WO2019104884A1

WO2019104884A1 - Battery replacing cart, battery replacing control system and control method therefor

Info

Publication number: WO2019104884A1
Application number: PCT/CN2018/076369
Authority: WO
Inventors: 陈志浩; 黄春华; 仇丹梁
Original assignee: 上海电巴新能源科技有限公司; 奥动新能源汽车科技有限公司
Priority date: 2017-11-30
Filing date: 2018-02-12
Publication date: 2019-06-06
Also published as: KR20200098555A; KR102490564B1

Abstract

A battery replacing cart, battery replacing control system and control method therefor. Said battery replacing cart comprises an X-direction moving mechanism (30), a vertical raising and lowering mechanism (40), unlocking mechanism (10), a battery sensor (70) used for detecting whether there is battery, a tray, a Y-direction moving mechanism (20) used for moving the tray, a tray sensor (60) used for detecting whether there is a tray, a controller (100), a diastimeter (80) used for detecting distance, a position sensor (90) used for detecting a relative position, and a signal receiving module (50), wherein said controller (100) is electrically connected to said battery sensor (70), tray sensor (60), diastimeter (80), position sensor (90), and signal receiving module (50) and controls the motion of said X-direction moving mechanism (30), Y-direction moving mechanism (20), vertical raising and lowering mechanism (40), and unlocking mechanism (10). Also disclosed is a control method for the battery replacing cart. with the present invention, during the process of battery replacement, automatic movement and raising and lowering may be smoothly facilitated by means of the controller, thereby completing battery dismantling and installation.

Description

Electric car changing, power exchange control system and control method thereof

This application claims priority from Chinese patent application CN201711240367.0, filed on November 30, 2017. This application cites the entire text of the above-mentioned Chinese patent application.

Technical field

The invention relates to a power exchange trolley, a power exchange control system and a control method thereof.

Background technique

The existing power-changing system includes four modules: a lane, a changing car (ie, a power-changing device), a palletizing machine, and a charging stand. The carriage lane is used for the vehicle to enter the electrician position and is positioned; the electric trolley is used to unlock the battery from the bottom of the passenger vehicle, remove and install the battery, and the battery is reciprocated between the palletizer and the bottom of the passenger car; The machine is used to pick up and discharge the battery and charge the battery in each position of the charging stand.

However, in the prior art, the unlocking and disassembly of the old battery and the installation of the new battery are very difficult, and it is necessary to ensure the safety and reliability of the unlocking and locking of the battery and the vehicle, and also to ensure the quickness of locking and unlocking. The current technology cannot be balanced.

Summary of the invention

The technical problem to be solved by the present invention is to overcome the defects in the prior art that the unlocking and disassembly of the old battery and the installation of the new battery are very difficult, and a power exchange trolley and a control method thereof are provided.

The present invention solves the above technical problems by the following technical solutions:

A power changing trolley characterized in that the electric changing trolley comprises an X-direction moving mechanism, a vertical lifting mechanism, an unlocking mechanism, a battery sensor for detecting whether a battery is present, a Y-direction moving mechanism, a controller, and a detecting distance a range finder, a position sensor for detecting a relative position, and a signal receiving module, wherein

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

In the present solution, the X-direction moving mechanism may be various conventional moving structures, such as a conventional wheel or a track structure, as long as the movement of the electric-changing trolley can be realized. The Y-direction moving mechanism can also be various conventional horizontal moving structures, such as a conventional screw driving mechanism, a cylinder mechanism, a linear motor mechanism or a track structure, as long as the movement of the battery can be realized. The vertical lifting mechanism can be a variety of conventional moving structures, such as a cylinder jacking 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 for different 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. The vertical movement of the battery is then achieved by a vertical lifting mechanism. Through the feedback of the range finder 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. Therefore, in the process of replacing the battery, the controller can conveniently and smoothly realize the movement and lifting, thereby completing the disassembly and installation of the battery.

Preferably, the electric change trolley further includes a tray, and a tray sensor for detecting whether there is a tray.

Preferably, the position sensor is a visual sensor.

