JP2019137142A - Self-propelled battery and battery exchanging method - Google Patents

Abstract

To provide a self-propelled battery which can reduce a workload of an exchanging worker in vehicle battery exchange.SOLUTION: A self-propelled battery 10 comprises: a secondary battery 20 which stores electric power; a transceiver part 32 which supplies electric power of the secondary battery 20 to an electric vehicle; and move parts 12, 15, 18 which move the secondary battery 20 by use of electric power of the secondary battery 20 in a battery storage part provided on the electric vehicle. The self-propelled battery 10 comprises a battery side control part which performs movement control by the move parts 12, 15, 18 and power supply control by the transceiver part 32. Consequently, when exchanging a battery, going-in and -out of the self-propelled battery 10 with respect to the battery storage part and movement of said battery to a power supply position can be performed by use of the move parts 12, 15, 18. Therefore, a work, such that when exchanging a battery, an exchanging worker moves the self-propelled batteries 10 one by one to a suitable position, can be omitted.SELECTED DRAWING: Figure 2

Description

  The disclosure in this specification relates to a self-propelled battery and a battery replacement method.

  Patent document 1 is disclosing the battery exchange apparatus which replaces | exchanges the battery of an electric vehicle. The battery exchange device lowers a used battery fixed to a battery fixing jig by a lift actuator and removes the used battery from the vehicle. The battery exchange device raises a charged battery fixed by a battery fixing jig using a lift actuator, and attaches and fixes the charged battery to a vehicle, and connects a power line.

JP 2010-184622 A

  In the configuration of the prior art, when a vehicle battery is exchanged at a battery exchange stand or the like, an exchange operator such as a battery exchange device or an operator carries the battery in and out, fixes the battery to the vehicle, or connects a power line. It was necessary to do a lot of work. In particular, since a large force is required for the operation of moving a heavy battery to a predetermined position, the burden on the replacement operator is large. Further, when the battery is disposed on the bottom surface of the vehicle, it is necessary to provide a sufficient work space between the bottom surface of the vehicle and the ground, and a large facility is required as a battery replacement stand. In view of the above or other aspects not mentioned, there is a need for further improvements in self-propelled batteries and battery replacement methods.

  One object of the present disclosure is to provide a self-propelled battery that can reduce the work amount of a replacement worker in battery replacement of a vehicle.

  Another object of the present invention is to provide a battery replacement method that can reduce the amount of work performed by a replacement worker in vehicle battery replacement.

  A self-propelled battery (10) disclosed herein is provided in an electric vehicle, a secondary battery (20) that stores electric power, a transmission / reception unit (32) that supplies electric power of the secondary battery to the electric vehicle (1), and the electric vehicle. In the battery storage unit (50), the moving unit (12, 15, 18, 212) for moving the secondary battery using the power of the secondary battery, the movement control by the moving unit, and the power feeding control by the transmitting / receiving unit are performed. And a battery-side control unit (31) to perform.

  According to the disclosed self-propelled battery, the battery-side control unit that performs movement control by the moving unit and power feeding control by the transmission / reception unit is provided. For this reason, when the battery is replaced, the moving unit can be used to move the self-propelled battery into and out of the battery storage unit, to the power feeding position, and the like. Therefore, it is possible to omit the work for the replacement operator to move the self-propelled batteries one by one to an appropriate position at the time of battery replacement.

  The battery replacement method disclosed herein is a self-propelled battery having a secondary battery (20) and a moving unit (12, 15, 18, 212) that moves the secondary battery using the power of the secondary battery. (10) A battery replacement method for storing a battery in a battery storage section (50) provided in the electric vehicle (1) and replacing the battery, wherein the self-propelled battery to be replaced is moved to the battery storage section. The charged self-propelled battery enters the battery storage unit using the moving unit, and the self-propelled battery that enters the battery storage unit uses the moving unit to provide the vehicle-side power supply unit provided in the electric vehicle. Move to a power feeding position where power can be fed with respect to (61).

  According to the disclosed battery replacement method, the self-propelled battery that has entered the battery storage unit moves to a power feeding position where power can be supplied to the electric vehicle using the moving unit of the self-propelled battery. For this reason, even when the self-propelled battery enters the position away from the power feeding position in the battery storage unit, power is supplied to the electric vehicle after the self-propelled battery moves to an appropriate power feeding position. Can do. Therefore, the operation | work which moves each battery to an appropriate electric power feeding position by an exchange operator can be skipped.

  The disclosed embodiments of the present specification employ different technical means to achieve each purpose. The reference numerals in parentheses described in the claims and this section exemplify the correspondence with the embodiments described later, and are not intended to limit the technical scope. The objects, features, and advantages disclosed in this specification will become more apparent with reference to the following detailed description and accompanying drawings.

It is a block diagram which shows the state which replacement | exchange of the self-propelled battery in an electric vehicle was completed. It is a side view which shows the structure of a self-propelled battery. It is sectional drawing which shows the cross section in the III-III line of FIG. It is a top view which shows the structure of a self-propelled battery. It is a bottom view which shows the structure of a self-propelled battery. It is a block diagram regarding control of a self-propelled battery. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the process in which a self-propelled battery moves by adsorption | suction with a raising / lowering magnet. It is a block diagram which shows the process in which a self-propelled battery moves by adsorption | suction with a raising / lowering magnet. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the replacement | exchange process of the self-propelled battery in an electric vehicle. It is a block diagram which shows the self-propelled battery in an electric power feeding position. It is sectional drawing which shows the cross section in the XXI-XXI line | wire of FIG. It is a flowchart regarding control of a self-propelled battery. It is a flowchart of step S110 in the flowchart of FIG. It is a side view which shows the structure of the self-propelled battery of 2nd Embodiment. It is a bottom view which shows the structure of the self-propelled battery of 2nd Embodiment.

  A plurality of embodiments will be described with reference to the drawings. In embodiments, functionally and / or structurally corresponding parts and / or associated parts may be assigned the same reference signs or reference signs that differ by more than a hundred. For the corresponding parts and / or associated parts, the description of other embodiments can be referred to.

First Embodiment In FIG. 1, an electric vehicle 1 is a vehicle that travels by driving a motor using electric power fed from a self-propelled battery 10 that is a battery mounted on a vehicle body 2. The electric vehicle 1 is not limited to an electric vehicle that uses only a motor as a drive source. For example, a hybrid vehicle that uses an internal combustion engine and a motor as a travel drive source may be used as the electric vehicle 1.

  The electric vehicle 1 includes a battery storage unit 50 for storing the self-propelled battery 10 below the seat. The battery storage unit 50 stores the self-propelled battery 10. However, the position of the battery storage unit 50 is not limited to the position under the seat, and may be provided under the engine room in front of the vehicle or under the trunk room in the rear of the vehicle.

  The self-propelled battery 10 is a battery having a self-propelled function in a secondary battery that can be repeatedly charged and discharged. The self-propelled battery 10 is a battery that can move to an appropriate position when stored in the battery storage unit 50. As the secondary battery, various secondary batteries such as a nickel metal hydride battery, a lithium ion battery, and an organic radical battery can be adopted. The configuration of the self-propelled battery 10 will be described in detail later.

  The battery storage unit 50 forms a battery storage space surrounded by a ceiling surface, a bottom surface, and a side surface. The battery housing part 50 is provided with a rear bulge part 53 located at the lower rear part of the rear seat. The battery housing part 50 has a shape in which a rear bulge part 53 is added to a substantially rectangular parallelepiped space. However, the shape of the battery accommodating part 50 is not restricted to the shape mentioned above. For example, a substantially rectangular parallelepiped shape without the rear bulge portion 53 may be used.

  A vehicle-side power feeding unit 61 is provided adjacent to the battery storage unit 50. The vehicle-side power supply unit 61 is located in front of the battery storage unit 50. The vehicle-side power supply unit 61 is a device that supplies power by being electrically connected to the self-propelled battery 10 stored in the battery storage unit 50. The vehicle-side power supply unit 61 is a wireless power supply device that exchanges power with the self-propelled battery 10 in a non-contact state.

