for receiving the license plate information, judging whether a battery replacement vehicle is a target vehicle according to the license plate information, generating a switching-off instruction when the battery replacement vehicle is the target vehicle, and sending the switching-off instruction to the gate machine;
the gate is used for receiving the switching-off command, controlling the gate to be opened according to the switching-off command, and allowing the vehicle to be switched to enter the power switching cabin.
Preferably, the power change bin comprises a positioning device; wherein the content of the first and second substances,
the positioning equipment is used for acquiring the position information of the vehicle to be subjected to battery replacement and sending the position information to the battery replacement centralized control unit;
the battery swapping centralized control unit is used for receiving the position information, generating a battery swapping instruction according to the position information and sending the battery swapping instruction to the autonomous robot;
the autonomous robot is used for receiving the battery replacing instruction, unloading the power-shortage battery pack on the vehicle to be replaced according to the battery replacing instruction, conveying the fully-charged battery pack in the battery bin to the battery replacing bin, and installing the fully-charged battery pack on the vehicle to be replaced.
Preferably, the battery compartment comprises a battery rack and a stacker; wherein the content of the first and second substances,
the battery rack is used for storing battery packs;
the battery replacement centralized control unit is used for generating a pre-stored instruction when the vehicle to be replaced is a target vehicle and sending the pre-stored instruction to the stacker;
the stacker is used for receiving the pre-stored instruction and placing the fully charged battery pack at a target cache position of the battery rack according to the pre-stored instruction so as to pre-store the fully charged battery pack.
Preferably, the interactive manipulator assembly comprises a power mechanism and two manipulator units; wherein the content of the first and second substances,
the two manipulator units are used for placing a pre-stored full-charge battery pack;
the power mechanism is used for detecting whether a full-charge battery pack is placed on the two manipulator units, and when the full-charge battery pack is placed on the two manipulator units, the two manipulator units are controlled to move in detail or move in the reverse direction so as to position the full-charge battery pack.
Preferably, the centralized control center further comprises a charging centralized control unit, the battery replacement system further comprises a charging system, and the charging system comprises an energy storage transformer, a bidirectional converter, a super charging pile, a photovoltaic converter and a monitoring management system; wherein the content of the first and second substances,
the charging centralized control unit is connected with a monitoring management system, the monitoring management system is respectively connected with a bidirectional converter, an overcharging pile and a photovoltaic converter, the energy storage transformer is connected with a power grid through a converter, the bidirectional converter is connected with the energy storage transformer, the overcharging pile is respectively connected with the energy storage transformer, and the photovoltaic converter is connected with the energy storage transformer and a photovoltaic panel; wherein the content of the first and second substances,
the charging centralized control unit is used for managing and controlling a monitoring management system, and the monitoring management system is used for managing and controlling the bidirectional converter, the super charging pile and the photovoltaic converter so as to realize multiple working modes, wherein the multiple working modes comprise a battery pack power supply mode, a photovoltaic panel power supply mode and a power grid power supply mode.
Preferably, the autonomous robot comprises a robot controller, a power unit, an induction unit, a lifting mechanism, a deviation correcting device and a second adapter plate, wherein the power unit, the induction unit, the lifting mechanism and the deviation correcting device are respectively connected with the robot controller, and the second adapter plate is respectively connected with the lifting mechanism and the deviation correcting device; wherein the content of the first and second substances,
the robot controller is used for receiving a battery replacement instruction of the battery replacement centralized control unit and controlling the power unit, the induction unit, the lifting mechanism and the deviation correction device to work according to the battery replacement instruction;
the sensing unit is used for acquiring environmental information and position information of the robot and sending the environmental data and the position information of the robot to the robot controller;
the power unit is used for controlling the autonomous robot to move to a target position corresponding to a full-charge battery to be assembled in the battery compartment or controlling the autonomous robot to move to a target position corresponding to a vehicle to be charged in the charging compartment according to the control;
the lifting mechanism is used for driving the second adapter plate to ascend or descend;
the deviation correcting device is used for adjusting the position of the second adapter plate so as to ensure that the position of the second adapter plate can be consistent with the position of a battery pack installation cavity of a vehicle to be replaced when the autonomous robot carries out a battery replacing task.
