KR102490564B1 - Battery replacement cart, battery replacement control system and control method thereof - Google Patents

Abstract

The present invention provides a battery replacement cart, a battery replacement control system, and a control method thereof, wherein the battery replacement cart includes an X-direction moving mechanism 30, a vertical lifting mechanism 40, an unlocking mechanism 10, and whether or not a battery is present. A battery sensor 70 for measuring, a pallet, a Y-direction moving mechanism 20 for moving the pallet, a pallet sensor 60 for measuring the existence of a pallet, a controller 100, and a distance measuring device for measuring a distance 80, a position sensor 90 for measuring a relative position, and a signal receiving module 50, among which the controller 100 includes the battery sensor 70, the pallet sensor 30, the Y direction It controls the movement of the moving mechanism 20, the vertical lifting mechanism 40 and the unlocking mechanism 10. The present invention further provides a control method of the battery replacement cart. In the process of replacing the battery, it is possible to realize convenient and smooth automated movement and lift through the controller, and complete the disassembly and installation of the battery.

Description

Battery replacement cart, battery replacement control system and control method thereof

The present invention claims priority to the Chinese patent application CN201711240367.0, filed on November 30, 2017, the entire content of which is incorporated herein by reference.

The present invention relates to a battery replacement cart, a battery replacement control system, and a control method thereof.

Existing battery replacement systems include four major modules: a clamping lane, a battery replacement cart (i.e., a battery replacement device), a stacker, and a charging rack. The clamping lane is used to position and drive the vehicle into the battery replacement station; The battery replacement cart is used for unlocking, disassembling and installing the battery at the bottom of the car, allowing the battery to travel back and forth between the stacker and the bottom of the car; The stacker is used to take out or put batteries in the battery replacement cart, and to take out or put batteries in each position in the charging rack.

However, in the prior art, both the unlocking and disassembly of the used battery and the installation of a new battery are very difficult. do. Existing technologies do not take this into account.

The technical problem to be solved by the present invention is to provide a battery replacement cart and a control method thereof in order to overcome the defects in the prior art in which unlocking and disassembling a used battery and installing a new battery are both very difficult.

The present invention solves the above technical problem through the following technical solutions.

The battery replacement cart is

X-direction moving mechanism, vertical lifting mechanism, unlocking mechanism, battery sensor for measuring battery presence, Y-direction moving mechanism, controller, range finder for measuring distance, position sensor for measuring relative position, and signal reception It contains modules, among which:

The controller is electrically connected to the battery sensor, the pallet sensor, the distance meter, the position sensor, and the signal receiving module, and controls the movement of the X-direction moving mechanism, the Y-direction moving mechanism, the vertical lifting mechanism, and the unlocking mechanism. do.

In this solution, the X-direction moving mechanism may be of various normal moving structures, for example, a normal wheel or track structure, etc., and the movement of the battery replacement cart is not limited as long as it can be realized. The Y-direction moving mechanism may also be of various conventional horizontal movement structures, for example, a conventional screw driving mechanism, a cylinder mechanism, a linear motor mechanism, or a track structure, etc., and the movement of the battery is not limited as long as it can be realized. . The vertical lifting mechanism may be any of several common moving structures, and may be, for example, a cylinder lifting mechanism, a rail mechanism, a retractable folding frame structure, and the like. The unlocking mechanism is mainly used to unlock the battery, and can be used in various types of unlocking methods.

The X-direction moving mechanism and the Y-direction moving mechanism can accurately control the movement of the battery in the horizontal direction. And movement in the vertical direction of the battery can be realized by the vertical lifting mechanism. Through the feedback of the distance measuring device and the position sensor, the controller can accurately adjust the movement of the X-direction movement mechanism, the Y-direction movement mechanism, and the vertical lift mechanism. Therefore, during the battery replacement process, the controller can easily and conveniently realize automated movement and lift, and disassembly and installation of the battery can be completed.

Preferably, the battery replacement cart further includes a pallet and a pallet sensor for measuring whether the pallet is present or not.

Preferably, the position sensor is a visual sensor.

