WO2013144953A1 - Système d'alignement de véhicule pour une station de commutation de batterie - Google Patents

Système d'alignement de véhicule pour une station de commutation de batterie Download PDF

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Publication number
WO2013144953A1
WO2013144953A1 PCT/IL2013/050272 IL2013050272W WO2013144953A1 WO 2013144953 A1 WO2013144953 A1 WO 2013144953A1 IL 2013050272 W IL2013050272 W IL 2013050272W WO 2013144953 A1 WO2013144953 A1 WO 2013144953A1
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WO
WIPO (PCT)
Prior art keywords
alignment
battery
vehicle
respect
modules
Prior art date
Application number
PCT/IL2013/050272
Other languages
English (en)
Inventor
Yoav Heichal
Original Assignee
Better Place GmbH
Better Place Labs Israel Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Better Place GmbH, Better Place Labs Israel Ltd. filed Critical Better Place GmbH
Publication of WO2013144953A1 publication Critical patent/WO2013144953A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Definitions

  • This invention relates to battery (switch) stations (BSS) for electric vehicles.
  • BSS battery (switch) stations
  • BES battery exchange system
  • Battery switch stations are generally designed to allow quick replacement of traction batteries of electric and/or hybrid vehicles (generally termed here interchangeably as vehicles or EVs). Switch of EV traction batteries should preferably be performed within time scales of a few minutes in order to provide cost effectiveness and high throughput of vehicles in the BSS and also to supply good service to vehicle users.
  • the battery switch process is an automated process carried out with minimal or no intervention of the vehicle's user during the process. Utilizing an automated process provides reliability and quick turnaround of battery switch for multiple vehicles which is prone to delays which might result due to unexpected actions of the vehicle's users/drivers.
  • the battery switch process for electric vehicles generally requires removal of a spent or partially spent battery from the EV and engagement and locking in place of an alternate battery which may have a higher state of charge. Removal of the battery installed in an EV is typically performed utilizing dedicated specific designed systems/tools to disconnect the battery from the EV.
  • BSMs battery switching tool/modules
  • Proper operation of such battery switching tool/modules is achieved when the EV is in a strict alignment (position and orientation) with respect to the BSM tool, typically in the order of 1mm or less position alignment and about 0.2° angular alignment.
  • the BSMs tool is generally moved (raised/lowered) in the vertical direction to retrieve the battery from the EV. Precise engagement of the BSM tool with the EV car body requires precise positioning and orientation of the EV.
  • the EV should be located and aligned on the platform/lane on which the EV is located when the battery switch process is performed. Alignment should be carried out with respect to a battery switch post at which the BSM system resides with sufficient accuracy allowing the EV's battery to be switched. In some cases alignment of the EV should be performed over all 6 degrees of freedom (location with respect to the ⁇ , ⁇ , ⁇ axes and orientation of the roll, pitch and yaw of the EV) on the platform/lane on which it resides. In some cases, the BSMs may also be movable in the horizontal plane allowing it to transport batteries to and from holding locations that are not directly below the EV and for adjustments of its position for different types of EVs. The BSM may be associated with a translation system allowing its movement in the horizontal plane.
  • the BSS alignment technique disclosed herein provides a system and method for alignment between an EV and the battery switching station.
  • the vehicle When a driver drives his vehicle into the BSS, the vehicle may generally be not well aligned with the BSS.
  • the lane system of the BSS includes at least two separate alignment aids/utilities operating on different locations through the lane for aligning the vehicle, and an intermediate alignment utility which is connectable in between the vehicle and the BSM and providing precise alignment and coupling between them.
  • a first alignment aid e.g. passive alignment aid
  • a second alignment aid e.g. active alignment aid
  • a second alignment aid may be configured according to the present invention to engage with the vehicle for providing a more accurate correction of the lateral (Y) shifts and yaw orientation of the EV as well as accurate positioning of the EV along the longitudinal direction of the lane (e.g. with respect to the X axis).
  • fine misalignment error of the EV is obtained at this stage in the order of a few centimeters (e.g. error not exceeding ⁇ 1.5 cm).
  • the additional alignment utility (intermediate alignment utility) is adapted to engage the EV from below and connects to registration aids (coupling members) in the EV such that the additional alignment utility is aligned/registered to within accuracy of 1mm or lower with the EV.
  • the battery switch process can be initiated. Precise alignment is achieved for example by utilizing a set of coupling members (e.g. registration/alignment pins) arranged on the intermediate alignment utility and a set of corresponding complementary coupling members (e.g. registration sockets) in the EV.
  • This same intermediate alignment utility is also configured with a second set of coupling members (e.g. registration pins) by which a battery exchange tool (BSM system) or a battery may be aligned to the intermediate alignment utility with accuracy exceeding 1mm.
  • BSM system battery exchange tool
  • the BSM tool and/or the battery may also be associated with corresponding complementary coupling members (e.g. registration sockets).
  • the BSM tool is placed on a shiftable/adjustably-movable (e.g. "floating") platform which allows the BSM to move substantially freely (“float") horizontally to a fine extent of a few centimeters (e.g. about 15 mm to each horizontal direction (i.e. in the X-Y plane). This facilitates the precise alignment of the BSM with respect to the intermediate alignment utility.
  • a shiftable/adjustably-movable platform which allows the BSM to move substantially freely (“float") horizontally to a fine extent of a few centimeters (e.g. about 15 mm to each horizontal direction (i.e. in the X-Y plane).
  • the BSM tool is mounted on a horizontal translation system (conveyor) associated with relatively moderate positioning accuracy (e.g. precision of a few centimeters).
  • the floating" platform which carries the BSM tool on the horizontal translation system may be configured to enable precise alignment of the BSM tool with respect to the intermediate alignment utility with horizontal accuracy that is better than that provided by the horizontal translation system . This feature may be used to obviate a need for highly accurate and complex horizontal translation systems.
  • a battery switch station for servicing electric vehicles (EVs).
  • the BSS includes a vehicle lane module including: one or more vehicle alignment utilities each configured for engaging an EV located on the lane to align the EV with respect to a battery switch post of the BSS.
  • the battery switch station includes an intermediate alignment utility configured to be intermediately coupled with either the EV and a battery to be installed into said EV, or the EV and a battery carrier, to thereby provide precise registration between them.
  • the intermediate alignment utility may be configured and operable to be intermediately coupled between the EV and at least one of a battery to be switched in the EV and a battery carrier for carrying the battery that is to be switched in the EV.
  • the phrase battery to be switched in the EV should be understood as relating to any one of a battery that is to be removed from the EV, and/or a battery to be installed in the EV.
  • the BSS vehicle alignment utilities of the BSS include one or more passive alignment modules (e.g. course correlators) that are arranged along the BSS lane and are configured for passively engaging with the EV when the EV is translated/conveyed through the lane towards the battery switch post.