Preferably, the deviation correcting device comprises a rotating mechanism, a first deviation correcting assembly and a second deviation correcting assembly, the rotating mechanism can drive the second adapter plate to rotate on the horizontal plane, the first deviation correcting assembly can drive the second adapter plate to move left and right, and the second deviation correcting assembly can drive the second adapter plate to move back and forth.
Preferably, the output end of the lifting mechanism is connected with the lifting plate, the rotating mechanism is arranged on the lifting plate, the output end of the rotating mechanism is connected with the rotating plate, the first deviation rectifying assembly is arranged on the rotating plate, the moving part of the first deviation rectifying assembly is connected with the first adapter plate, the second deviation rectifying assembly is arranged on the first adapter plate, and the second adapter plate is connected with the moving part of the second deviation rectifying assembly.
In another aspect, a battery swapping method is performed by a battery swapping system described in any of the above, and the method includes the following steps:
the method comprises the following steps that S1, when a vehicle to be replaced stops in a battery replacing cabin, vehicle information of the vehicle to be replaced is obtained and sent to a battery replacing centralized control unit;
s2, the battery replacement centralized control unit receives the vehicle information, generates a control instruction according to the vehicle information and sends the control instruction to the autonomous robot;
and S3, the autonomous robot receives the control instruction, unloads the power-shortage battery pack on the vehicle to be switched according to the control instruction, conveys the power-shortage battery pack into a battery bin, conveys the fully-charged battery pack in the battery bin into the battery bin, and installs the fully-charged battery pack on the vehicle to be switched.
The invention has the beneficial effects that:
1. according to the technical scheme, the battery compartment and the power change compartment are built and matched with the autonomous robot, large-scale civil engineering, landfill and concrete filling are not needed, the autonomous robot can navigate, RGV ground rails are not needed to be laid, the construction period of the power change station is shortened, and the construction efficiency of the power change station is improved;
2. the power exchange bin in the technical scheme is provided with the positioning device and the recognition device, the recognition device can acquire the license plate information of the vehicle to be subjected to power exchange so as to ensure that the vehicle to be subjected to power exchange is a target vehicle, the positioning device can acquire the position information of the vehicle to be subjected to power exchange, and data support is provided for the autonomous power exchange process of the autonomous robot and the pre-storage of a full-charge battery pack, so that the power exchange efficiency and precision are improved;
3. the battery cabin in the technical scheme is provided with the stacker, the exchange manipulator assembly and the charging system, the stacker, the interactive manipulator assembly and the autonomous robot are matched, so that the quick scheduling of the battery pack can be realized, the direct-current microgrid is established through the charging system, the multi-party interconnection of energy is realized, and various working modes are realized;
4. according to the technical scheme, the sensing unit is arranged on the autonomous robot, and can scan, position and acquire coordinate points in time, avoid obstacles, realize positioning navigation of the autonomous robot, autonomously move to a specified position, realize trackless movement and dynamic compensation, and greatly improve positioning accuracy;
in addition, set up deviation correcting device among this technical scheme on the autonomic robot, deviation correcting device can rotate the battery package of placing on autonomic robot and rectify, control and rectify around, make the battery package can with the car on the accurate correspondence of battery package installation cavity to guarantee the precision and the success rate of battery package installation.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a system block diagram of a battery swapping system according to an embodiment of the present invention;
fig. 2 is a system block diagram of a charging system according to an embodiment of the present invention;
FIG. 3 is a system block diagram of an autonomous robot provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of an autonomous robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a battery swapping method according to an embodiment of the present invention;
in the figure, 32-a lifting mechanism, 33-a rotating mechanism, 34-a first deviation correcting component, 35-a second deviation correcting component, 36-a sensing unit, 37-a positioning column, 38-a second adapter plate, 39-a lifting plate, 40-a rotating plate and 41-a first adapter plate.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a battery replacement system, including a centralized control center and a battery replacement station, where the battery replacement station and the centralized control center can communicate with each other, the battery replacement station includes a battery replacement cabin, a battery cabin and an autonomous robot, and the centralized control center includes a battery replacement centralized control unit, where the battery replacement centralized control unit is used to implement control management of the battery replacement cabin, the battery cabin and the autonomous robot; the battery swapping bin is used for parking a battery swapping vehicle to obtain vehicle information and sending the vehicle information to the battery swapping centralized control unit; the battery compartment is used for storing and dispatching battery packs; the autonomous robot is used for unloading the insufficient-voltage battery pack on the vehicle to be replaced and conveying the insufficient-voltage battery pack into the battery bin, and conveying the full-voltage battery pack in the battery bin into the battery bin and installing the full-voltage battery pack on the vehicle to be replaced.