Preferably, the position sensor is used to measure a relative position signal between the battery replacement cart and the vehicle, and the controller drives the X-direction moving mechanism and the Y-direction moving mechanism based on the relative position signal. Other interferences can be reduced by directly measuring the relative position signals of the battery replacement cart and vehicle. The most direct and timely battery replacement cart and pallet movement can be controlled.

Preferably, the battery sensor is used to measure a battery signal representing the presence or absence of a battery, the pallet sensor can be used to measure a pallet signal representing the presence or absence of a pallet, and the controller measures the battery signal and the pallet signal Based on the signal, the vertical lifting mechanism and the X-direction moving mechanism are driven. Through the pallet sensor and battery sensor, the smooth progress of battery replacement is ensured every time, and the problem of the battery replacement cart moving first when the installation or disassembly of the battery is not completed is avoided.

Preferably, the distance meter is used to measure a distance signal, and the controller drives the vertical lifting mechanism according to the distance signal. The vertical lifting mechanism is controlled through the distance signal of the distance meter, so that it can adapt to various vehicle chassis heights and has a wider application range.

Preferably, the signal receiving module is used to receive a rising arrival signal, and the controller stops the vertical lifting mechanism according to the rising arrival signal and controls the Y-direction moving mechanism to move the battery. The signal receiving module may obtain confirmation information from the battery replacement cart through receiving the rising arrival signal, thereby ensuring accurate start of battery disassembly.

Preferably, the signal receiving module is used to receive a lock arrival signal, and the controller stops the Y-direction moving mechanism according to the lock arrival signal. The signal receiving module can obtain confirmation information from the replacement cart through receiving the lock arrival signal, so as to ensure the correct progress of battery installation.

Preferably, the signal receiving module is used to receive an X-direction arrival signal, and the controller stops the X-direction moving mechanism according to the X-direction arrival signal.

Preferably, the Y-direction movement mechanism is a screw mechanism.

The battery replacement control system of an electric vehicle,

It is characterized by including the battery replacement cart.

The battery replacement cart control method is used to control the battery replacement cart,

Step A, after the controller receives the battery replacement instruction, controlling the battery replacement cart to move it to the lower end of the vehicle and aiming at the battery;

Step B, the controller controls the battery replacement cart to replace the battery;

Step C, wherein the controller controls the descent and exit from the underside of the vehicle.

Preferably, step A is

Step S1 , wherein the controller controls the X-direction moving mechanism to allow the battery replacement cart to enter the lower end of the vehicle and aim at the used battery.

Preferably, step B is

Step S2, the controller controlling the vertical lifting mechanism to reach a lifting position;

Step S3, wherein the controller controls the unlocking mechanism to unlock the used battery;

Step S4, wherein the controller controls the X-direction moving mechanism and the vertical lifting mechanism to eject the battery replacement cart.

Preferably, step B is

Step S5, wherein the controller controls the battery replacement cart to replace a new battery;

Step S6, wherein the controller controls the X-direction moving mechanism to allow the battery replacement cart to enter the lower end of the vehicle and aim;

Step S7, the controller controlling the vertical lifting mechanism to reach a lifting position;

Step S8, the controller controls the vertical lifting mechanism and the Y-direction moving mechanism to lock the new battery.

Preferably, step C is

Step S9, wherein the controller controls the X-direction moving mechanism and the vertical lifting mechanism to eject the battery replacement cart.

Preferably, step S8 is,

Step S8.1, the signal receiving module receives a rising arrival signal;

Step S8.2, the controller stopping the vertical lifting mechanism;

Step S8.3, the controller controlling the Y-direction moving mechanism to move the battery;

Step S8.4, the signal receiving module receives a lock arrival signal;

Step S8.5, wherein the controller stops the Y-direction moving mechanism.

Preferably, step S1 is,

Step S1.1, the controller controlling the X-direction moving mechanism to move it to a predetermined position;

Step S1.2, aiming is performed through the X-direction moving mechanism and the Y-direction moving mechanism.

Preferably, step S2 is,

Step S2.1, the controller controls and lifts the vertical lifting mechanism, and the distance meter measures a distance signal;

Step S2.2, when the distance signal is equal to the predetermined height, the controller controls the vertical lifting mechanism to stop.