  An elevator 70 is provided on the bottom surface of the battery housing portion 50 that forms the bottom surface of the vehicle body 2. The elevator 70 is located substantially at the center of the battery storage unit 50. The elevator 70 is a device that moves up and down with respect to the ground from the battery storage unit 50. The elevator 70 includes a bottom plate portion 71. The bottom plate portion 71 forms a part of the bottom surface of the battery storage portion 50 in a state where the elevator 70 is fully raised. That is, the bottom surface of the battery storage unit 50 is configured by the bottom plate portion 71 and the floor surface of the battery storage unit 50. The bottom plate portion 71 is a quadrangular plate member. The elevator 70 includes an actuator 72. The actuator 72 is a device for moving the bottom plate portion 71 up and down, and is electrically driven to displace the position of the bottom plate portion 71 up and down. The actuator 72 is provided at each of the four corners of the bottom plate portion 71. When the elevator 70 moves up and down, the four actuators 72 are driven simultaneously to displace the bottom plate portion 71 up and down.

  The elevator 70 has two states, an open state and a closed state. In the open state of the elevator 70, the bottom plate portion 71 is in contact with the ground, and the self-propelled battery 10 can enter and leave the battery storage unit 50. In the closed state of the elevator 70, the bottom plate 71 is not in contact with the ground, and the self-propelled battery 10 cannot enter or leave the battery storage unit 50. The elevator 70 functions as a carry-in unit that carries the self-propelled battery 10 into the battery storage unit 50 and also as a carry-out unit that carries the self-propelled battery 10 out of the battery storage unit 50. That is, the elevator 70 provides a carry-in / out section. Here, the carry-in / out part is a part having both a function as a carry-in part and a function as a carry-out part.

  A lifting magnet 80 is provided on the ceiling surface of the battery storage unit 50 so as to include at least the upper projection area of the elevator 70. The lifting magnet 80 is provided on the entire ceiling surface of the battery storage unit 50. The lifting magnet 80 is a flat magnet having a surface parallel to the bottom surface of the battery storage unit 50. The lifting magnet 80 provides a vehicle-side magnet.

  On the ceiling surface of the rear bulge portion 53, a bulge portion magnet 83 is provided. The bulging portion magnet 83 is approximately equal in size to the upper surface of the self-propelled battery 10. The bulging portion magnet 83 provides a vehicle-side magnet.

  A plurality of self-propelled batteries 10 are stored in the battery storage unit 50. That is, the plurality of self-propelled batteries 10 are placed in an aligned state on the bottom surface of the battery storage unit 50. Further, the self-propelled battery 10 is disposed in the rear bulge portion 53. That is, the self-propelled battery 10 is stored in a state where it overlaps in the vertical direction. The plurality of self-propelled batteries 10 are connected to each other and supply electric power to the electric vehicle 1 as one battery as a whole.

  In FIG. 2, the self-propelled battery 10 is configured to be thin with a small thickness in the height direction so that the self-propelled batteries 10 are easily stacked one above the other. The self-propelled battery 10 includes an upper surface magnet 15, a secondary battery 20, a posture control unit 18, and a lower surface magnet 16 in order from the top. The transmission / reception unit 32 and the buffer material 19 are provided on the side surface of the secondary battery 20. In other words, the transmission / reception unit 32 and the buffer material 19 are located at a height between the upper surface magnet 15 and the lower surface magnet 16. The secondary battery 20 is a battery that can be repeatedly charged and discharged, and is a component that stores electric power supplied to the electric vehicle 1. The top magnet 15 provides a battery side magnet.

  The self-propelled battery 10 includes a moving unit having a function of moving the secondary battery 20. The battery side tire 12, the upper surface magnet 15, and the attitude control unit 18 provide a moving unit. The battery side tire 12 protrudes below the lower surface magnet 16 that forms the lower surface of the self-propelled battery 10. The battery-side tire 12 travels on a traveling surface such as the bottom surface or the ground of the battery storage unit 50 to move the secondary battery 20 by being rotationally driven. In other words, the battery-side tire 12 is a device that moves the secondary battery 20 in a direction parallel to a traveling surface such as the ground.

  The attitude control unit 18 has a function of moving the secondary battery 20 up and down. The attitude control unit 18 supports the secondary battery 20 from below and displaces the position of the secondary battery 20 in the vertical direction. The posture control unit 18 has stretchable parts having stretchability corresponding to the four corners of the secondary battery 20. As the extendable component, for example, a solenoid actuator having a movable iron core in a solenoid, an electric actuator using a servo motor, or the like can be used. The posture control unit 18 controls the position of the secondary battery 20 in the vertical direction by expanding and contracting the elastic component in the vertical direction. Further, the posture control unit 18 can control the upper surface of the secondary battery 20 to a posture inclined with respect to the ground by changing the expansion / contraction magnitude of the expansion / contraction component depending on the location. In other words, the attitude control unit 18 is a device that moves the secondary battery 20 in a direction that intersects a traveling surface such as the ground. However, the posture control unit 18 may have only the function of moving up and down in parallel to the ground without providing the tilt function of tilting.

  The self-propelled battery 10 includes an upper surface magnet 15 and a lower surface magnet 16. The top magnet 15 is provided so as to cover the top surface of the secondary battery 20 from above. The lower surface magnet 16 is provided so as to cover the lower surface of the attitude control unit 18 disposed on the lower side of the secondary battery 20 from the lower side. Therefore, the self-propelled battery 10 is configured such that most of the surface is covered with the upper magnet 15 or the lower magnet 16. Therefore, when the position of the secondary battery 20 is displaced in the vertical direction by the attitude control unit 18, the upper surface magnet 15 is displaced in the vertical direction integrally with the secondary battery 20. On the other hand, the bottom magnet 16 continues to maintain the same height regardless of the vertical displacement of the secondary battery 20.

  The self-propelled battery 10 includes a transmission / reception unit 32. The transmission / reception unit 32 is a device that transmits and receives control contents regarding movement control and power supply control of the self-propelled battery 10. The transmission / reception unit 32 also functions as a battery-side power feeding unit that feeds power stored in the secondary battery 20 by sending it to the electric vehicle 1. The transmission / reception unit 32 is a device that exchanges power with the vehicle-side power supply unit 61 by wireless power supply.

  The transmission / reception unit 32 that functions as a battery-side power feeding unit is a device that outputs the power stored in the secondary battery 20 to the outside in the form of electromagnetic waves. For example, when power transmission is performed using an electromagnetic field having a low frequency, the transmission / reception unit 32 includes a coil, and generates an electromagnetic field based on a current flowing through the coil. The vehicle-side power supply unit 61 receives energy such as an electromagnetic field output from the transmission / reception unit 32 and converts it into electric energy. For example, the vehicle-side power feeding unit 61 has a coil similarly to the transmission / reception unit 32 and converts an electromagnetic field generated in the vicinity of the transmission / reception unit 32 into electric energy.

  The self-propelled battery 10 includes a buffer material 19 for absorbing an impact associated with contact with a wall surface or the like. The buffer material 19 is an elastic member such as rubber or a spring. The cushioning material 19 is provided so as to protrude laterally from the corner of the self-propelled battery 10. The buffer material 19 is provided at a height between the upper surface magnet 15 and the attitude control unit 18. The buffer material 19 is provided so as to protrude outward from the upper surface magnet 15, the lower surface magnet 16, the attitude control unit 18, and the secondary battery 20. In other words, when the battery-side tire 12 is traveling and the surrounding wall surface and the self-propelled battery 10 are in contact with each other, the first contact with the cushioning material 19 is facilitated.

  In FIG. 3, the secondary battery 20 has a quadrangular cross section. In other words, the secondary battery 20 has a thin rectangular parallelepiped shape. The self-propelled battery 10 includes a transmission / reception unit 32 on each side surface of the secondary battery 20. In other words, the transmission / reception unit 32 is provided in contact with the surface of the secondary battery 20 corresponding to each of the four side surfaces of the secondary battery 20. The shape of the secondary battery 20 is not limited to a rectangular parallelepiped shape. For example, a disk shape may be sufficient. In this case, the arc-shaped transmitting / receiving units 32 along the side surface having a curved surface shape are provided at a plurality of locations on the side surface.