It should be noted that the vehicle information of the vehicle to be changed includes, but is not limited to, position information, license plate information, and battery pack type information.
In the embodiment of the invention, the power change cabin comprises identification equipment, wherein the identification equipment comprises a license plate identifier and a gate; the license plate recognizer is used for acquiring license plate information of a vehicle to be replaced and sending the license plate information to the battery replacement centralized control unit; the battery replacement centralized control unit is used for receiving the license plate information, judging whether a vehicle to be replaced is a target vehicle or not according to the license plate information, when the electric vehicle to be switched is a target vehicle, generating a switching-off instruction, and sending the switching-off instruction to the gate machine; the gate is used for receiving the switching-off command, controlling the gate to be opened according to the switching-off command, and allowing the vehicle to be switched to enter the power switching cabin.
Specifically, the license plate recognizer sends detected license plate information to the battery replacement centralized control unit, the battery replacement centralized control unit inquires vehicle basic information according to the license plate information, the vehicle basic information comprises vehicle types and the like, whether the vehicle is an electric vehicle capable of replacing batteries at the battery replacement station is judged according to the vehicle types, if yes, the vehicle is allowed to enter the battery replacement cabin to wait for battery replacement, and if not, the vehicle is not allowed to enter the battery replacement cabin.
According to the embodiment of the invention, through the matching of the license plate recognizer and the gate, the vehicle to be switched can be recognized and confirmed, so that the normal operation of a power switching task is ensured.
In the embodiment of the invention, the power change bin further comprises a positioning device; the positioning equipment is used for acquiring position information of a vehicle to be subjected to battery replacement and sending the position information to the battery replacement centralized control unit; the battery swapping centralized control unit is used for receiving the position information, generating a battery swapping instruction according to the position information and sending the battery swapping instruction to the autonomous robot; the autonomous robot is used for receiving the battery replacing instruction, unloading the power-shortage battery pack on the vehicle to be replaced according to the battery replacing instruction, conveying the fully-charged battery pack in the battery bin to the battery replacing bin, and installing the fully-charged battery pack on the vehicle to be replaced.
Illustratively, the positioning device includes, but is not limited to, a radar.
According to the embodiment of the invention, the position of the vehicle to be replaced can be quickly determined by arranging the positioning equipment, so that the battery replacement efficiency is improved.
In the embodiment of the invention, the battery bin comprises a battery rack and a stacker; the battery rack is used for storing battery packs, a positioning sensor is arranged on each battery pack and used for acquiring position information of each battery pack so as to facilitate tracking and positioning of the positions of the battery packs in the whole battery replacement or charging process, and the battery replacement centralized control unit is used for generating a pre-storage instruction when the vehicle to be replaced is a target vehicle and sending the pre-storage instruction to the stacker; the stacker is used for receiving the pre-stored instruction and placing the fully charged battery pack at a target cache position of the battery rack according to the pre-stored instruction so as to pre-store the fully charged battery pack.
It should be noted that one or more positioning sensors may be arranged, and may be arranged at the tail, the bottom, and the left side of the battery pack, and the target buffer position may be the lowest position of the battery rack.
When the embodiment of the invention detects that a vehicle enters the power change cabin, the stacker can automatically place the fully charged battery pack corresponding to the type of the vehicle battery to be changed at the target cache position, and the fully charged battery pack is corrected through the interactive manipulator assembly, so that the pre-storage and positioning of the fully charged battery pack are realized, and the fully charged battery pack can be quickly taken away after the autonomous robot enters the battery cabin, thereby improving the power change efficiency.
As shown in fig. 2, in the embodiment of the present invention, the system further includes a cloud server, the cloud server performs information interaction with the charging centralized control center, the centralized control center further includes a charging centralized control unit, the battery replacement system further includes a charging system, and the charging system includes an energy storage transformer, a bidirectional converter, a super charging pile, a photovoltaic converter, and a monitoring management system; the charging centralized control unit is connected with a monitoring management system, the monitoring management system is respectively connected with a bidirectional converter, an overcharging pile and a photovoltaic converter, the energy storage transformer is connected with a power grid through a converter, the bidirectional converter is connected with the energy storage transformer, the overcharging pile is respectively connected with the energy storage transformer, and the photovoltaic converter is connected with the energy storage transformer and a photovoltaic panel; the charging centralized control unit is used for managing and controlling a monitoring management system, and the monitoring management system is used for managing and controlling the bidirectional converter, the super charging pile and the photovoltaic converter so as to realize multiple working modes.