Preferably, step S4 is,

Step S4.1, the battery sensor measures a battery signal;

Step S4.2, the controller driving the vertical lifting mechanism and the X-direction moving mechanism according to the battery signal.

Preferably, step S6 is,

Step S6.1, the controller controlling the X-direction moving mechanism to move it to a predetermined position;

Step S6.2, aiming is performed through the X-direction moving mechanism and the Y-direction moving mechanism.

Preferably, step S7 is,

Step S7.1, the controller controls the vertical lifting mechanism to lift it, and the distance meter measures a distance signal;

Step S7.2, when the distance signal is equal to the predetermined height, the controller controls the vertical lifting mechanism to stop.

Preferably, step S3 is,

Step S3.1, the controller controlling the Y-direction moving mechanism to move the battery to a predetermined unlocking position;

Step S3.2, the unlocking mechanism performs unlocking;

Step S3.3, the controller controlling the Y-direction movement mechanism to move the battery to an unlock position;

Step S3.4, wherein the controller controls the vertical lifting mechanism to lower the battery.

A battery replacement control method for an electric vehicle,

It is characterized by including the battery replacement cart control method.

The positive progress effects of the present invention are as follows: Through application of the present invention, it is possible to accurately control the movement of the battery in the horizontal direction by using the X-direction moving mechanism and the Y-direction moving mechanism. In addition, movement in the vertical direction of the battery can be realized through the vertical lifting mechanism. Through the feedback of the distance measuring device and the position sensor, the controller can accurately adjust the movement of the X-direction moving mechanism, the Y-direction moving mechanism and the vertical lifting mechanism. Due to this, in the battery replacement process, convenient and smooth automated movement and lift can be realized through the controller, and disassembly and installation of the battery can be completed.

1 is a structural schematic diagram of a battery replacement cart of Example 1;
2 is a schematic diagram showing the overall sequence of a method for controlling a battery replacement cart according to Embodiment 2;
3 is a schematic sequence diagram of step S1 of the method for controlling a battery replacement cart according to Embodiment 2;
4 is a schematic sequence diagram of step B of the battery replacement cart control method of Embodiment 2;
5 is a schematic sequence diagram of step S2 of the battery replacement cart control method according to Embodiment 2;
6 is a schematic sequence diagram of step S4 of the battery replacement cart control method of Embodiment 2;
7 is a schematic sequence diagram of step S6 of the battery replacement cart control method according to Embodiment 2;
8 is a schematic sequence diagram of step S7 of the battery replacement cart control method of Embodiment 2;
9 is a schematic sequence diagram of step S8 of the battery replacement cart control method of Embodiment 2;

Below, the present invention will be further described in conjunction with the drawings through preferred embodiments, but this should not be construed as limiting the present invention to the scope of the embodiments.

Example 1

As illustrated in FIG. 1 , the present embodiment provides a battery replacement cart, and the battery replacement cart includes an X-direction moving mechanism 30, a vertical lifting mechanism 40, an unlocking mechanism 10, and whether or not a battery is present. A battery sensor 70 for measuring, a pallet, a Y-direction moving mechanism 20, a pallet sensor 60 for measuring the existence of a pallet, a controller 100, a distance meter 80 for measuring a distance, a relative It includes a position sensor 90 for measuring a position, and a signal receiving module 50, among which:

The controller 100 is electrically connected to the battery sensor 70, the pallet sensor 60, the distance meter 80, the position sensor 90 and the signal receiving module 50, and the X-direction moving mechanism 30, the Y-direction It controls the movement of the moving mechanism 20, the vertical lifting mechanism 40 and the unlocking mechanism 10. In this embodiment, the battery is contained using a pallet, and the battery is moved through the movement of the pallet, but in another embodiment, the battery may be moved directly.

In this embodiment, the X direction and the Y direction are two different directions, for example, the X direction is along the width of the vehicle, the Y direction is along the length of the vehicle, and the battery replacement cart is in an arbitrary position. If it is only possible to move to, it is not restricted.

In this solution, the mechanical structure of the battery replacement cart mainly consists of an X-direction moving mechanism, a Y-direction moving mechanism, a vertical lifting mechanism and an unlocking mechanism. This self-structure can use different conventional designs. It is not limited as long as it is possible to realize only the unique function of each of the above-mentioned components. The X-direction moving mechanism and the Y-direction moving mechanism mainly realize adjustment in the horizontal direction. The X direction and the Y direction are two different directions, and the most common is to make the X and Y directions perpendicular to each other.