  • the passive alignment modules are arranged such as to direct the course of the vehicle, to position and align the vehicle with respect to the battery switch post.
  • the passive alignment modules may include one or more bars fixedly mounted on the lane for engaging the wheels of the EV to direct the EV movement towards the battery switch post and provide moderate lateral alignment and moderate yaw orientation of the EV with respect to the battery switch post.
  • the bars include two or more bars/metal-rods arranged in the form of a funnel along a movement direction of the lane such that they direct the wheels of the EV to tire passages (tire lanes/passageways) of the BSS lane.
  • the bars may be arranged in the lane to engage with the wheels of the EV from their external sides and/or from their internal sides.
  • the passive alignment modules are configured to provide moderate lateral alignment with deviation not exceeding several centimeters from a perfectly aligned lateral position of the EV with respect to the battery switch post.
  • the passive alignment may be configured to provide moderate yaw orientation not exceeding a few degrees (e.g. not exceeding 1 degree) from a perfectly aligned yaw orientation of the EV with respect to the battery switch post.
  • the vehicle alignment utilities include one or more active alignment modules that are arranged in the vicinity of the battery switch post of the BSS.
  • the active alignment modules are configured and operable to be actuated for engagement with the EV to provide fine positioning and alignment of the EV with respect to the battery switch post.
  • active alignment modules may include any one or more of hydraulic, electric and pneumatic actuation systems.
  • the active alignment modules include one or more side alignment modules that are configured and operable to laterally engage with one or more wheels of the EV and to thereby laterally align the EV with respect to the battery switch post.
  • the one or more side alignment modules are also configured and operable to orient the yaw orientation of the EV with respect to the battery switch post.
  • such side alignment modules may include for example one or more side pushing levers.
  • the vehicle alignment utilities include one or more lift modules that are adapted to engage with a body of the EV from below and raise the body of the vehicle to align the EV with respect to the battery switch post by adjusting at least one of: (i) the vertical position of the EV; (ii) the pitch orientation of the EV; and (ii) the roll orientation of the EV.
  • the lift modules may include for example at least two jacks configured and operable for engaging with at least two respective anchor regions at the underside of the EV for lifting the EV.
  • the intermediate alignment utility is also configured and operable for engaging with at least a third anchor region located at the underside of the EV for lifting said EV.
  • the intermediate alignment utility thereby serves also as a third jack supporting and lifting the EV.
  • the one or more lift modules include at least three jacks that are configured and operable for engaging with at least three respective anchor regions at the underside of the EV.
  • the intermediate alignment utility may or may not serve as one of the jacks.
  • the vehicle alignment utilities include at least one vehicle translation system (e.g. vehicle conveyor).
  • the translation system is configured and operable for conveying the EV along the lane and to position the vehicle with longitudinal alignment with respect to the battery switch post.
  • the vehicle translation/conveyor system may be configured for engaging with the wheels of the EV located at one side of the lane or with the vehicle wheels located from two sides of the lane.
  • the vehicle translation/conveyor system is configured to engage with at least one wheel of the EV.
  • the BSS includes an alignment controller connectable to the one or more active alignment modules and configured and operable for operating the active alignment modules in a predetermined sequence to align the vehicle with respect to the battery switch post.
  • the alignment controller may be configured and operable for sequentially operating the vehicle translation system to align the vehicle longitudinally, then operating the one or more side alignment modules to align the vehicle laterally and with respect to its yaw, and then to operate the one or more lift modules to position and orient the EV in the vertical and pitch and roll orientations thereby aligning the vehicle with respect to the battery switch post.
  • the alignment controller may be configured and operable for operating the intermediate alignment utility for engaging with the EV.
  • the alignment controller and the active alignment modules may be configured and operable for providing six degrees of freedom alignment and orientation of the vehicle with respect to the battery switch post.
  • the active alignment modules may be configured and operable for providing fine positioning of the EV with deviations not exceeding several millimeters (e.g. not exceeding 15 mm) from perfectly aligned longitudinal and lateral positions of the EV with respect to the battery switch post.
  • the active alignment modules may be configured and operable for providing fine orientation of the EV with deviations not exceeding 1-2 degrees in the yaw orientation of the EV with respect to the battery switch post.
  • the active alignment modules may be configured and operable for providing fine alignment of the EV with respect to the battery switch post with deviations not exceeding 1-2 degrees in the pitch and roll orientations of the EV with respect to the battery switch post.
  • the BSS includes one or more tire slider modules that are positioned along the lane and configured and operable to enable lateral sliding movement of one or more tires of the EV and to thereby facilitate lateral alignment of the EV with respect to the battery switch post.
  • the tire slider modules may include, for example, a plurality of rolling cylinders that are aligned parallel to a longitudinal direction of the lane and are arranged in a parallel array which is accommodated in one or more sections of the tire passage-way of the BSS lane. This provides and enables lateral sliding of the vehicle tires at these sections of the tire passage.
  • the tire slider modules may include a tire conveyor system accommodated in the one or more sections of the tire passage ways for enabling lateral sliding to vehicle tires at these sections.
  • the location of the one or more tire slider modules i.e. of these sections
  • the BSS includes a floor door system including at least one sliding floor door which encloses a battery switch utility/pit of the BSS.
  • one or more tire slider modules may be furnished on the at least one sliding floor door to allow the door to slide underneath the EV wheels while still supporting the EV.
  • the intermediate alignment utility includes a set of primary coupling members that are configured for coupling with set of complementary primary coupling members furnished on the EV.
  • the intermediate alignment utility also includes a set of secondary coupling members that are configured for coupling with a set of complementary secondary coupling members furnished on at least one of a battery to be switched in the EV and a battery carrier for carrying such a battery.
  • each of the sets of primary and secondary coupling includes at least two coupling members.
  • Coupling members of any one of the sets of primary and secondary coupling members may include tapered registration pins.
  • complementary coupling members to be coupled with the tapered registration pins may include complementary registration sockets.
  • coupling members, of any one of the sets of primary and secondary coupling members may include registration sockets.
  • complementary coupling members to be coupled with the registration sockets may include complementary tapered registration pins.
  • the intermediate alignment utility is configured to be intermediately coupled with the EV and with a battery to be switched in said EV.
  • the intermediate alignment utility includes a battery carrier that is configured and operable for carrying the battery.
  • the intermediate alignment utility also includes a battery switching module (e.g. a battery gripper) that is configured and operable for engaging with a battery locking mechanism associated with at least one of the EV and the battery for releasing the battery from the EV and/or attaching the battery to the EV.
  • the intermediate alignment utility is configured to be intermediately coupled with the EV and with a battery carrier which is in turn configured and operable for at least carrying the battery.