  In FIG. 4, the upper surface magnet 15 forming the upper surface of the self-propelled battery 10 is provided in an annular shape having a square hole in the central portion. The top magnet 15 is provided with a row in which only the N poles are arranged by an electromagnet capable of reversing the N pole and the S pole, and a row in which the N poles and the S poles are alternately arranged. However, the pattern of the N pole and the S pole can be changed depending on the pattern of the opposing magnet attracted by the upper surface magnet 15 and the magnetic force. Therefore, the top magnet 15 can be configured with a pattern in which various rows such as a row in which only the S poles are arranged or a row in which the N poles and the S poles are randomly arranged.

  On the upper surface of the self-propelled battery 10, a square upper surface transmitting / receiving unit 32 a is provided. The upper surface transmitting / receiving unit 32 a is located at the center of the self-propelled battery 10 where the upper surface magnet 15 is not provided. In other words, the upper surface of the self-propelled battery 10 is configured by the upper surface transmitting / receiving unit 32a and the upper surface magnet 15 disposed around the upper surface transmitting / receiving unit 32a. The upper surface transmitting / receiving unit 32a is not limited to a square shape. For example, it may be circular or rectangular. Moreover, you may equip the upper surface of the self-propelled battery 10 with the several upper surface transmission / reception part 32a. The upper surface transmission / reception unit 32a provides a transmission / reception unit.

  In FIG. 5, the lower surface magnet 16 which forms the lower surface of the self-propelled battery 10 is provided in an annular shape having a square hole in the central portion. The bottom magnet 16 is composed of a permanent magnet with a north pole and a south pole fixed. The bottom magnet 16 is provided with alternating rows of only S poles and rows of alternating N and S poles.

  On the lower surface of the self-propelled battery 10, a square lower surface transmitting / receiving unit 32 b is provided. The lower surface transmission / reception unit 32b is located in the central portion of the self-propelled battery 10 where the lower surface magnet 16 is not provided. In other words, the lower surface of the self-propelled battery 10 is configured by the lower surface transmission / reception unit 32b and the lower surface magnet 16 disposed around the lower surface transmission / reception unit 32b. The lower surface transmission / reception unit 32b is not limited to a square shape, and may be a circle or a rectangle. Moreover, you may equip the lower surface of the self-propelled battery 10 with the several lower surface transmission / reception part 32b. The lower surface transmission / reception unit 32b provides a transmission / reception unit.

  The upper surface transmitting / receiving unit 32a disposed on the upper surface of the self-propelled battery 10 and the lower surface transmitting / receiving unit 32b disposed on the lower surface are provided at positions overlapping in the vertical direction. In other words, when the self-propelled batteries 10 overlap each other, the lower surface transmitting / receiving unit 32b and the upper surface transmitting / receiving unit 32a overlap each other in the vertical direction.

  Battery-side tires 12 are provided at four locations on the lower surface of the self-propelled battery 10. The battery side tires 12 are positioned so as to form a square corresponding to the four corners of the self-propelled battery 10. More specifically, it is provided at a substantially intermediate position between the outer peripheral corner of the lower surface transmitting / receiving unit 32 b and the outer peripheral corner of the lower magnet 16. The battery-side tire 12 can change the traveling direction of the self-propelled battery 10 by changing the angle. Therefore, the self-propelled battery 10 can be moved not only in a straight line but also in a rotational movement. The bottom magnet 16 has a circular hole corresponding to a portion where the battery-side tire 12 is provided. The battery side tire 12 protrudes downward from the four holes of the bottom magnet 16. However, the number of battery-side tires 12 is not limited to four. For example, three battery-side tires 12 may be provided so as to form a triangle. Alternatively, five or more battery-side tires 12 may be provided.

  In FIG. 6, the battery side control unit 31 is connected to a distance sensor 33, a motor rotation number sensor 34, an attitude detection sensor 35, a remaining power sensor 41, and a temperature sensor 42. The battery-side control unit 31 acquires information related to the distance from the distance sensor 33 to the obstacle located in the traveling direction. At this time, if there is no obstacle in the traveling direction, information indicating that there is no obstacle within the range of the predetermined distance detected by the distance sensor 33 is acquired. The distance sensor 33 is an infrared sensor, for example.

  The battery side control unit 31 acquires information on the number of revolutions of the battery side motor 13 that drives the battery side tire 12 from the motor revolution number sensor 34. The battery side control unit 31 acquires information on the magnitude of the inclination and the vertical position of the secondary battery 20 by the attitude control unit 18 from the attitude detection sensor 35. Here, the battery-side motor 13 is a motor that can arbitrarily change the number of rotations and can change the forward rotation and the reverse rotation.

  The battery side control unit 31 acquires information on the amount of power remaining in the secondary battery 20 from the remaining power sensor 41. The battery side control unit 31 acquires information on the temperature of the secondary battery 20 from the temperature sensor 42. The battery-side control unit 31 acquires information on the remaining power and temperature information for each of the self-propelled batteries 10 for the plurality of self-propelled batteries 10 stored in the battery storage unit 50.

  The battery side control unit 31 is connected to the battery side motor 13, the battery side brake 14, the upper surface magnet 15, the attitude control unit 18, and the switching element 21. The battery-side brake 14 includes a regenerative brake that recovers regenerative energy, a brake that uses a bridge circuit, and a mechanical brake. The battery-side control unit 31 controls the battery-side motor 13 and the battery-side brake 14 based on movement control information acquired from the transmission / reception unit 32, the distance sensor 33, and the motor rotation number sensor 34. For example, when it is determined from the information of the distance sensor 33 that the distance to an obstacle such as a wall is less than the lower limit distance, the vehicle is moved away from the obstacle by moving away from the obstacle. Move up.

  The battery-side control unit 31 calculates the speed, movement distance, and the like of the self-propelled battery 10 from the information on the rotational speed of the battery-side motor 13, and when it is determined that the speed is too high, the rotational speed of the battery-side motor 13 is calculated. Control such as lowering. Further, the battery side control unit 31 performs the movement using the magnetic force by controlling the magnitude of the magnetic force by the upper surface magnet 15 or controlling the reversal of polarity. With these movement controls, the battery-side motor 13 is driven to move the self-propelled battery 10 to a target position, and the battery-side brake 14 is used to stop the self-propelled battery 10 at the target position.

  The battery side control unit 31 controls the posture control unit 18 based on the movement control information acquired from the posture detection sensor 35. For example, when it is necessary to extend the posture control unit 18 and raise the upper surface of the self-propelled battery 10, the posture detection sensor 35 detects the current posture and raises the target height.

  The battery side control unit 31 performs on / off control by the switching element 21 based on the temperature information of the secondary battery 20 acquired from the temperature sensor 42. The switching element 21 is provided for each battery cell constituting the secondary battery 20. For example, when the temperature detected by the temperature sensor 42 is equal to or higher than the upper limit temperature, it is determined that an abnormal heat is generated, and the switching element 21 is switched to a state where charging and discharging are impossible.

  The battery side control unit 31 is connected to the transmission / reception unit 32. The battery-side control unit 31 controls the self-propelled battery 10 based on signals related to movement control, power supply control, and the like received by the transmission / reception unit 32. The received movement control information includes, for example, information related to the target position and information such as a route for reaching the target position. The received power supply control information includes, for example, information such as the amount of power supplied from the self-propelled battery 10 to the electric vehicle 1.

  Furthermore, the battery-side control unit 31 sends information related to movement control, power supply control, and the like transmitted by the transmission / reception unit 32 to the transmission / reception unit 32. The information on the movement control to be transmitted includes information on the current position such as a distance approaching the target position. The information on the power feeding control to be transmitted includes, for example, information on the remaining power such as how much electricity is currently fed to the vehicle and how much power remains.

  The battery-side control unit 31 controls the transmission / reception unit 32 that functions as the battery-side power supply unit based on the power supply control information acquired from the transmission / reception unit 32 and the remaining power sensor 41. Thus, it is determined whether or not the self-propelled battery 10 needs to be replaced. At this time, when replacing the self-propelled battery 10, whether or not the remaining power is an amount necessary to replace the battery, including the power for moving the self-propelled battery 10 when the self-propelled battery 10 goes out of the battery storage unit 50. to decide.