Among them, the X-direction movement mechanism 30 may be of various general movement structures, for example, a general wheel or track structure, etc., and movement of the battery replacement cart is not limited as long as it can be realized. The Y-direction movement mechanism 20 may also be of various conventional horizontal movement structures, for example, it may be a conventional screw drive mechanism, cylinder mechanism, linear motor mechanism, or structure such as a track, and the movement of the pallet can be realized. not limited as long as there is The vertical lifting mechanism 40 may be of various conventional moving structures, and may be, for example, a cylinder lifting mechanism, a rail mechanism, a retractable folding frame structure, and the like. The unlocking mechanism 10 is mainly used to unlock the battery, and can be used in various types of unlocking methods.

One possible way is to use the track-type X-direction moving mechanism 30 to perform translation, which can drive the overall movement of the battery replacement card, and then on the X-direction moving mechanism 30, for example The position of the pallet is moved horizontally by using a Y-direction moving mechanism 20 such as a screw driving mechanism. The vertical lifting mechanism 40 may be a folding mechanism, thereby realizing the overall lifting of the pallet. The unlocking mechanism 10 may use a structure such as a movable bolt or the like.

The X-direction moving mechanism 30 and the Y-direction moving mechanism 20 can accurately control the movement of the pallet in the horizontal direction. Then, movement in the vertical direction of the pallet was realized by the vertical lifting mechanism 40 . Through the feedback of the distance measuring device 80 and the position sensor 90, the controller 100 can accurately adjust the movement of the X-direction moving mechanism 30, the Y-direction moving mechanism 20, and the vertical lift mechanism 40. . Therefore, during the battery replacement process, the controller 100 can easily and conveniently realize automated movement and lift, thereby completing disassembly and installation of the battery.

In this embodiment, a battery replacement target (ie, a vehicle) of the battery replacement cart may be further installed. The body frame is used to install the battery, and the frame is equipped with a lock slot into which the lock shaft outside the battery can be inserted and locked.

An elevation reach sensor is installed in the body of the vehicle, which measures whether the lock shaft of the battery has entered the lock slot and is used to transmit an elevation reach signal.

A lock sensor is installed on the vehicle body corresponding to the lock point, which is used to measure whether the lock shaft of the battery has reached the lock point and transmits a lock arrival signal.

When the lock tongue is dropped, a lock drop signal sensor is installed on the corresponding body frame, which is used to measure whether the lock shaft of the battery is locked and send a lock drop signal to the vehicle controller.

In a more preferred embodiment, the position sensor 90 is used to measure the relative position signal of the battery replacement cart and the vehicle, and the controller 100 moves the X-direction moving mechanism 30 and the Y-direction moving mechanism (30) based on the relative position signals. 20) to run. Other interferences can be reduced by directly measuring the relative position signals of the battery replacement cart and vehicle. The most direct and timely battery replacement cart and pallet movement can be controlled.

In a more preferred embodiment, the battery sensor 70 is used to measure a battery signal representing the presence or absence of a battery, and the pallet sensor 60 can be used to measure a pallet signal representing the presence or absence of a pallet, and the controller ( 100) drives the vertical lifting mechanism 40 and the X-direction moving mechanism 30 based on the battery signal and the pallet signal. Through the pallet sensor 60 and the battery sensor 70, the smooth progress of battery replacement is ensured each time, and the problem of the battery replacement cart moving first when the installation or disassembly of the battery is not completed is avoided.

In a more preferred embodiment, the distance meter 80 is used to measure the distance signal, and the controller 100 drives the vertical lifting mechanism 40 based on the distance signal. The vertical lifting mechanism 40 is controlled through the distance signal of the distance meter 80, so that it can adapt to various vehicle chassis heights and has a wider application range. In a more preferred embodiment, the signal receiving module 50 is used to receive the upward arrival signal, and the controller 100 stops the vertical lifting mechanism 40 and moves the Y-direction moving mechanism 20 according to the upward arrival signal. Control and move the pallet. The signal receiving module 50 may obtain confirmation information from the battery replacement cart through receiving the rising arrival signal, thereby ensuring accurate start of battery disassembly.