Preferably, the position sensor is configured to detect a relative position signal of the commutation trolley and the vehicle, and the controller drives the X-direction moving mechanism and the Y-direction moving mechanism according to the relative position signal. By directly detecting the relative position signal of the changing car and the vehicle, other interference is reduced. The movement of the trolley and the pallet can be adjusted most directly and in a timely manner.

Preferably, the battery sensor is configured to detect whether there is a battery signal of the battery, the tray sensor is configured to detect whether there is a tray signal of the tray, and the controller drives the vertical according to the battery signal and the tray signal a lifting mechanism and the X-direction moving mechanism. Through the tray sensor and the battery sensor, the smooth operation of each power exchange is ensured, and the problem that the power exchange trolley moves first when the battery is not installed or removed is avoided.

Preferably, the range finder is for detecting a distance signal, and the controller drives the vertical lifting mechanism according to the distance signal. The vertical lifting mechanism is controlled by the distance signal of the range finder, thereby realizing the adaptation of the height of different vehicle chassis, and has a more general application range.

Preferably, the signal receiving module is configured to receive a rising-to-bit signal, and the controller stops the vertical lifting mechanism according to the rising-to-bit signal and controls the Y-direction moving mechanism to move the battery. The signal receiving module can obtain confirmation information from the changing car by receiving the rising-to-bit signal, thereby ensuring an accurate start of battery disassembly.

Preferably, the signal receiving module is configured to receive a lock-in signal, and the controller stops the Y-direction moving mechanism according to the lock-in signal. The signal receiving module can obtain confirmation information from the changing car by receiving the locking in-position signal, thereby ensuring accurate battery installation.

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

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

A power-changing control system for an electric vehicle, characterized in that it comprises the electric-changing trolley.

A method for controlling a changeover trolley, characterized in that it is used for controlling the electric change trolley, comprising the following steps:

Step A: After receiving the power-changing instruction, the controller controls the power-changing trolley to move to the bottom of the vehicle and align the battery;

Step B: The controller controls the replacement trolley to perform battery replacement;

Step C, the controller controls the drop and moves out of the bottom of the vehicle.

Preferably, step A comprises:

Step S1: The controller controls the X-direction moving mechanism to cause the power-changing trolley to enter the bottom of the vehicle and align with the old battery.

Preferably, step B comprises:

Step S2, the controller controls the vertical lifting mechanism to rise to a position;

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

Step S4: The controller controls the X-direction moving mechanism and the vertical lifting mechanism to move the power-changing trolley.

Preferably, step B further comprises:

Step S5, the controller controls the electric exchange car to exchange for a new battery;

Step S6, the controller controls the X-direction moving mechanism to cause the electric-changing trolley to enter the bottom of the vehicle and be aligned;

Step S7, the controller controls the vertical lifting mechanism to rise to a position;

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

Preferably, step C comprises:

Step S9: The controller controls the X-direction moving mechanism and the vertical lifting mechanism to move the power-changing trolley.

Preferably, step S8 comprises the following steps:

Step S8.1, the signal receiving module receives a rising-to-bit signal;

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

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

Step S8.4, the signal receiving module receives the locking in-position signal;

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

Preferably, step S1 comprises the following steps:

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

In step S1.2, the alignment is performed by the X-direction moving mechanism and the Y-direction moving mechanism.

Preferably, step S2 comprises the following steps:

Step S2.1, the controller controls the vertical lifting mechanism to rise and the range finder detects a distance signal;

Step S2.2: When the distance signal is the same as the preset height, the controller controls to stop the vertical lifting mechanism.

Preferably, step S4 comprises the following steps:

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

Step S4.2: The controller drives the vertical lifting mechanism and the X-direction moving mechanism according to the battery signal.

Preferably, step S6 comprises the following steps:

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

In step S6.2, the alignment is performed by the X-direction moving mechanism and the Y-direction moving mechanism.

Preferably, step S7 comprises the following steps:

Step S7.1, the controller controls the vertical lifting mechanism to rise and the range finder detects a distance signal;

Step S7.2: When the distance signal is the same as the preset height, the controller controls to stop the vertical lifting mechanism.