  • the battery carrier may for example include a battery switching module configured and operable for engaging with the battery locking mechanism associated with at least one of the EV and the battery for releasing the battery from the EV and/or attaching the battery to the EV.
  • the intermediate alignment utility is mounted on a shiftable (“floatable”) platform allowing it to shift horizontally and thereby approach an aligned position at which it can be registered (e.g. coupled/engaged with the EV).
  • the BSM tool may also be mounted on a shiftable (“floatable”) platform to allow it to shift horizontally and arrive to an aligned position with respect to the EV and/or with respect to the intermediate alignment utility.
  • a method for exchanging a battery of an at least partially electric vehicle includes translating the vehicle longitudinally along a lane towards a battery switch post located along the lane, and longitudinally aligning the vehicle with respect to the battery switch post.
  • One or more wheels of the vehicle are directed to pass through designated passageway in the lane which the vehicle is translated.
  • Directing the wheels includes providing one or more course correlators laterally positioned along the passageway and enabling engagement of the vehicle with the course correlators while at least two wheels of the vehicle are positioned on wheel sliders enabling their lateral movement of the wheels in reaction to the engagement with the course correlators to thereby provide at least as moderate lateral alignment of the vehicle with respect to the battery switch post.
  • an intermediate alignment utility to intermediately couple between the EV and at least one of the following: an EV battery to be exchanged and a battery carrier for carrying the EV battery to obtain precise registration between them.
  • the method also includes operating one or more active alignment utilities to actively align the vehicle with fine alignment precision with respect to said battery switch post. This operation of the active alignment utilities is typically performed, prior to the engagement of the intermediate alignment utility and when the vehicle is at least moderately longitudinally and laterally aligned with respect to the battery switch post.
  • the present invention provides novel techniques for precisely aligning an EV with respect to a battery switch module of a BSS.
  • the technique utilizes several alignment stages including passive and/or active alignment stages at which the vehicle is aligned with respect to the battery switch post of the BSS and a registration stage at which an intermediate alignment utility is provided to register the vehicle with a battery switch module of the BSS.
  • Figs. 1A to ID illustrate an alignment system 100 for use for alignment and registration of EV's in the BSS and a method 100 of operation of the alignment system 100;
  • Fig. 2A is a schematic illustration of an intermediate alignment utility configured according to the invention for intermediate coupling between an EV and a battery carrier;
  • Fig. 2B is a flow diagram illustrating a method of operation of the intermediate alignment utility of Fig. 2 A.
  • Fig. 3A is a schematic illustration of an intermediate alignment utility configured according to the invention for intermediate coupling between an EV and a battery;
  • Fig. 3B is a flow diagram illustrating a method of operation of the intermediate alignment utility of Fig. 3A. DETAILED DESCRIPTION OF EMBODIMENTS
  • FIG. 1A is a block diagram of the alignment system 100 and Figs. IB and ID show more specifically embodiments of vehicle alignment utilities 120 and intermediate alignment utility 110 of said alignment system.
  • Fig. 1C shows in a flow chart a method carried out by an alignment controller for operating the alignment system 100 to align (position and orient) an EV.
  • the alignment system 100 is configured to operate with multiple alignment stages to position an EV entering the BSS lane with precise registration with respect to a battery switching module (BSM) which is operable for switching the batteries of EVs located with predetermined positioning and orientation with respect thereto.
  • BSM battery switching module
  • Such a BSM is disclosed for example in co-pending Israeli patent application No. 218870, captioned "Battery switch module”, filed on March 27, 2012, and incorporated herein by reference. It is also noted that examples of battery switch stations and/or modules thereof, with which the systems of the present invention may be incorporated for providing fine/precise vehicle alignment are disclosed for example in co-pending Israeli patent application No. 218924, captioned "Battery exchange system and method for electric vehicles” filed on March 29, 2012, and incorporated herein by reference.
  • the alignment system 100 includes one or more vehicle alignment utilities 120 which are arranged in a vehicle lane module 150 of the BSS and configured for engaging with an EV located in the lane 150 to align the EV with respect to a battery switch post 160 of the BSS. Additionally, the alignment system 100 includes an intermediate alignment utility 110 that is configured to provide intermediate coupling (alignment and/or registration) between an EV located at the battery switch post 160 and a battery to be switched (e.g. installed in or removed from) in the EV or a battery carrier module which is adapted for carrying said battery. The intermediate alignment utility 110 is configured and operable to provide precise registration (alignment) between the EV and the battery/battery-carrier 170 with accuracy not exceeding 1 mm.
  • the alignment system 100 of the present invention may be configured and operable to allow an EV driver to approach the BSS lane 150 with little care to the accuracy to lateral (Y) positioning and yaw orientation of its EV with respect to the BSS lane 150.
  • This allows fast throughput of vehicles through the BSS and prevents delays which may occur in cases where EV drivers are required to maneuver their vehicles to relatively accurate positioning with respect to the lane.
  • the alignment system of the invention provides swift and accurate positioning of the EVs (e.g. of less than 1 mm) with respect to a BSM tool that is used to replace their batteries.
  • an EV may approach the lane with its lateral position ranging within several tens of centimeters (e.g. +/-20cm with respect to the lane 150 with its yaw orientation deviating by up to up to about ten degrees (e.g. ⁇ 10°) with respect to the longitudinal direction/axis of the lane 150.
  • the alignment system 100 includes multiple alignment stages which are performed when the vehicle is in the lane 150 in order to align (e.g. position and orient) the vehicle with respect to the battery switch post 160 with up to six degrees of freedom (e.g. longitudinal, lateral and vertical positioning and roll, pitch and yaw orientations) while providing fine alignment accuracy.
  • the fine alignment accuracy achieved by the alignment stages is associated with deviations from the vehicle's required/proper positioning not exceeding several centimeters (preferably not exceeding accuracy of 1 centimeter) in the lateral and longitudinal EV positions and deviations from the vehicle's required/proper orientation not exceeding one degree (i.e. in the range between ⁇ 1°) with respect to the vehicle's yaw and two degrees (i.e. in the range between ⁇ 2°) in its pitch and roll.
  • the terms longitudinal (X), lateral (Y) and vertical (Z) positioning of the EV correspond to the position of the vehicle along the lane 150 with respect to the EV direction of movement through the lane 150 (longitudinal-X), the horizontal direction perpendicularly traversing the longitudinal direction (lateral- Y) and the vertical direction Z perpendicular to both X and Y directions.
  • the yaw, pitch and roll orientation angles are referred to herein in their conventional meaning.
  • the BSS axes X, Y and Z and the Yaw, Pitch and Roll orientations of the vehicle are illustrated schematically in the Fig. IB.
  • the vehicle alignment utilities 120 may include passive 121 and active 125 alignment modules arranged along the lane 150.