In a more preferred embodiment, the signal receiving module 50 is used to receive a lock arrival signal, and the controller 100 stops the Y-direction moving mechanism 20 according to the lock arrival signal. The signal receiving module 50 may obtain confirmation information from the replacement cart through receiving the lock arrival signal, thereby ensuring correct progress of battery installation.

In a more preferred embodiment, the signal receiving module 50 is used to receive the lock drop signal, and the controller 100 drives the X-direction moving mechanism 30 and the vertical lifting mechanism 40 according to the lock drop signal. . The signal receiving module 50 may obtain confirmation information from the replacement cart through receiving the lock drop signal, thereby ensuring correct progress of battery installation.

In a more preferred embodiment, the signal receiving module 50 is used to receive the X-direction arrival signal, and the controller 100 stops the X-direction moving mechanism 30 according to the X-direction arrival signal. In a specific implementation, an X-direction arrival signal is transmitted by measuring whether the vehicle is parked in place through a position measurement sensor installed in a front wheel position measuring device of a clamping lane.

Example 2

As illustrated in Figs. 2 to 9, this embodiment provides a battery replacement cart control method, which is used for the battery replacement cart in Embodiment 1.

As illustrated in Figure 2, it mainly includes the following steps:

Step A, after the controller receives the battery replacement command, controlling the battery replacement cart to move it to the lower end of the vehicle and aiming at the battery;

Step B, the controller controls the battery replacement cart to replace the battery;

Step C, where the controller controls the descent and exit from the underside of the vehicle. The X-direction movement mechanism and the Y-direction movement mechanism in Example 1 can accurately control the movement of the pallet in the horizontal direction. And movement on the vertical direction of a pallet is realizable by a vertical lifting mechanism. Through the feedback of the distance measuring device and the position sensor, the controller can accurately adjust the movement of the X-direction movement mechanism, the Y-direction movement mechanism, and the vertical lift mechanism. Therefore, during the battery replacement process, the controller can easily and conveniently realize automated movement and lift, and disassembly and installation of the battery can be completed.

During normal operation, both the X-direction moving mechanism and the Y-direction moving mechanism are used. However, in some special situations, if the aiming situation is good, the movement of the Y-direction moving mechanism may be omitted.

Therefore, in a more detailed solution, step A is,

Step S1 , wherein the controller controls the X-direction moving mechanism to allow the battery replacement cart to enter the lower end of the vehicle and aim at the used battery.

As illustrated in FIG. 3, when the aiming situation is bad, step S1 under this basis,

Step S1.1, further comprising the controller controlling the X-direction moving mechanism to move it to a predetermined position;

Step S1.2, aiming is performed through the X-direction movement mechanism and the Y-direction movement mechanism.

In step S1.2, the position of the battery replacement cart may be more accurately adjusted through the aiming of the Y-direction moving mechanism. During the aiming process, the position sensor on the battery replacement cart measures the relative position of the vehicle and the battery replacement cart, and finely adjusts the position of the battery replacement cart based on the position, so that the battery replacement cart aims at the body battery installation frame. let it be

As illustrated in FIG. 4, since the battery replacement process is very complicated, and the mechanisms of each part operate in cooperation with each other, in a more detailed solution, step B is,

Step S2, the controller controlling the vertical lifting mechanism to reach a lifting position;

Step S3, wherein the controller controls the unlocking mechanism to unlock the used battery;

Step S4, wherein the controller controls the X-direction moving mechanism and the vertical lifting mechanism to eject the battery replacement cart.

Preferably, step B is

Step S5, wherein the controller controls the battery replacement cart to replace a new battery;

Step S6, wherein the controller controls the X-direction moving mechanism to allow the battery replacement cart to enter the lower end of the vehicle and aim;

Step S7, the controller controlling the vertical lifting mechanism to reach a lifting position;

Step S8, the controller controls the vertical lifting mechanism and the Y-direction moving mechanism to lock a new battery.

Through the detailed steps described above, each part of the battery replacement cart can be operated cooperatively, and, for example, the performing mechanism of the X-direction moving mechanism can be combined with each measuring element.