Preferably, step S3 comprises the following steps:

Step S3.1, the controller controls the Y-direction moving mechanism to move the battery to the unlocking pre-tightening position;

Step S3.2, the unlocking mechanism performs unlocking;

Step S3.3, the controller controls the Y direction moving mechanism to move the battery to the unlocked position;

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

An electric power control method for an electric vehicle, characterized in that the electric power control method of the electric vehicle includes the electric vehicle control method.

The positive progress of the present invention is that, by the operation of the present invention, the X-direction moving mechanism and the Y-direction moving mechanism are used to accurately control the movement of the battery in the horizontal direction. The vertical movement of the battery is then achieved by a vertical lifting mechanism. Through the feedback of the range finder 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. Therefore, in the process of replacing the battery, the controller can conveniently and smoothly realize the movement and lifting, thereby completing the disassembly and installation of the battery.

DRAWINGS

1 is a block diagram showing the structure of a power exchange trolley of Embodiment 1.

2 is a general flow chart of a control method of the electric change trolley of the second embodiment.

Fig. 3 is a flow chart showing the step S1 of the electric car control method of the second embodiment.

4 is a flow chart showing the step B of the electric car control method of the second embodiment.

Fig. 5 is a flow chart showing the step S2 of the electric car control method of the second embodiment.

Fig. 6 is a flow chart showing the step S4 of the electric-controlled trolley control method of the second embodiment.

Fig. 7 is a flow chart showing the step S6 of the electric-controlled trolley control method of the second embodiment.

Fig. 8 is a flow chart showing the step S7 of the electric car control method of the second embodiment.

Fig. 9 is a flow chart showing the step S8 of the electric bicycle control method of the second embodiment.

Detailed ways

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

Example 1

As shown in FIG. 1 , the embodiment discloses a power exchange trolley, which includes an X-direction moving mechanism 30, a vertical lifting mechanism 40, an unlocking mechanism 10, a battery sensor 70 for detecting whether a battery is present, a tray, and a Y. a direction shifting mechanism 20, a tray sensor 60 for detecting whether there is a tray, a controller 100, a range finder 80 for detecting a distance, a position sensor 90 for detecting a relative position, and a signal receiving module 50, wherein

The controller 100 is electrically connected to the battery sensor 70, the tray sensor 60, the range finder 80, the position sensor 90, and the signal receiving module 50, and controls the X-direction moving mechanism 30, the Y-direction moving mechanism 20, the vertical lifting mechanism 40, and the unlocking mechanism 10. motion. In this embodiment, a tray is used to place the battery, and the battery is moved by moving the tray, but in other embodiments, the battery can also be moved directly.

In the present embodiment, the X direction and the Y direction are two different directions, for example, the X direction is in the vehicle width direction, and the Y direction is in the vehicle length direction, as long as the electric bicycle can be moved to an arbitrary position.

In the present scheme, the mechanical structure of the electric-changing trolley is mainly composed of an X-direction moving mechanism, a Y-direction moving mechanism, a vertical lifting mechanism, and an unlocking mechanism. Its own structure can adopt different conventional designs. As long as the individual functions of the respective components described above can be realized. The X-direction moving mechanism and the Y-direction moving machine mainly achieve horizontal adjustment. The X direction and the Y direction are two different directions, and the most common one is such that the X direction and the Y direction are perpendicular to each other.

The X-direction moving mechanism 30 may be various conventional moving structures, such as a conventional wheel or a track structure, as long as the movement of the electric-changing trolley can be realized. The Y-direction moving mechanism 20 can also be various conventional horizontal moving structures, such as a conventional screw driving mechanism, a cylinder mechanism, a linear motor mechanism, or a track structure, as long as the movement of the tray can be realized. The vertical lifting mechanism 40 can be a variety of conventional moving structures, such as a cylinder jacking mechanism, a rail mechanism, a retractable folding frame structure, and the like. The unlocking mechanism 10 is mainly used for unlocking the battery and can be used for different types of unlocking methods.

One of the available methods is to use the orbital X-direction moving mechanism 30 to translate, thereby driving the overall movement of the electric-changing trolley, and then performing the pallet on the tray by the Y-direction moving mechanism 20 on the X-direction moving mechanism 30 using a screw mechanism. The horizontal movement of the position. The vertical lifting mechanism 40 can then be a folding mechanism to achieve an overall lifting of the tray. The unlocking mechanism 10 can adopt a structure such as a movable latch.