  • the passive alignment modules 121 may include passive/static alignment members (i.e. course correlators) which are arranged in the lane 150, fixedly attached thereto, and configured to passively engage with an EV while it is being conveyed (driven/ dragged) through the lane towards the battery switch post 160 to position and align the EV with respect to the battery switch post.
  • Active alignment modules 125 include alignment modules/members which are actively actuated to align (position and orient) the EV.
  • the passive alignment modules are arranged in the lane at a zone preceding the battery switch post 160 for providing moderate alignment of the EV with respect to the battery switch post 160 while the vehicle is conveyed thereto.
  • Moderate alignment accuracy provided by the course correlators may vary for different EV types and sizes. In some cases (e.g. for some types of EVs) the course correlators may provide lateral positioning accuracy in the order of ten centimeters and with respect to the lateral axis Y and orientation accuracy in the order of several degrees with respect to the yaw orientation angle. Then, in the vicinity of the battery switch post 160, active alignment modules 125, which are located thereat, are operated to provide fine alignment of the EV with respect to the post 160.
  • the accuracy of this fine alignment may be in the order of a few centimeters.
  • deviations in the vehicle positioning with respect to the desired position at which it should be located do not exceed ⁇ 1.5 cm along each axis (X, Y and Z).
  • deviations for the vehicle's proper orientation typically do not exceed a few degrees (preferably not exceeding 1 degree) in each orientation angle (yaw, pitch and roll).
  • an intermediate alignment utility 110 of the battery switch post 160 is operated to engage and register with the EV thereby providing precise alignment of the EV with respect to a battery to be switched therein and/or a battery-carrier used for switching the battery of the EV.
  • the alignment system 100 may include an alignment controller 130 that is connectable to one or more active alignment modules 125 of the alignment system 100 and configured and operable to operate the active alignment modules 125 in a predetermined sequence to align the vehicle with respect to the battery switch post.
  • the alignment controller 130 may also be connectable to the intermediate alignment utility 110 of the battery switch post 160. After activating the predetermined sequence of the active alignment modules 125, the alignment controller 130 may be configured and operable for operating the intermediate alignment utility 110 to engage and register with an EV located at the battery switch post 160 to start the battery switching procedure.
  • the alignment controller 130 may be a computerized system including a memory 134 for at least storing operational instructions of the controllers' operation and a processor 132 for carrying out these instructions and generating operational instructions (data/signals) to timely operate the active alignment modules 125 and possibly also the intermediate alignment utility 110.
  • the alignment controller 130 may include a control circuit 136 (analogue and/or digital circuit) that is adapted to sequentially carry out alignment operations and/or procedures. The operation of the controller 130 in aligning an EV is discussed in more detail below with reference to Fig. 1C.
  • the vehicle alignment utilities 120 may include passive alignment modules 121 providing moderate alignment to an EV conveyed through the lane 150 with respect to at least some position and orientation degrees of freedom.
  • passive alignment modules include specifically ramp shaped tire passage ways (tire-paths upon which the vehicle tires stand/roll) 124 configured to moderately adjust pitch and vertical position of an EV approaching thereto and conveyed therethrough to the battery switch post 160, and one or more side-bars 123 (i.e. course correlators; e.g. metal rods) fixedly mounted along the lane with their height adapted for engaging with the wheels/tires of an EV conveyed through the passageways 124 to direct their movement towards the battery switch post 160.
  • side-bars 123 i.e. course correlators; e.g. metal rods
  • the side-bars 123 are configured to direct the wheels of the EV such as to provide moderate lateral alignment and moderate yaw orientation of the EV while it reaches the battery switch post 160.
  • two side-bars 123 are arranged in the form of a funnel along the driving direction of the lane 150 to direct the wheels of an EV to move towards along the tire passageways 124 of the lane 150 whose width narrows down at the vicinity of the battery switch post 160.
  • This provides moderate lateral alignment of the EV not exceeding several centimeters.
  • the side-bars' 123 moderate yaw orientation alignment in the order of about up to one degree deviation form perfectly aligned yaw orientation. Namely, the side-bars 123 can align the vehicle from about 10 degrees of yaw misalignment and down to about 0.6-1 degree of yaw misalignment.
  • the side-bars 123 are shown, configured and arranged in the lane for engaging with the wheels of an EV from their inner/internal sides. However it should be understood that the side-bars 123, or some of them, may also be configured and arranged for engaging with the wheels of an EV from their outer/external sides. Also, the side-bars may be arranged only at the vicinity of only one of the tire passage ways 124.
  • the lateral alignment modules i.e. passive and/or active lateral alignment modules; e.g. side-bars 123), or some of them, are associated with wheel/tire slider modules 122 being also part of the passive alignment utilities 121.
  • the wheel slider modules 122 are positioned along said lane and configured and operable for enabling lateral sliding movement of one or more tires of said EV to thereby facilitate lateral alignment of the EV with respect to the battery switch post 160.
  • two of the wheel slider modules 122 are accommodated at the tire passage ways 124 at the region where side-bars 123 have a funnel like shape which may exert force on the EV's wheels to push them laterally towards the correct lateral position.
  • the two wheel slider modules are configured to enable low friction lateral movement of the EV tires thereby facilitating the EV's lateral alignment.
  • tire slider modules 122 include a plurality of rolling cylinders aligned parallel to the longitudinal direction X of the lane 150 and arranged in a parallel array that is accommodated in at least one section of each tire passageways 124.
  • the cylinders of the tire slider modules 122 are mounted on a frame of the tire slider modules 122 by means of appropriate bearings.
  • the wheel/tire sliders 122 or some of them may be implemented utilizing other techniques for allowing the low friction lateral movement of the wheels.
  • such tire sliders may be implemented utilizing a tire conveyor system according to any suitable low friction conveying technique.
  • a pair of side-bars (rods) 123 are arranged from the sides of at least one of the tire -passage ways 124.
  • the gap between the pair of side -bars 123 narrows down with the direction of the EV movement though the lane and ends up with a gap that is only slightly wider than the EV tires.
  • two such pairs of side-bars 123 are placed at the two tire-passage ways 124 with a distance between them fitting the lateral gap between the EV tires.
  • there are two sets of slider modules 122 between each pair of side-bars 123 such that the EV tires are driven/conveyed over the slider modules 122 and between the side-bars 123 of each pair.
  • the side-bars force the EV to align as the gap between them narrows down.
  • the slider modules 122 allow the tires to slide with low fraction on the Y axis.
  • the EV is aligned on the Y and Yaw and due to the flat surface of the tire -passage ways 124, it is also aligned to some extent on the Z axis, and with respect to the pitch and roll orientations.
  • the gap between the pairs of side-bars 123 is typically higher than the EV tire width as the side-bars 123 may be generally designed to accommodate different tires sizes and different inflation of the tires as well as to accommodate manufacturing tolerances of the vehicles.