As illustrated in FIG. 5 , in a more detailed solution, step S2 includes: step S2.1, the controller controls the vertical lifting mechanism to lift it, and the distance meter measures a distance signal;

Step S2.2, when the distance signal is equal to the predetermined height, the controller controls the vertical lifting mechanism to stop.

In a more detailed solution, step S3 is,

Step S3.1, the controller controlling the Y-direction moving mechanism to move the battery to a predetermined unlocking position;

Step S3.2, the unlocking mechanism performs unlocking;

Step S3.3, the controller controlling the Y-direction movement mechanism to move the battery to an unlock position;

Step S3.4, wherein the controller controls the vertical lifting mechanism to lower the battery.

A battery replacement control method of an electric vehicle is characterized by including the battery replacement cart control method.

As illustrated in FIG. 6, in a more detailed solution, step S4 is,

Step S4.1, the battery sensor measures a battery signal;

Step S4.2, the controller driving the vertical lifting mechanism and the X-direction moving mechanism according to the battery signal.

As illustrated in FIG. 7, in a more detailed solution, step S6,

Step S6.1, the controller controlling the X-direction moving mechanism to move it to a predetermined position;

Step S6.2, aiming is performed through the X-direction moving mechanism and the Y-direction moving mechanism.

As illustrated in FIG. 8, in a more detailed solution, step S7,

Step S7.1, the controller controls the vertical lifting mechanism to lift it, and the distance meter measures a distance signal;

Step S7.2, when the distance signal is equal to the predetermined height, the controller controls the vertical lifting mechanism to stop.

As illustrated in FIG. 9, in a more detailed solution, in order to more accurately grasp the timing of locking, step S8,

Step S8.1, the signal receiving module receives a rising arrival signal;

Step S8.2, the controller stopping the vertical lifting mechanism;

Step S8.3, the controller controlling the Y-direction moving mechanism to move the battery;

Step S8.4, the signal receiving module receives a lock arrival signal;

Step S8.5, the controller stops the Y-direction moving mechanism.

Furthermore, since in the final export step, usually no readjustment of the pallet is required, in a further solution, step C is

Step S9, wherein the controller controls the X-direction moving mechanism and the vertical lifting mechanism to eject the battery replacement cart.

Although specific embodiments of the present invention have been described above, those skilled in the art should understand that this is merely an example and the scope of protection of the present invention is limited by the appended claims. A person skilled in the art may make various changes or modifications to these embodiments without departing from the principle and substance of the present invention, but all such changes and modifications shall fall within the protection scope of the present invention.

Claims (17)