It should be noted that the photovoltaic converter may also be replaced by a photovoltaic inverter.
It should be noted that the bidirectional converter includes a single-stage DC/DC converter.
Specifically, the plurality of working modes include a battery pack power supply mode, a photovoltaic panel power supply mode and a power grid power supply mode, and specifically include the following steps: photovoltaic board power supply mode: when sunlight is sufficient in the daytime, under the application scene of the direct-current microgrid, the photovoltaic panel provides energy through the photovoltaic converter, the battery pack is charged through the bidirectional converter, when the battery pack is fully charged and an electric automobile enters the battery replacement station to be charged, the electric automobile can be charged through the super-charging pile, and when the photovoltaic power generation is redundant, grid connection can be realized through the pure energy converter; battery pack power mode: when the electricity price is at the valley point at night, the stored battery packs can store energy through the bidirectional converter, and when the electricity price is at the peak value in the day, the stored battery packs supply power to the super-charging pile through the bidirectional converter to obtain a profit; and (3) a power grid power supply mode: when sunlight is insufficient and photovoltaic power generation energy is insufficient, the power grid provides energy to charge the battery pack through the energy storage converter PCS and the bidirectional converter, and the electric automobile is charged through the super charging pile.
According to the embodiment of the invention, the bidirectional converter is adopted to realize bidirectional energy flow, and meanwhile, the application of the unidirectional charging module is compatible, and the direct-current micro-grid is constructed, so that the application of photovoltaic power generation and energy storage in the power conversion station is realized.
As shown in fig. 3 and 4, in the embodiment of the present invention, the autonomous robot includes a robot controller, a power unit, an induction unit, a lifting mechanism, a deviation correction device, and a second adapter plate, where the power unit, the induction unit, the lifting mechanism, and the deviation correction device are respectively connected to the robot controller, and the second adapter plate is respectively connected to the lifting mechanism and the deviation correction device; wherein the content of the first and second substances,
the robot controller is used for receiving a battery replacement instruction of the battery replacement centralized control unit and controlling the power unit, the induction unit, the lifting mechanism and the deviation correction device to work according to the battery replacement instruction; the sensing unit is used for acquiring environmental information and position information of the robot and sending the environmental data and the position information of the robot to the robot controller; the power unit is used for controlling the autonomous robot to move to a target position corresponding to a full-charge battery to be assembled in the battery compartment or controlling the autonomous robot to move to a target position corresponding to a vehicle to be charged in the charging compartment according to the control; the lifting mechanism is used for driving the second adapter plate to ascend or descend; the deviation correcting device is used for adjusting the position of the second adapter plate so as to ensure that the position of the second adapter plate can be consistent with the position of a battery pack installation cavity of a vehicle to be replaced or the position of the second adapter plate can be consistent with the placement position of a fully charged battery pack in the battery replacing bin when the autonomous robot performs a battery replacing task.
The deviation correcting device in this embodiment includes a rotating mechanism 33, a first deviation correcting component 34 and a second deviation correcting component 35, where the rotating mechanism 33 can drive the second adapter plate 38 to rotate on a horizontal plane, the first deviation correcting component 34 can drive the second adapter plate 38 to move left and right, and the second deviation correcting component 35 can drive the second adapter plate 38 to move back and forth. In this embodiment, the rotation mechanism 33, the first deviation rectifying assembly 34 and the second deviation rectifying assembly 35 are matched to realize the rotation, the left-right movement and the front-back movement of the second adapter plate 38, so that the battery pack placed on the second adapter plate 38 is subjected to rotation deviation rectifying, left-right deviation rectifying and front-back deviation rectifying, the battery pack can accurately correspond to a battery pack mounting cavity on a vehicle to be switched, and the accuracy and the success rate of the battery pack mounting are ensured.