  • the sidebars 123 are also designed to accommodate passage of different EV types. Accordingly this step may serve as the first stage of the EV alignment as in this stage the accuracy achieved may be lower than a required accuracy needed for battery switch process. However, this stage facilitates that EV drivers may approach the lane with very gross misalignment while not being required to re-maneuver their EVs.
  • the vehicle alignment utilities 120 of the present invention may also include active alignment modules 125 arranged along the lane 150. Specifically, in the present embodiment of the invention several active alignment modules are arranged in the lane 150 to provide fine longitudinal, lateral and vertical positioning of the EV as well as fine yaw, pitch and roll orientations of the EV near the post 160.
  • active alignment modules 125 include a longitudinal alignment module 126 that is configured and operable to adjust the longitudinal position of the EV with respect to the battery switch post 160 with moderate precision of about a few centimeters.
  • the longitudinal alignment module 126 includes at least one vehicle translation system 140 (e.g. vehicle conveyor) that is configured and operable for conveying said EV along the lane 150, or along at least some section(s) thereof in the region of the battery switch post 160, and to position the EV with at least moderate longitudinal alignment with respect to the battery switch post 160.
  • the vehicle conveyor system 140 may be accommodated from both sides of the lane 150 or from one side thereof for engaging with one or more wheels of the EV located at one or two sides of the lane 150.
  • the vehicle conveyor/translation system 140 engages with one wheel of the EV to enable to convey and longitudinally position the EV near the battery switch post 160.
  • a vehicle conveyor configured to engage with more than one wheel may provide improved stability and be more robust.
  • a vehicle conveyor system 140 adapted for engaging with two wheels of the EV from both sides of the lane 150 is illustrated.
  • the conveyor includes a wheel engagement assembly 144 that is configured and operable to engage and grab and possibly slightly lift the wheel of an EV.
  • the wheel engagement assembly 144 is mounted for a sliding motion along rail 142 and is coupled to actuation assembly 146 providing controllable actuation and longitudinal positioning of the wheel engagement assembly 144 along the rail.
  • the alignment controller 130 is connectable to the wheel engagement assembly 144 and the actuation assembly 146 and is configured and operable to activate wheel engagement assembly 144 for grabbing the wheels of an EV and operating the actuation assembly 146 to convey the EV towards a predetermined longitudinal position with respect to the battery switch post 160.
  • the actuation assembly 146 may be stopped at the appropriate longitudinal position (with moderate accuracy with respect to the battery switch post 160) by utilizing various techniques. For example, one or more switches and/or sensors may be arranged at predetermined positions along lane 150 for providing the alignment controller 130 and/or the actuation assembly 146 with appropriate control instructions when the EV reaches the desired longitudinal position. Alternatively or additionally, the actuation assembly 146 may be of a type which is capable of receiving from the alignment controller 130 control signals that are indicative of the precise longitudinal positioning at which it should stop.
  • the active alignment modules 125 include one or more active lateral alignment modules 127 (only one is illustrated in the figure). These are implemented in the present embodiment in addition to the passive lateral alignment modules 123 (side bars) and are adapted to improve the lateral positioning and yaw of the EV at the battery switch post 160.
  • the active lateral/side alignment modules 127 are configured and operable for lateral engagement with one or more wheels of the EV when it is properly longitudinally positioned at the battery switch post 160.
  • the one or more side alignment modules 127 include one or more side pushing levers which are controllably extendible laterally from the side of the lane 150 (or from the center of the lane 150) to engage and push the wheels of the EV, laterally positioning them with respect to the battery switch post 160.
  • two wheel sliders 122 which are similar to those described above are arranged below the EV wheels when it is at the appropriate longitudinal position with respect to the battery switch post 160, to thereby facilitate low friction lateral movement of the EV wheels when the active side alignment modules 127 are activated.
  • the one or more side alignment modules 122 may also be configured and operable to orient the EV in the yaw direction with respect to the battery switch post 160.
  • the active side pushing levers of the active lateral alignment modules 127 are generally connectable with suitable actuation assemblies (not shown) operable for extending the levers laterally in the lane 150.
  • Controller 130 is connectable to the actuation assemblies and configured and operable for operating them to extend the levers to a desired lateral extent at which the EV is properly (finely aligned) with respect to the battery switch post 160 with precision not exceeding a few centimeters (preferably not exceeding 1 cm).
  • the actuation assemblies may be of a type capable of receiving precise instructions regarding the extent to which they should be actuated or the control system or the actuators themselves are associated with sensors or switches that are properly arranged in the lane for sensing when the EV reaches the desired lateral position. In the latter case the sensors/switches output may be fed to the controller or to the actuators for stopping their operation at the desired lateral position.
  • the active alignment modules 125 include one or more active vertical alignment lift modules 128 (e.g. jacks) that are arranged at predetermined positions in the lane 150 (the predetermined positions may be fixed or controllably variable positions which may be adjusted to fit different types of EVs).
  • the lift modules 128 are adapted to extend vertically from the lane 150 and engage from below with a body of an EV located at the battery switch post 160 (being properly laterally and longitudinally aligned thereat) for raising the body of the EV.
  • at least three lift modules 128 are used and operable for engaging with at least three respective anchor regions at the underside of the EV.
  • the stopping positions of the jacks/lifts at which the desired vertical position and/or pitch and roll orientations are obtained may be controlled utilizing a suitable arrangement of sensors/switches connectable to the alignment controller 130 and/or to the actuation assemblies of the jacks.
  • the stopping positions of the jacks may be controlled by the alignment controller 130 utilizing the jacks having suitable actuation assemblies that are configured and operable for receiving precise actuation instructions from the controller 130, and for carrying out those instructions to raise the jacks to the required positions.
  • the intermediate alignment utility 110 is configured and operable for serving as a lift/jack of the active alignment modules 125 and is adapted for vertically engaging with an anchor region (e.g. with reference points) of the EV from below for lifting the EV.
  • the active alignment modules 125 may include only two additional jacks for engaging with additional two anchor regions at the underside of the EV.
  • actuation assemblies of the active alignment modules 125 may be implemented utilizing any suitable actuation technique.
  • actuation assemblies or some of them may be implemented by electric motor and gear systems, and/or by utilizing hydraulic or pneumatic actuation systems.
  • the alignment controller 130 is configured and operable for operating said active alignment modules 125 in a predetermined sequence to align the EV with respect to the battery switch post.
  • Fig. 1C is a flow chart illustrating the sequential method steps of method 200 carried out by the alignment controller 130 for aligning an EV with respect to the battery switch post 160.
  • the alignment controller 130 operates the longitudinal alignment module 126 (e.g. vehicle conveyor system 140) for adjusting the longitudinal positioning of the EV with respect to the battery switch post 160.