As a battery replacement cart,
X-direction moving mechanism, vertical lifting mechanism, unlocking mechanism, battery sensor for measuring battery presence, Y-direction moving mechanism, controller, range finder for measuring distance, position sensor for measuring relative position, and signal reception contains a module,
The controller is electrically connected to the battery sensor, the distance measuring device, the position sensor, and the signal receiving module, and controls the movement of the X-direction moving mechanism, the Y-direction moving mechanism, the vertical lifting mechanism, and the unlocking mechanism;
wherein the controller controls the Y-direction moving mechanism to move the battery to an unlocked preload position, and the controller controls the unlocking mechanism to unlock the used battery. replacement cart. According to claim 1,
Further comprising a pallet and a pallet sensor for measuring the presence or absence of a pallet;
The battery sensor is used to measure a battery signal indicating the presence or absence of a battery, the pallet sensor is used to measure a pallet signal indicating the presence or absence of a pallet, and the controller determines the vertical position based on the battery signal and the pallet signal. Characterized in that for driving the lifting mechanism and the X-direction moving mechanism, the battery replacement cart. According to claim 1,
the position sensor is a visual sensor;
and/or, the position sensor is used to measure a relative position signal between the battery replacement cart and the vehicle, and the controller drives the X-direction moving mechanism and the Y-direction moving mechanism based on the relative position signal. , battery replacement cart. According to claim 1,
the distance meter is used to measure a distance signal, and the controller drives the vertical lifting mechanism according to the distance signal;
and/or, the signal receiving module is used to receive a rising arrival signal, and the controller stops the vertical lifting mechanism based on the rising arrival signal and controls the Y-direction moving mechanism to move the battery. To do, the battery replacement cart. According to claim 1,
The Y-direction moving mechanism is a screw mechanism, characterized in that, the battery replacement cart. According to claim 1,
The signal receiving module is used to receive a lock arrival signal, and the controller stops the Y-direction moving mechanism according to the lock arrival signal;
and/or, the controller stops the X-direction moving mechanism based on the X-direction arrival signal. A battery replacement control system for an electric vehicle, comprising the battery replacement cart according to any one of claims 1 to 6. As a battery replacement cart control method,
The control method is used to control the battery replacement cart according to any one of claims 1 to 6,
The control method,
Step A, after the controller receives the battery replacement instruction, controlling the battery replacement cart to move it to the lower end of the vehicle and aiming at the battery;
Step B, the controller controls the battery replacement cart to replace the battery; and
Step C, comprising the controller controlling the descent and exit from the underside of the vehicle;
Step B is
Step S3, wherein the controller controls the unlocking mechanism to unlock the used battery;
In the step S3,
Step S3.1, the controller controlling the Y-direction moving mechanism to move the battery to a predetermined unlocking position; and
Step S3.2, wherein the unlocking mechanism performs unlocking. According to claim 8,
In step A,
Step S1, wherein the controller controls the X-direction moving mechanism to allow the battery replacement cart to enter the lower end of the vehicle and aim at the used battery;
In the step S1,
Step S1.1, the controller controlling the X-direction moving mechanism to move it to a predetermined position; and
Step S1.2, the battery replacement cart control method comprising the step of proceeding with aiming through the X-direction moving mechanism and the Y-direction moving mechanism. According to claim 8,
Step B is
Step S2, the controller controlling the vertical lifting mechanism to reach a lifting position; and
Step S4, wherein the controller controls the vertical lifting mechanism and the X-direction moving mechanism to eject the battery replacement cart. According to claim 10,
In step S2,
Step S2.1, the controller controls and lifts the vertical lifting mechanism, and the distance meter measures a distance signal; and
Step S2.2, when the distance signal is equal to the predetermined height, the controller controls the vertical lifting mechanism to stop;
And / or, after the step S3.2, the control method,
Step S3.3, the controller controlling the Y-direction movement mechanism to move the battery to an unlock position; and
Step S3.4, wherein the controller controls the vertical lifting mechanism to lower the battery. According to claim 10,
In the step S4,
Step S4.1, the battery sensor measures a battery signal;
Step S4.2, the controller driving the vertical lifting mechanism and the X-direction moving mechanism based on the battery signal. According to claim 10,
Step B is
Step S5, wherein the controller controls the battery replacement cart to replace a new battery;
Step S6, wherein the controller controls the X-direction moving mechanism to allow the battery replacement cart to enter the lower end of the vehicle and aim;
Step S7, the controller controlling the vertical lifting mechanism to reach a lifting position; and
Step S8, wherein the controller controls the vertical lifting mechanism and the Y-direction moving mechanism to lock a new battery. According to claim 13,
In the step S6,
Step S6.1, the controller controlling the X-direction moving mechanism to move it to a predetermined position; and
Step S6.2, aiming through the X-direction movement mechanism and the Y-direction movement mechanism;
And / or, the step S7,
Step S7.1, the controller controls the vertical lifting mechanism to lift it, and the distance meter measures a distance signal;
Step S7.2, the controller controlling the vertical lifting mechanism to stop it when the distance signal is equal to the predetermined height. According to claim 13,
In the step S8,
Step S8.1, the signal receiving module receives a rising arrival signal;
Step S8.2, the controller stopping the vertical lifting mechanism;
Step S8.3, the controller controlling the Y-direction moving mechanism to move the battery;
Step S8.4, the signal receiving module receives a lock arrival signal;
Step S8.5, wherein the controller stops the Y-direction moving mechanism. According to claim 8,
In step C,
Step S9, wherein the controller controls the vertical lifting mechanism and the X-direction moving mechanism to eject the battery replacement cart. A battery replacement control method for an electric vehicle, comprising the method of controlling the battery replacement cart of claim 8 .

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