In this embodiment, the output end of the lifting mechanism 32 is connected to the lifting plate 39, the rotating mechanism 33 is disposed on the lifting plate 39, the output end of the rotating mechanism 33 is connected to the rotating plate 40, the first deviation rectifying component 34 is disposed on the rotating plate 40, the moving portion of the first deviation rectifying component 34 is connected to the first adapter plate 41, the second deviation rectifying component 35 is disposed on the first adapter plate 41, and the second adapter plate 38 is connected to the moving portion of the second deviation rectifying component 35. In this embodiment, the lifting plate 39 is connected to the lifting mechanism 32, the rotating mechanism 33 is disposed on the lifting plate 39, the rotating plate 40 is connected to the rotating mechanism 33, the first deviation rectifying component 34 is disposed on the rotating plate 40, the first deviation rectifying plate 41 is connected to the moving portion of the first deviation rectifying component, and the second deviation rectifying component 34 is disposed on the first deviation rectifying plate 41, so as to implement installation and cooperation of the components.
In this embodiment, rotary mechanism 33 includes rotating electrical machines, the driving gear, driven gear and pivot, and rotating electrical machines sets up on lifter plate 39, and the driving gear cover is located on rotating electrical machines's the output shaft, and the pivot rotates and sets up on lifter plate 39, and the top and the rotor plate 40 of pivot are connected, and the driven gear cover is located in the pivot, and the driving gear meshes with driven gear, so rotating electrical machines starts and can drive rotor plate 40 and rotate, and then drives the subassembly motion on the rotor plate 40, realizes that rotary mechanism 33 drives the rotatory function of second keysets 38.
In this embodiment, the first deviation rectifying component 34 is a first motor and a first screw mechanism, the first motor can drive a moving portion of the first screw mechanism to move left and right, the moving portion of the first screw mechanism is connected with the first adapter plate 41, the first deviation rectifying component in this embodiment is a first motor and a first screw mechanism, the first motor drives the moving portion of the first screw mechanism to move, and then drives the first adapter plate 41 and the components arranged on the first adapter plate 41 to move left and right, so that the function that the first deviation rectifying component drives the second adapter plate 38 to move is realized.
In this embodiment, the second deviation rectifying component 35 is a second motor and a second screw mechanism, the second motor can drive a moving portion of the second screw mechanism to move back and forth, and the moving portion of the second screw mechanism is connected to the second adapter plate 38. In this embodiment, the second deviation rectifying component is a second motor and a second screw mechanism, and the second motor drives the moving portion of the second screw mechanism to move, so as to drive the second adapter plate 38 to move back and forth, thereby realizing the function that the second deviation rectifying component drives the second adapter plate 38 to move back and forth.
In this embodiment, the autonomous robot further includes a battery pack plugging and unplugging component, and the battery pack plugging and unplugging component is matched with a buckle on a chassis of the vehicle to be changed by using the prior art, which is not described in detail herein. In this embodiment, the top wall of the second adapter plate 38 is provided with a plurality of positioning columns 37, and when the battery pack is placed on the second adapter plate 38, the positioning columns 37 can enter the positioning holes at the bottom of the battery pack to position the battery pack on the second adapter plate 38.
To sum up, the embodiment of the present invention provides a battery swapping system, which has the following working principle: the method comprises the steps of identifying vehicle information of a vehicle to be replaced, releasing the vehicle according to license plate information, driving the vehicle into a battery replacing platform and stopping on the battery replacing platform to obtain position information of the vehicle to be replaced, moving the autonomous robot to a position corresponding to the position information according to the position information, taking down a power-shortage battery pack on the vehicle to be replaced, conveying the power-shortage battery pack to a battery bin, taking down the power-shortage battery pack on the autonomous robot by a stacking machine, taking down a fully-charged battery pack placed at a target cache position by the autonomous machine, moving to the position corresponding to the position information according to the position information of the vehicle to be replaced, and assembling the fully-charged battery on the vehicle to be replaced to complete a battery replacing task. The embodiment of the invention improves the compatibility of the battery changing vehicle type and the multiple batteries; the construction period of the power station is shortened; the battery replacement time is reduced, and the battery replacement efficiency is improved; the battery replacement experience is improved; the multi-party energy interaction is realized, and the application of photovoltaic power generation and energy storage in the battery replacement station is realized.