  • the longitudinal alignment module 126 e.g. vehicle conveyor system 140
  • Some degree of lateral positioning and yaw orientation of the EV may also be achieved at this stage in cases where the system includes passive alignment modules 121 such as those described above.
  • the alignment controller 130 operates the one or more lateral/side alignment modules 127 which are arranged in the vicinity of the battery switch post 160, and thereby adjusts more precisely the EV's lateral and yaw positions with respect to the lane 150. Then, optionally in step 230, the alignment controller 130 operates the one or more lift modules 128 to position and orient the EV in the vertical directions and orient the EV with respect to the pitch and roll. To this end, the alignment controller 130 and the active alignment modules 125 are configured and operable for providing six degrees of freedom alignment and orientation of the EV with respect to the battery switch post.
  • the alignment controller 130 and the active alignment modules 125 may be configured and operable to provide moderate positioning of an EV with respect to a battery switch post which may not exceed a few centimeters in the longitudinal and lateral directions. In some cases the alignment controller 130 and the active alignment modules 125 are configured to provide such fine positioning not exceeding several millimeters in the longitudinal and lateral directions. Also, fine orientation of the EV's yaw angle achieved by the alignment controller 130 and the active alignment modules 125 provide yaw orientation precision with up to about 0.2 degrees deviation from perfectly aligned yaw orientation of the vehicle. Also the pitch and roll orientation achieved typically does not exceed 0.2 degrees deviations from perfectly aligned orientation of the vehicle with respect to these axes.
  • the active alignment modules 125 as well as the alignment controller 130 may be configured and operable for aligning different types of EVs which may possibly have different sizes, shapes and dimensions.
  • the BSS system may include an identification system for identifying the EV type approaching the lane 150.
  • the alignment controller 130 may be responsive to instructions (data/signals) indicative of the type of the EV positioned at the lane, for operating the alignment modules 125 to align the specific type of EV. Specifically, the extent to which the longitudinal alignment module 126 (vehicle conveyor) conveys the EV may be adjusted in accordance with the EV type.
  • the degree of extension of the lateral alignment modules 127 may be adjusted by the alignment controller 130 in accordance with the type of EV to be aligned at the desired position and orientation with respect to the battery switch post 160.
  • the alignment controller 130 (or possibly another controller of the battery switch system) is configured and operable for carrying out precise alignment and registration step 240 by operating/lifting the intermediate alignment utility 110 for engaging with the EV.
  • This provides final alignment and registration between the EV and a battery to be switched thereat or between the EV and a battery carrier 118 (e.g. including battery switch-tool (BSM)) adapted for carrying and switching EV batteries.
  • BSM battery switch-tool
  • this step may be performed by the alignment controller 130 or by a controller of the battery carrier after the latter has received control signals indicating that the EV is properly aligned with respect to the battery switch post 160.
  • the BSS includes a floor door system including one or more floor doors (e.g. a sliding floor door) enclosing a battery switch pit 164 of the battery switch post 160 of the BSS at which a battery switch utility of the BSS resides.
  • floor doors e.g. a sliding floor door
  • the floor doors 162, covering the battery switch pit 164 should be opened by the suitable controller (e.g. 130 or other).
  • the suitable controller e.g. 130 or other.
  • one or more of the tire slider modules 122 may be furnished on the at least one or more sliding floor doors to enable at least one of the following: laterally aligning an EV when one or more of its wheels are standing on the sliding floor doors; enabling opening of the floor doors when one or more of the EV's wheels is located thereon.
  • intermediate alignment utility 110 includes a set of primary coupling members 112 configured for coupling with a set of complementary primary coupling members (not shown) furnished on the EV, and a set of secondary coupling members 114 configured for coupling with a set of complementary secondary coupling members 114A.
  • the secondary complementary coupling members 114A may be furnished on a battery (not shown) to be switched (i.e. to be installed/removed) in the EV and/or they may be installed/furnished on a battery carrier 118 which may be part of the battery switch module (BSM) of the BSS.
  • BSM battery switch module
  • the primary 112 and secondary 114 sets of coupling members include tapered registration pins which are adapted to fit in the respective complementary primary and secondary (e.g. 114A) coupling members which are formed and arranged as complementary primary sockets in the EV and complementary secondary sockets (e.g. 114A) in the battery/battery-carrier 118 respectively.
  • the alignment coupling members may be implemented by sockets while their complementary coupling members (e.g. 114A) are implemented as tapered pins.
  • other types of coupling members and complementary coupling members may be used.
  • the radii of at least some of the primary tapered registration pins may be selected in accordance with the fine precision obtained in the positioning of the EV by the vehicle alignment utilities 120 with respect to the longitudinal and lateral directions. This means that when the step 240 of method 200 above is carried out for lifting the intermediate alignment utility 110 to engage with the EV, the tapered primary pins 112 force the intermediate alignment utility 110 and the EV to arrive to precise alignment with respect to one another in the order of a few millimeters or less, and typically not exceeding 1mm of misalignment between them in their longitudinal and lateral positions.
  • the radii of at least some of the secondary tapered registration pins may be selected in accordance with the precision at which the battery/battery-carrier 118 is expected to be received by the intermediate alignment utility 110. This provides that when the intermediate alignment utility 110 engage with the battery/battery-carrier 118, the tapered secondary pins 114 force precise alignment between them to be obtained in the order of a few millimeters or less, and typically not exceeding 1mm of misalignment between the longitudinal and lateral positions of the battery/battery-carrier 118 and the intermediate alignment utility 110.
  • the primary set of coupling members 112 includes at least two coupling members (e.g. tapered pins). This enables alignment/registration of the intermediate alignment utility 110 with respect to the vehicle in both the X-Y position and the yaw orientation of the EV.
  • the secondary set of coupling members includes at least two coupling members (e.g. tapered pins) to enable alignment/registration of the intermediate alignment utility 110 with respect to both the X-Y position and the yaw orientation of the battery/battery- carrier 118.
  • the intermediate alignment utility 110 may be shiftably mounted on a floatable platform providing horizontal (X-Y) motion of the intermediate alignment utility 110.
  • the scale of the horizontal motion is generally selected to be in the order of the fine precision obtained in the positioning of the EV by the vehicle alignment utilities 120 with respect to the longitudinal and lateral directions. That is, typically, the horizontal X-Y motion is in the order of several millimeters and not exceeding 1 centimeter. This may be achieved for example by accommodating/mounting the alignment utility 110 on a floatable/shif table platform/carrier (not specifically shown) which allows such fine X-Y motion.
  • the floatable platform may be for example a platform mounted in ball-bearings with motion limiters restricting its motion to the desired horizontal X-Y motion range.
  • a flotation/shiftable mechanism/platform may include according to the invention a first platform/surface furnished with at least three motion limiters (e.g. circular limiters) arranged on the surface, and a set of one or more holes. At least three metal balls are arranged on the platform, such that their motion is limited to at least three motion limiters.