The X-direction moving mechanism 30 and the Y-direction moving mechanism 20 can accurately control the movement of the tray in the horizontal direction. The vertical movement of the tray is then achieved by the vertical lifting mechanism 40. By the feedback of the range finder 80 and the position sensor 90, the controller 100 can precisely adjust the movement of the X-direction moving mechanism 30, the Y-direction moving mechanism 20, and the vertical lifting mechanism 40. Therefore, during the power exchange process of the battery, the controller 100 can conveniently and smoothly realize the movement and the lifting, thereby completing the disassembly and installation of the battery.

In this embodiment, the power-changing object (ie, the vehicle) of the electric-changing trolley may be further provided. The body frame is used to mount the battery, and the frame is provided with a lock slot for entering and locking the lock shaft outside the battery.

The vehicle body is provided with a rising position sensor for detecting whether the battery lock shaft enters the lock groove and sends a rising in-position signal.

A locking sensor is mounted on the body corresponding to the locking point for detecting whether the locking shaft of the battery reaches the locking point and issues a locking in-position signal.

When the lock tongue is dropped, a lock signal sensor is installed on the corresponding body frame for detecting whether the lock shaft of the battery is locked, and sending a lock signal to the vehicle controller.

In a further preferred embodiment, the position sensor 90 is operative to detect a relative position signal of the changing cart and the vehicle, and the controller 100 drives the X-direction moving mechanism 30 and the Y-direction moving mechanism 20 based on the relative position signals. By directly detecting the relative position signal of the changing car and the vehicle, other interference is reduced. The movement of the trolley and the pallet can be adjusted most directly and in a timely manner.

In a further preferred embodiment, the battery sensor 70 is configured to detect whether there is a battery signal of the battery, the tray sensor 60 is configured to detect whether there is a tray signal of the tray, and the controller 100 drives the vertical lifting mechanism 40 according to the battery signal and the tray signal. The X direction moves the mechanism 30. The tray sensor 60 and the battery sensor 70 ensure the smooth progress of each power exchange, and avoid the problem that the power exchange trolley moves first when the battery is not installed or removed.

In a further preferred embodiment, the range finder 80 is operative to detect the distance signal and the controller 100 drives the vertical lift mechanism 40 based on the distance signal. The vertical lifting mechanism 40 is controlled by the distance signal of the range finder 80, thereby realizing the adaptation of different vehicle chassis heights, and has a more versatile application range. In a further preferred embodiment, the signal receiving module 50 is configured to receive a rising-to-bit signal, and the controller 100 stops the vertical lifting mechanism 40 and controls the Y-direction moving mechanism 20 to move the tray according to the rising-to-bit signal. The signal receiving module 50 can obtain confirmation information from the power-changing trolley by receiving the rising-to-bit signal, thereby ensuring an accurate start of battery detachment.

In a further preferred embodiment, signal receiving module 50 is operative to receive a lock-in signal and controller 100 stops Y-direction moving mechanism 20 based on the lock-in signal. The signal receiving module 50 can obtain confirmation information from the power-changing trolley by receiving the lock-in signal, thereby ensuring accurate battery installation.

In a further preferred embodiment, the signal receiving module 50 is configured to receive a lock-up signal, and the controller 100 drives the X-direction moving mechanism 30 and the vertical lift mechanism 40 according to the lock-up signal. The signal receiving module 50 can obtain confirmation information from the power-changing trolley by receiving the lock-in signal, thereby ensuring accurate battery installation.

In a further preferred embodiment, the signal receiving module 50 is configured to receive an X-direction in-position signal, and the controller 100 stops the X-direction moving mechanism 30 based on the X-direction in-position signal. In a specific implementation, the positioning sensor mounted on the front wheel positioner of the carriageway detects whether the vehicle is parked in position and issues an X-direction in-position signal.