Example 2
As shown in fig. 5, an embodiment of the present invention provides a battery swapping method, which is executed by any one of the battery swapping systems provided in the embodiments, and the method includes the following steps:
the method comprises the following steps that S1, when a vehicle to be replaced stops in a battery replacing cabin, vehicle information of the vehicle to be replaced is obtained and sent to a battery replacing centralized control unit;
s2, the battery replacement centralized control unit receives the vehicle information, generates a control instruction according to the vehicle information and sends the control instruction to the autonomous robot;
and S3, the autonomous robot receives the control instruction, unloads the power-shortage battery pack on the vehicle to be switched according to the control instruction, conveys the power-shortage battery pack into a battery bin, conveys the fully-charged battery pack in the battery bin into the battery bin, and installs the fully-charged battery pack on the vehicle to be switched.
The automatic position finding method based on the swapping station provided in the embodiment of the present invention and the automatic position finding system based on the swapping station provided in the above embodiment are based on the same inventive concept, and for a more specific workflow of each step in this embodiment, reference may be made to the above embodiments, which are not described in detail in this embodiment.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. A battery replacement system comprises a centralized control center and a battery replacement station, wherein the battery replacement station can communicate with the centralized control center, the battery replacement station comprises a battery replacement bin, a battery bin and an autonomous robot, the centralized control center comprises a battery replacement centralized control unit, wherein,
the power conversion centralized control unit is used for realizing control management of the power conversion bin, the battery bin and the autonomous robot;
the battery replacing bin is used for parking a vehicle to be replaced, acquiring vehicle information and sending the vehicle information to a battery swapping centralized control unit;
the battery compartment is used for storing and dispatching battery packs;
the autonomous robot is used for unloading and conveying the power-shortage battery pack on the vehicle to be changed into the battery compartment, and conveying the fully charged battery pack in the battery compartment to a power change compartment and installing the fully charged battery pack on a vehicle to be changed.
2. The power conversion system according to claim 1, wherein the power conversion cabin comprises a recognition device, the recognition device comprises a license plate recognizer and a gate; wherein, the first and the second end of the pipe are connected with each other,
the license plate recognizer is used for acquiring license plate information of a vehicle to be battery replaced and sending the license plate information to the battery replacement centralized control unit;
the battery replacement centralized control unit is used for receiving the license plate information, judging whether a vehicle to be replaced is a target vehicle or not according to the license plate information, generating a brake opening instruction when the vehicle to be replaced is the target vehicle, and sending the brake opening instruction to the brake machine;
the gate is used for receiving the switching-off instruction, controlling the gate to be opened according to the switching-off instruction and allowing the vehicle to be switched to enter the power switching cabin.
3. The battery swapping system of claim 2, wherein the battery swapping compartment comprises a positioning device; wherein the content of the first and second substances,
the positioning equipment is used for acquiring the position information of the vehicle to be subjected to battery replacement and sending the position information to the battery replacement centralized control unit;
the battery swapping centralized control unit is used for receiving the position information, generating a battery swapping instruction according to the position information and sending the battery swapping instruction to the autonomous robot;
the autonomous robot is used for receiving the battery replacement instruction, unloading a power-lack battery pack on the vehicle to be replaced according to the battery replacement instruction, conveying the fully-charged battery pack in the battery bin into the battery bin, and installing the fully-charged battery pack on the vehicle to be replaced.
4. The battery swapping system according to claim 1, wherein the battery compartment comprises a battery rack and a stacker; wherein the content of the first and second substances,
the battery rack is used for storing battery packs;
the battery replacement centralized control unit is used for generating a pre-stored instruction when the vehicle to be replaced is a target vehicle and sending the pre-stored instruction to the stacker;
the stacker is used for receiving the pre-stored instruction and placing the fully charged battery pack at a target cache position of the battery rack according to the pre-stored instruction so as to pre-store the fully charged battery pack.
5. The battery swapping system of claim 4, further comprising an interactive manipulator assembly, wherein the interactive manipulator assembly comprises a power mechanism and two manipulator units; wherein the content of the first and second substances,
the two manipulator units are used for placing a pre-stored full-charge battery pack;
the power mechanism is used for detecting whether a full-charge battery pack is placed on the two manipulator units, and when the full-charge battery pack is placed on the two manipulator units, the two manipulator units are controlled to move in detail or move in the reverse direction so as to position the full-charge battery pack.