  • a carrier structure e.g. battery carrier 118
  • a carrier structure including a set of pins corresponding to the holes in the platform is laid on the set of pins which are arranged within their corresponding holes in the platform. A difference in radius of the pins on the carrier structure and the holes on the platform limits the balls' motion over the platform.
  • the carrier may also be configured for carrying large weights such as that of EV batteries (e.g. about 400 KG).
  • the motion limiters may be arranged at the bottom surface of the carrier structure.
  • the pins may be furnished on the platform surface while the holes are formed on the carrier structure.
  • the intermediate alignment utility 110 is also associated with an elevation/lift utility 119 that is configured and operable for vertically raising and lowering the intermediate alignment utility 110 and respectively engaging and disengaging intermediate alignment utility 110 with an EV located above it with fine alignment thereto.
  • an elevation/lift utility 119 that is configured and operable for vertically raising and lowering the intermediate alignment utility 110 and respectively engaging and disengaging intermediate alignment utility 110 with an EV located above it with fine alignment thereto.
  • the intermediate alignment utility 110 is associated with the set of primary coupling members 112 that match the complementary primary coupling members of the EV, engaging the intermediate alignment utility 110 with the EV provides spatial registration between them.
  • intermediate alignment utility 110 which is configured according to an embodiment of the invention to be intermediately and removably coupled between an EV and a battery carrier 118 configured and operable for carrying a battery to be replaced (installed/removed) in the EV.
  • intermediate alignment utility 110 also includes a battery carrier 118 that is configured and operable for carrying the battery(ies) that is to be switched in the EV.
  • the battery carrier 118 is illustrated disengaged from the alignment utility 110.
  • the battery carrier 118 is associated with a battery switching module (BSM) 191 configured and operable for engaging with the battery locking mechanism of the EV and/or battery locking mechanism of the battery.
  • the battery switching module (BSM) 191 is configured and operable for activating/actuating the battery locking mechanism to release a battery installed on the EV or to attach/lock a battery carried by battery carrier 118 for installing it on the EV.
  • the intermediate alignment utility 110 in this embodiment may include all the features and elements of the intermediate alignment utility 110 discussed above with reference to Fig. ID, including for example the primary and secondary sets of coupling members 112 and 114, the elevation/lift utility 119, and also the shiftable platform which is denoted here by 192. Specific configurations and operations of these elements may be similar to those described above with reference to Fig. ID and therefore will not be repeated here. It should be however noted that here, shiftable platform of the intermediate alignment utility 110 is implemented by vertical rails 193 of the elevation/lift utility 119 which allow some movement to the arms/frames 111 carrying the primary 112 and secondary 114 coupling members.
  • the arms/frames 111 are connected to the vertical rails 193 via a set of springs that provide it some freedom of movement, so it can move slightly to align the primary coupling-members/pins with the complementary coupling members (holes/sockets) of the EV.
  • This alignment provides an accuracy of 1mm or more.
  • the secondary set of coupling members (pins) 114 of the intermediate alignment utility face downwards.
  • various types of battery carriers 118 may be attached/coupled to the intermediate alignment utility 110. Accordingly, different types of battery carriers may be used for exchanging batteries of different EV types.
  • the battery carrier 118 is shown to be carried by an independent elevation utility 194 which is separated from that of the intermediate alignment utility 110.
  • the battery carrier 118 includes the set of complementary secondary coupling members 114A which are arranged in accordance with the arrangement of the secondary coupling members 114 of the intermediate alignment utility 110 and configured for mating therewith with precise spatial registration. Two such secondary coupling members 114 and two such complementary secondary coupling members 114A are included in the present example. Additionally, the battery carrier 118 may be mounted on a floatable platform 195 allowing some X-Y movement of the battery carrier 118 with respect to its elevation utility 194 thus facilitating smooth engagement/coupling of the battery carrier 118.
  • a set of pins 114 (secondary coupling members) are engaged with cone shaped holes (complementary secondary coupling members) 114A of the battery carrier 118, the battery carrier 118 can move to some extent as it floats over the elevation utility 194.
  • Fig. 2B there is illustrated by way of a flow diagram 300, a method of operation of the intermediate alignment utility 110 of this embodiment for switching a battery of an EV. More specifically, method 300 provides a detailed description of the steps carried in the embodiment of Fig. 2A during the operation of step 240 of the method 200 described above. Method 300 may be carried out by the alignment controller 130 of Figs. 1A and IB and accordingly it is described in the following with reference to alignment controller 130.
  • the alignment controller 130 operates to actuate elevation/lift utility 119 to raise intermediate alignment utility 110 for engaging with the EV.
  • Primary coupling members 112 of the intermediate alignment utility 110 are coupled to their complementary coupling members in the EV (not shown) and thereby spatial registration between the intermediate alignment utility 110 and the EV is obtained.
  • the floatable platform 192 provides some flexibility to the positioning of the intermediate alignment utility 110, thus facilitating smooth engagement of the primary coupling members 112 with their complementary primary members (not shown) of the EV.
  • the intermediate alignment utility 110 remains coupled to the EV during the entire battery replacement process. Accordingly, in some embodiments of the invention the intermediate alignment utility 110 together with the elevation/lift utility 119 coupled thereto is configured for operating as one of the jacks of the active vertical alignment assembly 128 described above with reference to Figs. 1A to 1C. In such embodiments, step 310 of method 300 may be performed concurrently with the operation of step 240 of the method 200 of Fig. 1C for lifting and aligning the EV. During step 320, alignment controller 130 operates to actuate elevation/lift utility 194 of the battery carrier 118 to engage the battery carrier 118 with the intermediate alignment utility 110.
  • the secondary coupling members 114 of the alignment utility 110 When raised, the secondary coupling members 114 of the alignment utility 110 are engaged with their complementary secondary coupling members 114A of the battery carrier 118. Floatable platform 195 of the battery carrier allows smooth engagement/coupling to be achieved.
  • the BSM module 191 is engaged with the battery locking mechanism accommodated on either one or both of the EV and battery.
  • the BSM module 191 and/or the battery carrier module 118 may include an additional set of coupling members 196 (e.g. registration pins/sockets) that are also engaged with complementary registration members of the battery.
  • some pins or screw-driver tools of the BSM which function to engage with the battery lock, may also serve as coupling/registration members for coupling the BSM to either one of the EV and battery.
  • step 330 the BSM module 191 (e.g. its screw-driver tool(s)) is operated to unlock and release the battery that is installed on the EV.
  • the battery is now carried by the battery carrier 118.
  • step 340 alignment controller 130 operates to actuate elevation/lift utility 194 to battery carrier 118 with the battery thereon.