  Control of the electric vehicle 1 and the self-propelled battery 10 when the self-propelled battery 10 is replaced will be described below. In FIG. 7, when the replacement of the self-propelled battery 10 is started, the charged self-propelled battery 10 is first moved from the battery installation station to the vicinity of the elevator 70. Here, the battery installation station is a facility having a plurality of self-propelled batteries 10 for battery replacement and chargers for charging the self-propelled batteries 10. When the charged self-propelled battery 10 has not reached the vicinity of the elevator 70, the replacement of the self-propelled battery 10 is not started, and the elevator 70 is closed and the self-propelled battery 10 cannot be carried out. . Thereby, compared with the case where the self-propelled battery 10 which should be carried in after carrying out is moved to the periphery of the elevator 70, the time from completion of carrying-out of the self-propelled battery 10 to the start of carrying in can be shortened. . However, although the charged self-propelled battery 10 has not reached the vicinity of the elevator 70, the replacement of the self-propelled battery 10 may be started from the state where movement from the battery installation station is started.

  In FIG. 8, the elevator 70 is opened. Thereafter, the elevator 70 is lowered to the ground, and the self-propelled battery 10 with a small remaining power to be replaced is carried out. That is, the self-propelled battery 10 that needs to be charged goes out of the battery storage unit 50 through a loading / unloading port that is generated when the elevator 70 is lowered. At this time, the attitude control unit 18 is extended from the state of being attracted to the elevating magnet 80 using the magnetic force generated between the elevating magnet 80 and the upper surface magnet 15, which will be described in detail later, and descends to the ground. However, the self-propelled battery 10 may be lowered by falling from the battery storage unit 50 toward the ground through the loading / unloading port. At this time, by providing an impact absorbing material or the like on the upper surface of the bottom plate portion 71, the self-propelled battery 10 can be protected from the impact of the descent. Thereafter, the self-propelled battery 10 that needs to be charged is self-propelled using the remaining stored electric power and moves to a battery installation station equipped with a charger for charging.

  When the self-propelled battery 10 is carried out, the elevator 70 is always kept open. That is, the lifting / lowering of the elevator 70 is not repeated for the purpose of carrying out the self-propelled battery 10. However, after raising the elevator 70 and placing the self-propelled battery 10 on the elevator 70, the elevator 70 may be lowered to the same height as the ground and the self-propelled battery 10 may be carried out. In this case, when the self-propelled battery 10 is carried out one by one, the raising / lowering operation of the elevator 70 is repeated.

  In FIG. 9, the self-propelled battery 10 to be exchanged is all carried out from the battery storage unit 50. However, a battery with sufficient remaining power may be maintained in the battery storage unit 50 as a self-propelled battery 10 that is not a replacement target. That is, in replacing the self-propelled battery 10, it is not always necessary to carry out all the self-propelled batteries 10. From the carry-out to the carry-in of the self-propelled battery 10, the elevator 70 maintains a state of being lowered to the ground in order to store the self-propelled battery 10. The charged self-propelled battery 10 to be carried in starts moving toward the carry-in target position. Here, the carry-in target position is set in the upper part of the rear bulging part 53 which is the position farthest from the carry-in / out port in the battery storage unit 50.

  In FIG. 10, the self-propelled battery 10 has been moved to the center position of the bottom plate portion 71 in the elevator 70. In this state, the self-propelled battery 10 is restricted from moving by the battery-side brake 14. For this reason, even if an external force is applied to move the self-propelled battery 10, the self-propelled battery 10 is not moved from the center position of the bottom plate portion 71. Or even if it is a case where battery replacement | exchange is performed on the slope where the ground inclined, it is a state which does not move from the center position of the baseplate part 71 which the self-propelled battery 10 stopped.

  In FIG. 11, the self-propelled battery 10 located in the center of the bottom plate portion 71 has entered the battery housing portion 50 by raising the upper surface of the self-propelled battery 10 upward on the spot. That is, using the attitude control unit 18, the upper surface of the self-propelled battery 10 is raised to a position where the magnetic force of the lifting magnet 80 arranged on the ceiling surface of the battery storage unit 50 acts. At this time, the top magnet 15 and the secondary battery 20 are moving upward. On the other hand, the height of the bottom magnet 16 does not change before and after the posture control unit 18 extends. The upper surface magnet 15 that forms the upper surface of the self-propelled battery 10 is in a state of being attracted to the ceiling surface of the battery housing portion 50 by the magnetic force generated between the elevating magnet 80 and the upper surface magnet 15. In this state, the self-propelled battery 10 can float from the ground.

  The adsorption by the magnetic force between the elevating magnet 80 and the upper surface magnet 15 will be described in detail below. In FIG. 12, the self-propelled battery 10 is attracted to the ceiling surface by using a magnetic force generated between the elevating magnet 80 and the upper surface magnet 15. In the attracted state due to the magnetic force, the rise of the upper surface by the posture control unit 18 is released. In other words, the lower surface of the self-propelled battery 10 is pulled upward by shrinking the attitude control unit 18. In this state, the self-propelled battery 10 is floating from the ground. However, the battery-side tire 12 moves toward the rear of the vehicle so that the battery-side tire 12 approaches the target loading position immediately before the battery-side tire 12 starts to float from the ground. Thereby, the self-propelled battery 10 is in a state of having an initial speed toward the rear of the vehicle when it is attracted to the lifting magnet 80 and floats. However, instead of obtaining the initial speed by running with the battery-side tire 12, the initial speed of the start may be obtained by switching the polarity of the upper surface magnet 15.

  A plurality of roller portions 85 are provided between the self-propelled battery 10 and the lifting magnet 80. The roller unit 85 is a columnar part, and is a component that can rotate about the longitudinal direction as a rotation axis. Here, the rotation axis is perpendicular to the paper surface. By rotating the roller portion 85, the self-propelled battery 10 can move smoothly with respect to the front-rear direction of the vehicle. In a state where the self-propelled battery 10 is attracted to the lifting magnet 80, the roller portion 85 keeps the distance between the upper surface magnet 15 and the lifting magnet 80 constant. The roller unit 85 may include a driving unit such as a motor so that the roller unit 85 can rotate spontaneously. In this case, the self-propelled battery 10 can be moved using the rotation of the roller unit 85.

  The elevating magnet 80 is configured by alternately repeating N poles and S poles. The raising / lowering magnet 80 is comprised with the permanent magnet to which the N pole and the S pole were fixed. The elevating magnet 80 and the upper surface magnet 15 attract different poles and repel each other. The upper surface magnet 15 simultaneously receives a force attracted from the lifting magnet 80 toward the rear of the vehicle, which is the traveling direction of the self-propelled battery 10, and a force repelling from the direction opposite to the traveling direction. In other words, the self-propelled battery 10 is in a state of obtaining a propulsive force that moves forward toward the carry-in target position by the magnetic force generated between the upper surface magnet 15 and the elevating magnet 80.

  In FIG. 13, the polarity of the upper surface magnet 15 is reversed at a position where the self-propelled battery 10 slightly advances in the direction in which the initial speed is given. Specifically, the S pole and the N pole of the top magnet 15 are reversed when the S pole of the lifting magnet 80 and the S pole of the top magnet 15 face each other. Thereby, the upper surface magnet 15 which was in a state in which a force is applied in the backward direction before the polarity is reversed is changed to a state in which a force is applied in the forward direction. In this way, by repeating the control of reversing the polarity of the upper surface magnet 15 each time the self-propelled battery 10 advances slightly, it is possible to continuously receive the force that advances due to the magnetic force. That is, the self-propelled battery 10 can be moved by the principle of the linear motor.