Example 2

As shown in FIG. 2-9, this embodiment is a control method for a changeover trolley, which is used in the electric change trolley in Embodiment 1. As shown in Figure 2, the main steps are as follows:

Step C, the controller controls the drop and moves out of the bottom of the vehicle. The X-direction moving mechanism and the Y-direction moving mechanism in Embodiment 1 can accurately control the movement of the tray in the horizontal direction. The vertical movement of the tray can then be achieved by a vertical lifting mechanism. Through the feedback of the range finder 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. Therefore, in the process of replacing the battery, the controller can conveniently and smoothly realize the movement and lifting, thereby completing the disassembly and installation of the battery.

In normal operation, both the X-direction moving mechanism and the Y-direction moving mechanism are required. However, in some special cases, if the alignment is good, the movement of the Y-direction moving mechanism can be omitted.

Therefore, in the solution of further refinement, step A specifically includes:

As shown in FIG. 3, when the alignment is not good, step S1 further includes the following steps:

In step S1.2, the alignment of the moving mechanism can be more accurately adjusted by the alignment of the moving mechanism in the Y direction. During the alignment process, the position sensor on the changing trolley detects the relative position of the vehicle and the changing trolley, and finely adjusts the position of the changing trolley according to the position, so that the changing trolley is aligned with the mounting frame of the vehicle battery.

As shown in FIG. 4, since the process of replacing the battery is very complicated, it is necessary to coordinate the operation of each step, so in a further refinement, step B includes:

Preferably, step B further comprises:

Through the above-mentioned refinement step, the various parts of the electric change trolley can be coordinatedly operated, for example, the actuator of the X-direction moving mechanism can be matched with each detecting element.

As shown in FIG. 5, in a further refinement, step S2 includes the following steps: step S2.1, the controller controls the vertical elevating mechanism to rise and the range finder detects a distance signal;

In a further refinement, step S3 comprises the following steps:

Step S3.2, the unlocking mechanism performs unlocking;

As shown in FIG. 6, in a further refinement, step S4 includes the following steps:

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

As shown in FIG. 7, in a further refinement, step S6 includes the following steps:

As shown in FIG. 8, in a further refinement, step S7 includes the following steps:

As shown in FIG. 9, in the further refinement, in order to more accurately grasp the timing of the locking, step S8 includes the following steps:

Step S8.1, the signal receiving module receives a rising-to-bit signal;

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

Step S8.4, the signal receiving module receives the locking in-position signal;

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

Further, in the final removal phase, it is usually not necessary to adjust the tray again. Therefore, in a further solution, step C includes:

While the invention has been described with respect to the embodiments of the present invention, it is understood that the scope of the invention is defined by the appended claims. A person skilled in the art can make various changes or modifications to the embodiments without departing from the spirit and scope of the invention, and such changes and modifications fall within the scope of the invention.

Claims

An electric changing trolley, characterized in that the electric changing trolley comprises an X-direction moving mechanism, a vertical lifting mechanism, an unlocking mechanism, a battery sensor for detecting whether a battery is present, a Y-direction moving mechanism, a controller, and a detecting distance a range finder, a position sensor for detecting a relative position, and a signal receiving module, wherein

The controller is electrically connected to the battery sensor, the range finder, the position sensor, and the signal receiving module, and controls movement of the X-direction moving mechanism, the Y-direction moving mechanism, the vertical lifting mechanism, and the unlocking mechanism.
The electric change trolley according to claim 1, wherein the electric change trolley further comprises a tray, a tray sensor for detecting whether there is a tray;

Preferably, the battery sensor is configured to detect whether there is a battery signal of the battery, the tray sensor is configured to detect whether there is a tray signal of the tray, and the controller drives the vertical according to the battery signal and the tray signal a lifting mechanism and the X-direction moving mechanism.
The electric change trolley according to claim 1 or 2, wherein the position sensor is a visual sensor;

And/or, the position sensor is configured to detect a relative position signal of the commutation trolley and the vehicle, and the controller drives the X-direction moving mechanism and the Y-direction moving mechanism according to the relative position signal.
The electric change trolley according to any one of claims 1 to 3, wherein the range finder is for detecting a distance signal, and the controller drives the vertical lifting mechanism according to the distance signal;