  • step 350 the battery on the carrier is replaced (e.g. with a battery having higher charge level).
  • Step 350 may be carried out by any suitable technique for switching the battery on the carrier.
  • coupling/registration members of the new battery that is put on the carrier may be engaged/coupled with the additional coupling members that are furnished on the BSM 191 and/or on the battery-carrier 118. This thereby provides that the new battery becomes spatially registered with the battery-carrier 118.
  • step 360 alignment controller 130 operates to actuate elevation/lift utility 194 to raise battery-carrier 118, with the new battery carried thereon, towards the intermediate alignment utility 110 which is still engaged with the EV.
  • the operation of this step is somewhat similar to that of step 320 only that in this step the battery is already carried and registered with the battery-carrier 118.
  • the BSM module 191 e.g. its screw-driver tool(s)
  • the alignment controller 130 operates sequentially to actuate elevation/lift utilities 194 and 119 to lower the battery carrier 118 and the intermediate alignment utility 110 thereby disengaging them from the EV.
  • the EV battery has being replaced.
  • Other alignment utilities such as the jacks (128 Fig. IB) discussed above may be lowered/released and the vehicle may be released from the lane (150 in Fig. IB).
  • intermediate alignment utility 110 which is configured according to an embodiment of the invention to be intermediately coupled between an EV and with a battery to be switched (installed/removed) in the EV.
  • intermediate alignment utility 110 also includes a battery carrier 118 that is configured and operable for carrying the battery(ies) that is to be replaced in the EV.
  • the battery carrier 118 is associated with or includes a battery switching module (BSM) 191 configured and operable for engaging with battery locking mechanism associated with the EV or with a battery of an EV.
  • the battery switching module (BSM) 191 is configured and operable for activating/actuating the battery locking mechanism to release a battery installed on the EV or to attach/lock a battery carried by battery carrier 118 for installing it on the EV.
  • the intermediate alignment utility 110 in this embodiment may include all the features and elements of the intermediate alignment utility 110 discussed above with reference to Fig. ID, including for example the primary and secondary sets of coupling members 112 and 114, the elevation/lift utility 119, and also the floatable platform which is denoted in this figure by 192. Specific configurations and operations of these elements may be similar to those described above with reference to Fig. ID and therefore will not be repeated here.
  • Fig. 3B there is illustrated by way of a flow diagram 400, a method of operation of the intermediate alignment utility 110 of this embodiment for replacing a battery of an EV. More specifically, method 400, is a more detailed description of the steps carried out in the present embodiment during the step 240 of method 200 described above.
  • Method 400 may for example be carried out by the alignment controller 130 discussed above in connection with Figs. 1A and IB. Accordingly method 400 is described in the following as being carried out by alignment controller 130 of Figs. 1A and IB.
  • alignment controller 130 operates to actuate elevation/lift utility 119 to raise intermediate alignment utility 110 for engaging with the EV.
  • Primary coupling members 112 of the intermediate alignment utility 110 are coupled to their complementary coupling members in the EV (not shown) and thereby spatial registration between the intermediate alignment utility 110 and the EV is obtained.
  • the floatable platform 192 allows some positioning of the intermediate alignment utility 110 facilitating smooth engagement of the coupling members with their complementary members.
  • the secondary coupling members 114 of the alignment utility 110 are engaged with their complementary secondary coupling members (not shown) of the battery.
  • the BSM module 191 is also engaged with the battery locking mechanism accommodated on either one or both of the EV and battery.
  • the BSM module 191 is integral with the intermediate alignment utility 110 and thus the primary and/or secondary coupling members, or some of them, may actually be parts of the BSM and reside thereon.
  • some pins of the screw-driver tools of the BSM which function to engage with the battery lock, may also serve as primary and/or secondary coupling members of the intermediate alignment utility 110.
  • step 420 the BSM module 191 (e.g. its screw-driver tool(s)) is operated to unlock and release the battery that is installed on the EV.
  • the battery is now carried by the battery carrier 118.
  • alignment controller 130 operates to actuate elevation/lift utility 119 to lower intermediate alignment utility 110 with the battery thereon.
  • step 440 the battery on the carrier is replaced (e.g. with a battery having higher charge level).
  • Step 440 may be carried out by any suitable technique for replacing the battery on the carrier.
  • Step 450 is carried out to raise the intermediate alignment utility 110 towards the EV with the new battery carried thereon.
  • step 460 the BSM module 191 (e.g. its screw-driver tool(s)) is operated to attach and lock the battery to the EV (to install the battery thereon) and in step 470 the alignment controller 130 operates to actuate elevation/lift utility 119 and lower intermediate alignment utility 110 disengaging it from the EV.
  • step 470 the alignment controller 130 operates to actuate elevation/lift utility 119 and lower intermediate alignment utility 110 disengaging it from the EV.
  • Other alignment utilities such as the jacks (128 Fig. IB) discussed above may be lowered/released and the vehicle may be released from the lane (150 in Fig. IB).

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne une station de commutation de batterie (BSS) conçue pour être utilisée avec des véhicules électriques (VE). La BSS comprend un module de voie de véhicule comprenant un ou plusieurs équipements d'alignement du véhicule, chacun étant configuré pour mettre en prise un VE situé sur ladite voie afin de l'aligner par rapport à un poste de commutation de batterie de la BSS. La BSS comprend également un équipement d'alignement intermédiaire configuré pour être raccordé de manière intermédiaire au VE et à une batterie à installer dans le VE et/ou au VE et à un support de batterie, afin d'obtenir ainsi un alignement précis entre eux.
PCT/IL2013/050272 2012-03-29 2013-03-21 Système d'alignement de véhicule pour une station de commutation de batterie WO2013144953A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
IL218949A IL218949A0 (en) 2012-03-29 2012-03-29 Vehicle alignment system for battery switch station
IL218949 2012-03-29
US201261618989P 2012-04-02 2012-04-02
US61/618,989 2012-04-02

Publications (1)

Publication Number Publication Date
WO2013144953A1 true WO2013144953A1 (fr) 2013-10-03

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PCT/IL2013/050279 WO2013144958A1 (fr) 2012-03-29 2013-03-21 Système de sécurité pour stations d'échange de batteries
PCT/IL2013/050272 WO2013144953A1 (fr) 2012-03-29 2013-03-21 Système d'alignement de véhicule pour une station de commutation de batterie

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IL (1) IL218949A0 (fr)
WO (2) WO2013144958A1 (fr)

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US20220111754A1 (en) * 2016-12-30 2022-04-14 Shanghai Dianba New Energy Technology Co., Ltd. Movable Platform for Replacing Battery and Quick Replacing System

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CN105059265A (zh) * 2015-07-31 2015-11-18 谢子聪 一种基于移动式动力电池更换的动力电池货架系统
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