  In FIG. 14, the self-propelled battery 10 moves in a direction away from the elevator 70 in the battery storage unit 50 by the action of the magnetic force between the lifting magnet 80 and the upper surface magnet 15. The self-propelled battery 10 is moved by the action of magnetic force until the battery-side tire 12 of the self-propelled battery 10 comes into contact with the bottom surface of the battery housing 50. Thereafter, the battery-side motor 13 is driven, and the battery-side tire 12 travels and moves on the bottom surface of the battery housing portion 50. At this time, traveling by the battery-side tire 12 may be supported by a magnetic force between the lifting magnet 80 and the upper surface magnet 15. That is, the self-propelled battery 10 may receive both the propulsive force by the battery-side tire 12 and the propulsive force by the magnetic force.

  In parallel with the movement of the first self-propelled battery 10 in the battery storage unit 50, preparations for storing the second self-propelled battery 10 in the battery storage unit 50 are in progress. Specifically, the second self-propelled battery 10 is stopped while maintaining the center position in a state where the movement to the center of the bottom plate portion 71 is completed. The carry-in target position of the second self-propelled battery 10 is set to a position adjacent to the first carry-in target position.

  In FIG. 15, the self-propelled battery 10 that has completed the movement to the rear bulge portion 53, which is the innermost part of the battery storage portion 50, is attached to the bulge portion magnet 83 provided on the ceiling surface of the rear bulge portion 53. Start climbing towards. In other words, using the attitude control unit 18, the upper surface of the self-propelled battery 10 is raised to a position where the magnetic force of the bulging portion magnet 83 arranged on the ceiling surface of the rear bulging portion 53 acts. The upper surface magnet 15 that forms the upper surface of the self-propelled battery 10 is in a state of being attracted to the ceiling surface of the battery housing portion 50 by the magnetic force generated between the bulging portion magnet 83.

  In FIG. 16, a current is continuously passed through the bulging portion magnet 83 and the upper surface magnet 15 adsorbed, and the state of being attracted to the bulging portion magnet 83 by the magnetic force is maintained. In addition, another self-propelled battery 10 is disposed below the self-propelled battery 10 that is attracted to the bulging portion magnet 83. In other words, the self-propelled battery 10 is superposed vertically. In this state, the lower magnet 16 of the self-propelled battery 10 located above and the upper magnet 15 of the self-propelled battery 10 located below are adsorbed. In other words, another self-propelled battery 10 is attracted to the bulging portion magnet 83 via the self-propelled battery 10 provided with the bottom magnet 16.

  The distance in the attracted state between the bulging portion magnet 83 and the upper surface magnet 15, and the distance in the attracted state between the lower magnet 16 of the self-propelled battery 10 located above and the upper magnet 15 located below Should be approximately equal. According to this, since the distance between the self-propelled batteries 10 arranged above and below is too large, the self-propelled battery 10 located below and the self-propelled battery 10 located above acts. It can be prevented that the magnetic force to be absorbed is insufficient and cannot be attracted.

  In FIG. 17, in the rear bulging portion 53, three self-propelled batteries 10 are vertically stacked. Since it is not necessary to arrange another self-propelled battery 10 below the self-propelled battery 10 beyond this, the current flowing through the bulging portion magnet 83 and the upper surface magnet 15 adsorbed is stopped. As a result, no magnetic force is generated in the upper surface magnet 15. The self-propelled battery 10 that has lost adsorption due to magnetic force is pulled by gravity, so that the self-propelled battery 10 located above is placed on the upper surface of the self-propelled battery 10 located below. It becomes. Further, the carry-in target position is set not only in the rear but also in the battery storage unit 50, and the self-propelled battery 10 is carried in.

  In FIG. 18, the self-propelled battery 10 to be stored in the battery storage unit 50 is in a complete state. In other words, the loaded self-propelled battery 10 is in a state in which it has moved to the target position for loading, which is a position that does not hinder the movement of the newly loaded self-propelled battery 10, and maintains that position. In particular, in the vicinity of the elevator 70, the self-propelled battery 10 stands by at a position away from the elevator 70 so as not to come into contact with the ascending elevator 70.

  In FIG. 19, the self-propelled battery 10 is in a state where all the self-propelled batteries 10 have been moved to the target carry-in position. The storage of the self-propelled battery 10 is completed by driving the actuator 72 and raising the elevator 70. By this operation, the self-propelled battery 10 placed on the elevator 70 is stored in the battery storage unit 50, and the loading / unloading port that has been caused by the elevator 70 descending on the ground is closed. In other words, the self-propelled battery 10 is in a state where it cannot enter and exit the battery storage unit 50.

  In the state where the self-propelled battery 10 is disposed at the target carry-in position, the self-propelled batteries 10 are separated from each other, and power cannot be exchanged between the self-propelled batteries 10 or transmission by wireless power feeding The efficiency is low. In other words, a plurality of self-propelled batteries 10 are integrally connected to the vehicle-side power feeding unit 61 so that appropriate electric power cannot be supplied to the electric vehicle 1.

  In FIG. 1, the self-propelled battery 10 is in a state where the movement to the power feeding position is completed. Here, the power feeding position is a position where the vehicle-side power feeding unit 61 and the self-propelled battery 10 are connected and can be fed appropriately. More specifically, in the self-propelled battery 10 arranged at a position closest to the vehicle-side power supply unit 61, the vehicle-side power supply unit 61 and the transmission / reception unit 32 are opposed to each other, and the transmission / reception unit 32. Is the position closest to the vehicle-side power feeding unit 61. On the other hand, in the other self-propelled batteries 10, the transmitting / receiving unit 32 between the self-propelled batteries 10 is the closest position in a state of facing each other. In a state where the self-propelled battery 10 has been moved to the power feeding position, the self-propelled batteries 10 are in a state in which power can be supplied to each other, and the self-propelled battery 10 facing the vehicle-side power feeding unit 61 is On the other hand, it is in a state where power can be appropriately supplied. The self-propelled battery 10 maintains the power feeding position using the battery side brake 14 when the movement to the power feeding position is completed. However, the power feeding position includes a position where the transmission efficiency in power feeding is maximized, and is a position where power feeding to the electric vehicle 1 is possible. In other words, even if the distance between the vehicle-side power feeding unit 61 and the transmission / reception unit 32 is deviated from the closest position, any power feeding position is included in the power feeding position.

  The configuration in a state where the self-propelled battery 10 has completed the movement to the power feeding position will be described in detail below. In FIG. 20, the self-propelled battery 10 is disposed at a power supply position where power can be supplied to the vehicle-side power supply unit 61. In the power supply position, the self-propelled battery 10 adjacent to the vehicle-side power supply unit 61 is in a state where the transmission / reception unit 32 and the vehicle-side power supply unit 61 face each other. Moreover, in the power feeding position, the self-propelled batteries 10 are in a state where the transmission / reception units 32 face each other. In this state, the cushioning materials 19 are in contact with each other.

  In FIG. 21, the vehicle-side power feeding unit 61 and the transmission / reception unit 32 face each other with a gap therebetween. Here, a gap between the vehicle-side power feeding unit 61 and the transmission / reception unit 32 is formed by the cushioning material 19. Since the cushioning material 19 is in contact with the wall surface provided with the vehicle-side power feeding unit 61, a gap is generated between the transmission / reception unit 32 located on the inner side of the cushioning material 19 and the wall surface. By reducing the protruding amount of the buffer material 19 with respect to the transmission / reception unit 32, the size of the gap generated between the vehicle-side power feeding unit 61 and the transmission / reception unit 32 can be reduced.

  The transmission / reception units 32 face each other with a gap therebetween. Here, the gap between the transmission / reception units 32 is formed by the buffer material 19. When the cushioning materials 19 are in contact with each other, the distance between the self-propelled batteries 10 is kept constant, and a gap is generated between the transmission / reception units 32. By reducing the protruding amount of the buffer material 19 with respect to the transmission / reception unit 32, the size of the gap generated between the transmission / reception units 32 can be reduced.