6. The battery replacement system according to claim 4, wherein the centralized control center further comprises a charging centralized control unit, the battery replacement system further comprises a charging system, and the charging system comprises an energy storage transformer, a bidirectional converter, a super charging pile, a photovoltaic converter and a monitoring management system; wherein, the first and the second end of the pipe are connected with each other,
the charging centralized control unit is connected with a monitoring management system, the monitoring management system is respectively connected with a bidirectional converter, an overcharging pile and a photovoltaic converter, the energy storage transformer is connected with a power grid through a converter, the bidirectional converter is connected with the energy storage transformer, the overcharging pile is respectively connected with the energy storage transformer, and the photovoltaic converter is connected with the energy storage transformer and a photovoltaic panel; wherein the content of the first and second substances,
the charging centralized control unit is used for managing and controlling a monitoring management system, and the monitoring management system is used for managing and controlling the bidirectional converter, the super charging pile and the photovoltaic converter so as to realize multiple working modes, wherein the multiple working modes comprise a battery pack power supply mode, a photovoltaic panel power supply mode and a power grid power supply mode.
7. The battery replacement system according to claim 6, wherein the autonomous robot comprises a robot controller, a power unit, a sensing unit, a lifting mechanism, a deviation correction device and a second adapter plate, the power unit, the sensing unit, the lifting mechanism and the deviation correction device are respectively connected with the robot controller, and the second adapter plate is respectively connected with the lifting mechanism and the deviation correction device; wherein the content of the first and second substances,
the robot controller is used for receiving a battery replacement instruction of the battery replacement centralized control unit and controlling the power unit, the induction unit, the lifting mechanism and the deviation correction device to work according to the battery replacement instruction;
the sensing unit is used for acquiring environmental information and position information of the robot and sending the environmental data and the position information of the robot to the robot controller;
the power unit is used for controlling the autonomous robot to move to a target position corresponding to a full-charge battery to be assembled in the battery compartment or controlling the autonomous robot to move to a target position corresponding to a vehicle to be charged in the charging compartment according to the control;
the lifting mechanism is used for driving the second adapter plate to ascend or descend;
the deviation correcting device is used for adjusting the position of the second adapter plate so as to ensure that the position of the second adapter plate can be consistent with the position of a battery pack mounting cavity of a vehicle to be replaced when the autonomous robot carries out a battery replacing task.
8. The battery replacement system according to claim 7, wherein the deviation correcting device comprises a rotating mechanism, a first deviation correcting component and a second deviation correcting component, the rotating mechanism can drive the second adapter plate to rotate on a horizontal plane, the first deviation correcting component can drive the second adapter plate to move left and right, and the second deviation correcting component can drive the second adapter plate to move back and forth.
9. The battery replacement system according to claim 8, wherein an output end of the lifting mechanism is connected to the lifting plate, the rotating mechanism is disposed on the lifting plate, an output end of the rotating mechanism is connected to the rotating plate, the first deviation correcting assembly is disposed on the rotating plate, a moving portion of the first deviation correcting assembly is connected to the first adapter plate, the second deviation correcting assembly is disposed on the first adapter plate, and the second adapter plate is connected to a moving portion of the second deviation correcting assembly.
10. A battery swapping method performed by a battery swapping system as claimed in any of claims 1-9, the method comprising the steps of:
the method comprises the following steps that S1, when a vehicle to be replaced stops in a battery replacing cabin, vehicle information of the vehicle to be replaced is obtained and sent to a battery replacing centralized control unit;
s2, the battery replacement centralized control unit receives the vehicle information, generates a control instruction according to the vehicle information and sends the control instruction to the autonomous robot;
and S3, the autonomous robot receives the control instruction, unloads the power-shortage battery pack on the vehicle to be switched according to the control instruction, conveys the power-shortage battery pack into a battery bin, conveys the fully-charged battery pack in the battery bin into the battery bin, and installs the fully-charged battery pack on the vehicle to be switched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211055753.3A CN115257657A (en) | 2022-08-31 | 2022-08-31 | Battery replacement system and battery replacement method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211055753.3A CN115257657A (en) | 2022-08-31 | 2022-08-31 | Battery replacement system and battery replacement method thereof |
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| CN115257657A true CN115257657A (en) | 2022-11-01 |
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| CN202211055753.3A Pending CN115257657A (en) | 2022-08-31 | 2022-08-31 | Battery replacement system and battery replacement method thereof |
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- 2022-08-31 CN CN202211055753.3A patent/CN115257657A/en active Pending
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