And/or, the signal receiving module is configured to receive a rising-to-bit signal, and the controller stops the vertical lifting mechanism according to the rising-to-bit signal and controls the Y-direction moving mechanism to move the battery.
The electric change trolley according to at least one of claims 1 to 4, wherein the Y-direction moving mechanism is a screw mechanism.
The electric change trolley according to any one of claims 1 to 5, wherein the signal receiving module is configured to receive a locking in-position signal, and the controller stops the Y-direction moving mechanism according to the locking in-position signal. ;

And/or, the controller stops the X-direction moving mechanism according to the X-direction in-position signal.
A power-changing control system for an electric vehicle, characterized in that it comprises the electric-changing trolley according to any one of claims 1-6.
A method for controlling a changeover trolley, characterized in that it is used for controlling a changeover trolley according to any one of claims 1-6, comprising the steps of:

Step A: After receiving the power-changing instruction, the controller controls the power-changing trolley to move to the bottom of the vehicle and align the battery;

Step B: The controller controls the replacement trolley to perform battery replacement;

Step C: The controller controls the electric trolley to descend and remove the bottom of the vehicle.
A method for controlling a changeover trolley according to claim 8, wherein the step A comprises:

Step S1: The controller controls the X-direction moving mechanism to cause the power-changing trolley to enter the bottom of the vehicle and align the old battery;

Preferably, step S1 comprises the following steps:

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

In step S1.2, the alignment is performed by the X-direction moving mechanism and the Y-direction moving mechanism.
A method for controlling a changeover trolley according to claim 8 or 9, wherein the step B comprises:

Step S2, the controller controls the vertical lifting mechanism to rise to a position;

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

Step S4: The controller controls the vertical lifting mechanism and the X-direction moving mechanism to move the changing trolley.
A method for controlling a changeover trolley according to claim 10, wherein the step S2 comprises the following steps:

Step S2.1, the controller controls the vertical lifting mechanism to rise and the range finder detects a distance signal;

Step S2.2, when the distance signal is the same as the preset height, the controller controls to stop the vertical lifting mechanism;

And/or, step S3 includes the following steps:

Step S3.1, the controller controls the Y-direction moving mechanism to move the battery to the unlocking pre-tightening position;

Step S3.2, the unlocking mechanism performs unlocking;

Step S3.3, the controller controls the Y direction moving mechanism to move the battery to the unlocked position;

Step S3.4, the controller controls the vertical lifting mechanism to lower the battery.
A method of controlling a changeover trolley according to claim 10 or 11, wherein the step S4 comprises the following steps:

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

Step S4.2: The controller drives the vertical lifting mechanism and the X-direction moving mechanism according to the battery signal.
The method for controlling a changeover trolley according to any one of claims 10 to 12, wherein the step B further comprises:

Step S5, the controller controls the electric exchange car to exchange for a new battery;

Step S6, the controller controls the X-direction moving mechanism to cause the electric-changing trolley to enter the bottom of the vehicle and be aligned;

Step S7, the controller controls the vertical lifting mechanism to rise to a position;

Step S8: The controller controls the vertical lifting mechanism and the Y-direction moving mechanism to lock the new battery.
A method for controlling a changeover trolley according to claim 13, wherein the step S6 comprises the following steps:

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

Step S6.2, performing alignment by the X-direction moving mechanism and the Y-direction moving mechanism;

And/or, step S7 includes the following steps:

Step S7.1, the controller controls the vertical lifting mechanism to rise and the range finder detects a distance signal;

Step S7.2: When the distance signal is the same as the preset height, the controller controls to stop the vertical lifting mechanism.
A method for controlling a changeover trolley according to claim 13 or 14, wherein the step S8 comprises the following steps:

Step S8.1, the signal receiving module receives a rising-to-bit signal;

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

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

Step S8.4, the signal receiving module receives the locking in-position signal;

Step S8.5: The controller stops the Y-direction moving mechanism.
A method of controlling a changeable trolley according to at least one of claims 8 to 15, wherein the step C comprises:

Step S9: The controller controls the vertical lifting mechanism and the X-direction moving mechanism to move the power-changing trolley.
A power exchange control method for an electric vehicle, characterized in that the electric power control method of the electric vehicle includes the electric car control method according to any one of claims 8-16.