  The transmission efficiency, which is the power received by the vehicle-side power supply unit 61 with respect to the power output by the transmission / reception unit 32, depends on the relative positional relationship between the transmission / reception unit 32 and the vehicle-side power supply unit 61. That is, if the relative distance between the transmission / reception unit 32 and the vehicle-side power supply unit 61 increases, the transmission efficiency deteriorates. In other words, the transmission efficiency can be improved by reducing the distance between the transmission / reception unit 32 and the vehicle-side power supply unit 61. Therefore, transmission efficiency can be improved by performing movement control so that the movable transmission / reception unit 32 is as close as possible to the vehicle-side power supply unit 61 whose position is fixed. Furthermore, deterioration of transmission efficiency can be prevented by maintaining an appropriate positional relationship between the vehicle-side power feeding unit 61 and the transmission / reception unit 32 during power feeding.

  Similarly, with regard to the wireless power feeding between the transmitting / receiving units 32, the transmission efficiency in the exchange of power between the self-propelled batteries 10 can be improved by performing movement control so that the transmitting / receiving units 32 are as close as possible. . Furthermore, deterioration of transmission efficiency can be prevented by maintaining an appropriate positional relationship between the transmission / reception units 32 during power feeding.

  When supplying electric power to the electric vehicle 1, a plurality of the self-propelled batteries 10 are wirelessly fed to each other, thereby adding a plurality of self-propelled batteries 10 to the electric vehicle 1 as one large battery. Supply power. That is, the electric power stored in the plurality of self-propelled batteries 10 wirelessly connected to each other is transmitted to the electric vehicle 1 via the transmitting / receiving unit 32 of the self-propelled battery 10 disposed at a position facing the vehicle-side power feeding unit 61. In contrast, power is supplied. The same applies to charging by recovery of regenerative energy accompanying deceleration of the electric vehicle 1 or the like. That is, regenerative energy is charged in a plurality of self-propelled batteries 10 wirelessly connected to each other via the transmitting / receiving unit 32 of the self-propelled battery 10 disposed at a position facing the vehicle-side power feeding unit 61.

  A battery replacement method for the self-propelled battery 10 will be described below. When the remaining power of the self-propelled battery 10 becomes equal to or less than the threshold value, a battery replacement reservation is made to the battery installation station preparing the charged self-propelled battery 10. Thereafter, the electric vehicle 1 is parked at a predetermined battery replacement position at the reserved battery installation station. Here, when a predetermined condition for safely replacing the battery is satisfied, the battery replacement is started. Examples of the predetermined condition include that the electric vehicle 1 is located within a predetermined battery replacement position, that the ignition switch is turned off, and that the shift lever is in a parking state. In addition, the battery replacement is not started even when the elevator 70 cannot normally move up and down, such as when there is a foreign object on the ground located below the elevator 70 that is the carry-in / out section.

  In FIG. 22, when battery replacement is started, in step S110, battery unloading preparation, which is preparation related to the self-propelled battery 10 to be unloaded, is performed. Details of the battery unloading preparation in step S110 will be described later. After completion of battery unloading preparation, the process proceeds to step S118.

  In step S118, the elevator 70 which is a carry-in / out part is lowered to the ground. In other words, the loading / unloading unit is opened so that the self-propelled battery 10 can be unloaded. At this time, the self-propelled battery 10 located immediately above the elevator 70 from the beginning is automatically carried out of the battery storage unit 50 when the elevator 70 descends to the ground. After opening the loading / unloading section, the process proceeds to step S119.

  In step S119, the self-propelled battery 10 to be carried out is carried out. First, the self-propelled battery 10 placed on the elevator 70 is self-propelled toward a battery installation station provided with a charger. Thereafter, the self-propelled battery 10 that is located near the carry-in / out unit is caused to self-propell in order from the self-propelled battery 10 to be carried out, and is lowered from the carry-in / out unit to the ground to be carried out. The self-propelled battery 10 that has been taken out of the battery storage unit 50 is self-propelled toward the battery installation station. After unloading of the self-propelled battery 10 that is the replacement target is completed, the process proceeds to step S121.

  In step S121, the carry-in target position of the self-propelled battery 10 to be carried in is specified. The carry-in target position is a target position for placing the self-propelled battery 10 to be carried in the battery storage unit 50. The self-propelled battery 10 that is carried in moves within the battery storage unit 50 based on the information of the carry-in target position. When the self-propelled battery 10 is already stored in the battery storage unit 50, the target carry-in position is set to a position adjacent to the stored self-propelled battery 10. On the other hand, in a state where the self-propelled battery 10 is not stored in the battery storage unit 50, a position where the distance from the carry-in / out unit is the longest is set. The carry-in target position is a position for smoothly carrying in the self-propelled battery 10. Therefore, the carry-in target position is set at a position where the loaded self-propelled battery 10 does not hinder the loading of other self-propelled batteries 10. After specifying the carry-in target position, the process proceeds to step S128.

  In step S128, the self-propelled battery 10 is carried in. After the self-propelled battery 10 is attracted by the magnetic force using the upper surface magnet 15 and the elevating magnet 80, the moving direction of the self-propelled battery 10 is controlled based on the information on the target position of loading. In other words, depending on whether the self-propelled battery 10 is moved toward the front of the vehicle or the self-propelled battery 10 is moved toward the rear of the vehicle, the direction in which the initial speed is applied and the timing at which the polarity of the top magnet 15 is reversed are changed. To do. After the movement using the magnetic force is completed, the self-propelled battery 10 moves toward the carry-in target position using the battery-side tire 12.

  Each time the loading of one self-propelled battery 10 is completed, it is confirmed whether the movement is properly completed to the loading target position and the position is maintained. After the loading of all the self-propelled batteries 10 that can be loaded is completed and the movement to the loading target position is completed, the process proceeds to step S129.

  In step S129, the elevator 70 which is a carry-in / out part is raised from the ground. That is, the loading / unloading unit is closed so that the self-propelled battery 10 cannot be loaded or unloaded. At this time, the self-propelled battery 10 located immediately above the bottom plate portion 71 is automatically carried into the battery housing portion 50 when the elevator 70 is raised. After the loading of all the self-propelled batteries 10 is completed and the loading / unloading unit is closed, the process proceeds to step S131.

  In step S131, the self-propelled battery 10 is moved from the carry-in target position to the power feeding position. The power supply position is a position where power can be appropriately supplied to the vehicle-side power supply unit 61. That is, the power supply position is a position where the vehicle-side power supply unit 61 and the transmission / reception unit 32 can supply power in the self-propelled battery 10 adjacent to the vehicle-side power supply unit 61. On the other hand, in the self-propelled battery 10 that is not adjacent to the vehicle-side power supply unit 61, power can be directly or indirectly supplied to the transmission / reception unit 32 of the self-propelled battery 10 that is adjacent to the vehicle-side power supply unit 61. It is a position. However, when the vehicle-side power supply unit 61 is provided at a plurality of locations, the power supply position may be set so that a plurality of self-propelled batteries 10 are collected for each of the plurality of vehicle-side power supply units 61 provided. . Moreover, you may make a carrying-in target position and electric power feeding position correspond. In this case, the time required for movement of the self-propelled battery 10 from the carry-in target position to the power feeding position can be shortened. After the movement of the self-propelled battery 10 to the power feeding position is completed, the process proceeds to step S132.

  In step S132, the battery position is maintained by enabling the battery-side brake 14 so that the self-propelled battery 10 does not move from the power feeding position. At this time, when the self-propelled battery 10 has moved from the power supply position due to contact between the self-propelled batteries 10 or the like, the battery-side brake 14 is released and moved again to an appropriate power supply position. Thereafter, the battery-side brake 14 is enabled so as to maintain the power feeding position. The battery-side brake 14 is enabled from the end of battery replacement until the next battery replacement is started. That is, by making the battery side brake 14 effective, the movement by the battery side tire 12 is restricted so that the self-propelled battery 10 does not move from the power feeding position due to vibrations or the like while the electric vehicle 1 is traveling. Various forces are applied to the self-propelled battery 10 as the electric vehicle 1 travels, such as an inertial force due to a large acceleration change when the electric vehicle 1 starts or stops, or a centrifugal force due to a right or left turn. Furthermore, in wireless connection using the transmission / reception unit 32, the transmission efficiency varies greatly depending on the distance between the transmission / reception units 32. For this reason, it is very useful to perform control to maintain the power feeding position of the self-propelled battery 10 using the battery-side brake 14. In a state where the battery position is maintained at the power feeding position, the process proceeds to step S133.

  In step S133, it is confirmed whether there is no problem in energization of the self-propelled battery 10. In other words, it is confirmed whether the electric vehicle 1 is appropriately supplied with power from the self-propelled battery 10. If it is determined that there is a problem in energization, a series of battery replacements are performed again to carry out the problematic self-propelled battery 10 and carry in a new self-propelled battery 10. In the energization check, not only whether the voltage value is normal but also whether the temperature of the secondary battery 20 is normal is checked. An error detection result by the battery side control unit 31 is acquired, and the presence or absence of an error is confirmed. At this time, the self-propelled battery 10 in which an error has occurred is to be replaced. If it is determined that there is no problem in energization, the battery replacement is terminated.

  Next, the control process in preparation for carrying out the self-propelled battery 10 in step S110 will be described. In FIG. 23, when preparation for carrying out the self-propelled battery 10 is started, first, the remaining power of the self-propelled battery 10 stored in the battery storage unit 50 is determined in step S111. Using the transmission / reception unit 32, it is grasped how much power remains in each self-propelled battery 10. After determining the remaining power, the process proceeds to step S112.

  In step S112, power is supplied between the self-propelled batteries 10 according to the grasped remaining power. For example, the power of the self-propelled battery 10 is supplied from another self-propelled battery 10 to the self-propelled battery 10 in which the power that can be self-propelled to the battery installation station is not stored in the secondary battery 20. Provide power necessary for carrying out. Or you may make it reduce the number of self-propelled batteries 10 which need battery replacement by collecting the electric power of surplus in other self-propelled batteries 10 leaving the electric power required for carrying out. At this time, as the self-propelled battery 10 to be carried out is located closer to the elevator 70 which is a carrying-in / out part, the distance traveled when leaving the battery storage part 50 can be shortened. For this reason, when surplus electric power exists, it is good to supply electric power to the self-propelled battery 10 arranged at a position far from the elevator 70. After the power supply between the self-propelled batteries 10 is completed, the process proceeds to step S113.

  In step S113, the self-propelled battery 10 to be carried out is specified. In other words, the battery having only the remaining power required for self-running to return to the battery installation station is determined as the self-running battery 10 to be carried out. However, even if there is sufficient remaining power, the self-propelled battery 10 that is in a state where it cannot perform an appropriate function as the self-propelled battery 10 such as an abnormally high temperature is to be carried out. It is determined that the battery 10 is used. With the self-propelled battery 10 to be carried out specified, the preparation for carrying out the self-propelled battery 10 is completed.

  According to the above-described embodiment, the self-propelled battery 10 includes the battery-side control unit 31 that performs movement control by the moving unit and power supply control by the transmission / reception unit 32. For this reason, at the time of battery replacement, the self-propelled battery 10 can be moved in and out of the battery storage unit 50 using the moving unit, or moved to the power feeding position. Accordingly, it is possible to omit the operation of the replacement operator to move the self-propelled battery 10 to an appropriate position one by one at the time of battery replacement. Furthermore, a device such as the vehicle-side power feeding unit 61 can be set in a place that cannot be directly touched by a replacement operator when replacing the battery, and a high degree of freedom in layout of each device in the electric vehicle 1 can be ensured.

  In addition, since the self-propelled battery 10 moves in the battery storage unit 50, the self-propelled battery 10 even when the self-propelled battery 10 is separated from the power feeding position due to vibration caused by traveling of the electric vehicle 1. 10 can move to an appropriate feeding position by itself. Therefore, even when the power supply efficiency is reduced due to a distance from the power supply position or when power supply becomes impossible, the power supply state can be restored by moving to an appropriate power supply position.

  The battery side control unit 31 performs control to move to the power supply position where power can be supplied to the vehicle side power supply unit 61. For this reason, even if the self-propelled battery 10 enters the position away from the power feeding position in the battery storage unit 50, the self-propelled battery 10 moves to an appropriate power feeding position inside the battery storage unit 50. Therefore, power can be supplied to the electric vehicle 1. Therefore, it is possible to omit the work of the replacement worker moving the self-propelled battery 10 to an appropriate power feeding position one by one.

  The self-propelled battery 10 includes a battery-side tire 12 as a moving unit that moves the secondary battery 20 in a direction parallel to the bottom surface of the battery storage unit 50. For this reason, the secondary battery 20 can be moved to an arbitrary position in a direction parallel to the bottom surface of the battery storage unit 50. Therefore, the self-propelled battery 10 can freely move to the carry-in target position or the power feeding position. In other words, when there is an obstacle on the moving route to the power feeding position, the obstacle can be detoured to the power feeding position. Therefore, it is possible to smoothly move to the carry-in target position or the power feeding position.

  The self-propelled battery 10 includes a battery-side brake 14 that decelerates and stops the rotation of the battery-side tire 12. For this reason, it is easy to adjust the moving speed by decelerating the self-propelled battery 10. Therefore, it is easy to move the self-propelled battery 10 to an arbitrary place such as a carry-in target position or a power feeding position. Moreover, it is easy to prevent the self-propelled battery 10 that has been moved from unintentionally moving from a predetermined position. Also, by reducing the moving speed, it is easy to reduce the impact applied when contacting a wall or the like during movement.

  The battery side control unit 31 stops the movement by the battery side tire 12 using the battery side brake 14 at the power feeding position. For this reason, it can prevent that it becomes impossible to feed with respect to the electric vehicle 1 because the self-propelled battery 10 leaves | separates from a feeding position. In addition, by maintaining a position where the transmission efficiency is high at the power feeding position, it is easy to stably maintain highly efficient power feeding.

  The self-propelled battery 10 includes an upper surface magnet 15 as a moving unit that moves the secondary battery 20 using the magnetic force generated by the lifting magnet 80 and the bulging portion magnet 83. For this reason, the state which self-propelled battery 10 floated from the ground can be maintained by adsorbing self-propelled battery 10 using magnetic force. Therefore, by moving the self-propelled battery 10 while maintaining the state of floating from the ground, it is possible to get over the step in the battery storage unit 50. Moreover, another self-propelled battery 10 can be arranged below the floating self-propelled battery 10 and the self-propelled batteries 10 can be stacked one above the other. Therefore, it is easy to store many self-propelled batteries 10 in a limited space.

  The top magnet 15 is an electromagnet whose polarity can be reversed by changing the direction of current flow. For this reason, in the self-propelled battery 10, it is possible to switch between a floating state using magnetic force and a state where the magnetic force disappears and is pulled by gravity. Moreover, the self-propelled battery 10 can be moved using the principle of a linear motor by reversing the polarity at an appropriate timing.

  The self-propelled battery 10 includes a posture control unit 18 as a moving unit that moves the secondary battery 20 in a direction intersecting the bottom surface of the battery storage unit 50. For this reason, the position with respect to the ceiling surface of the battery accommodating part 50 can be changed by moving the position of the secondary battery 20 to an up-down direction. Therefore, the upper surface magnet 15 can be moved to a position where a magnetic force such as the lifting magnet 80 acts. Moreover, when the vehicle side electric power feeding part 61 is arrange | positioned above the self-propelled battery 10, the distance of the up-down direction of the vehicle side electric power feeding part 61 and the upper surface transmission / reception part 32a can be made close.

  The attitude control unit 18 has a tilt function for tilting the secondary battery 20 with respect to the bottom surface of the battery storage unit 50. For this reason, even when the lifting magnet 80 and the bulging portion magnet 83 are inclined with respect to the secondary battery 20, the upper surface magnet 15 is made parallel to the lifting magnet 80 and the bulging portion magnet 83, It can be set as the state which magnetic force acts appropriately.

  The secondary battery 20 includes a buffer material 19 at the corners on the outer periphery. For this reason, even when the wall surface and the self-propelled battery 10 come into contact with each other due to the movement of the self-propelled battery 10, the cushioning material 19 first comes into contact with the wall surface or the like and easily absorbs the impact. Moreover, since the gap | interval can be formed between a wall surface and the secondary batteries 20, or between the secondary batteries 20 with the buffer material 19, the cooling wind which cools the secondary battery 20 which is a heat-emitting component is flowed efficiently. Cheap.

  The self-propelled battery 10 with the reduced remaining power comes out of the battery storage unit 50, the charged self-propelled battery 10 enters the battery storage unit 50, and the self-propelled battery 10 that enters the battery storage unit 50 is on the battery side. The battery is replaced by moving to a power feeding position using a moving part such as a tire 12. For this reason, even when the self-propelled battery 10 enters a position away from the power supply position, the electric vehicle 1 is moved after the self-propelled battery 10 moves to an appropriate power supply position inside the battery storage unit 50. Can be fed. Therefore, the operation | work which moves the self-propelled battery 10 to an appropriate electric power feeding position one by one by the exchange operator, and the operation | work carried in / out from the battery accommodating part 50 can be abbreviate | omitted.

  The elevator 70 that provides the carry-in / out unit is located at the approximate center of the battery storage unit 50. For this reason, the self-propelled battery 10 can be carried in and out separately from the elevator 70 in the front and rear of the vehicle. Therefore, even when an abnormality occurs in the innermost self-propelled battery 10 farthest from the elevator 70 and it is carried out, it is not necessary to carry out all the self-propelled batteries 10. That is, only the self-propelled battery 10 positioned between the self-propelled battery 10 to be carried out and the elevator 70 needs to be carried out, and the time required for battery replacement can be easily shortened.

  The upper magnet 15 is not limited to an electromagnet that reverses the S and N poles in the direction in which current flows. For example, the up-and-down magnet 80 and the bulging portion magnet 83 that are vehicle-side magnets may be electromagnets, and the top magnet 15 may be a permanent magnet. Or you may comprise both the upper surface magnet 15 and the vehicle side magnet with an electromagnet.

Second Embodiment This embodiment is a modified example based on the preceding embodiment. In this embodiment, the battery side tire 212 is provided so as to protrude at a position avoiding the lower surface of the secondary battery 20.

  In FIG. 24, the battery-side tire 212 is a position that avoids the lower surface magnet 16 that forms the lower surface of the self-propelled battery 10, and protrudes to the side of the self-propelled battery 10. The battery-side tire 212 is provided not only on the lower side in contact with the traveling surface such as the ground but also on the whole including the upper side. The diameter Lt of the battery side tire 212 is smaller than the length Lb from the upper surface to the lower surface of the self-propelled battery 10. The battery side tire 212 provides a moving part.

  In FIG. 25, battery side tires 212 are provided at four locations on the side surface of the self-propelled battery 10. All four battery side tires 212 are provided at positions avoiding the lower projection area of the lower surface magnet 16 constituting the lower surface of the self-propelled battery 10. The battery side tires 212 are arranged so that the battery side tires 212 provided at four places form a rectangle.

  According to the embodiment described above, when the self-propelled batteries 10 are stacked one above the other, the battery-side tire 212 is not positioned between the self-propelled batteries 10. For this reason, compared with the case where the battery side tire 12 is provided so as to protrude from the lower surface of the self-propelled battery 10, the gap generated between the lower surface of one self-propelled battery 10 and the upper surface of the other self-propelled battery 10. Can be reduced.

  The diameter Lt of the battery side tire 212 is smaller than the length Lb from the upper surface to the lower surface of the self-propelled battery 10. For this reason, even if the self-propelled battery 10 overlaps vertically, the battery-side tires 12 are in contact with each other in the vertical direction, and a vertical gap is not generated between the self-propelled batteries 10. Therefore, the self-propelled batteries 10 can be arranged without gaps in the vertical direction. Therefore, it is easy to store many self-propelled batteries 10 in the limited space of the battery storage unit 50. Furthermore, the distance between the lower surface transmitting / receiving unit 32b and the upper surface transmitting / receiving unit 32a adjacent in the vertical direction can be reduced. For this reason, compared with the case where there is a gap in the vertical direction, the power transmission efficiency between the self-propelled batteries 10 can be increased.

Other Embodiments The disclosure herein is not limited to the illustrated embodiments. The disclosure encompasses the illustrated embodiments and variations by those skilled in the art based thereon. For example, the disclosure is not limited to the combinations of parts and / or elements shown in the embodiments. The disclosure can be implemented in various combinations. The disclosure may have additional parts that can be added to the embodiments. The disclosure includes those in which parts and / or elements of the embodiments are omitted. The disclosure encompasses the replacement or combination of parts and / or elements between one embodiment and another embodiment. The technical scope disclosed is not limited to the description of the embodiments. Some technical scope disclosed is indicated by the description of the claims, and should be understood to include all modifications within the meaning and scope equivalent to the description of the claims.

  DESCRIPTION OF SYMBOLS 1 Electric vehicle, 2 Vehicle main body, 10 Self-propelled battery, 12 Battery side tire (moving part), 13 Battery side motor, 14 Battery side brake, 15 Upper surface magnet (moving part, battery side magnet), 16 Lower surface magnet, 18 Attitude control unit (moving unit), 19 cushioning material, 20 secondary battery, 21 switching element, 31 battery side control unit, 32 transmission / reception unit, 32a upper surface transmission / reception unit (transmission / reception unit), 32b lower surface transmission / reception unit (transmission / reception unit), 33 Distance sensor, 34 Motor rotation speed sensor, 35 Attitude detection sensor, 41 Remaining power sensor, 42 Temperature sensor, 50 Battery storage part, 53 Back bulging part, 61 Vehicle side power feeding part, 70 Elevator, 71 Bottom plate part, 72 Actuator, 80 Lifting magnet (vehicle side magnet), 83 Swelling part magnet (vehicle side magnet), 212 Battery side Tire (moving part)

Claims (10)

A secondary battery (20) for storing electric power;
A transmission / reception unit (32) for supplying electric power of the secondary battery to the electric vehicle (1);
In a battery storage part (50) provided in the electric vehicle, a moving part (12, 15, 18, 212) for moving the secondary battery using the power of the secondary battery;
A self-propelled battery comprising a battery-side control unit (31) that performs movement control by the moving unit and power supply control by the transmitting / receiving unit.   2. The self-propelled battery according to claim 1, wherein the battery side control unit performs control to move the secondary battery to a power feeding position where power can be fed to a vehicle side power feeding unit (61) provided in the electric vehicle. .   The self-propelled type according to claim 1 or 2, wherein the moving unit includes a battery-side tire (12, 212) that moves the secondary battery in a direction parallel to a bottom surface of the battery housing unit. battery.   The self-propelled battery according to claim 3, comprising a battery-side brake (14) for decelerating and stopping the rotation of the battery-side tire.   The said moving part is equipped with the battery side magnet (15) which moves the said secondary battery using the magnetic force by the vehicle side magnet (80, 83) provided in the inside of the said battery accommodating part. Item 5. The self-propelled battery according to any one of Items 4 to 5.   The self-propelled battery according to claim 5, wherein the battery-side magnet is an electromagnet whose polarity can be reversed by changing a direction in which a current flows.   The said movement part is provided with the attitude | position control part (18) which moves the said secondary battery in the direction which cross | intersects with respect to the bottom face of the said battery accommodating part, The self-propelled in any one of Claims 1-6 Battery.   The self-propelled battery according to claim 7, wherein the attitude control unit has an inclination function of inclining the secondary battery with respect to a bottom surface of the battery storage unit.   The said secondary battery is a self-propelled battery in any one of Claims 1-8 provided with the shock absorbing material (19) in the corner | angular part in outer periphery. A self-propelled battery (10) having a secondary battery (20) and a moving unit (12, 15, 18, 212) for moving the secondary battery using the power of the secondary battery is provided with an electric vehicle (1). A battery replacement method for storing the battery in a battery storage section (50) provided in
The self-propelled battery to be exchanged is taken out of the battery storage unit using the moving unit,
The charged self-propelled battery enters the battery storage unit using the moving unit,
The battery replacement method in which the self-propelled battery that has entered the battery storage unit moves to a power feeding position where power can be supplied to a vehicle side power feeding unit (61) provided in the electric vehicle using the moving unit.

Images